Author name cluster

Jun Gu

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers

2 author rows

IROS Conference 2022 Conference Paper

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

Ruixiang Cao
Jun Gu
Chen Yu
Andre Rosendo

This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the robot to transform between omni-wheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative position of its wheels, while it can overcome common obstacles in legged mode, such as stairs and steps. Unlike other articles studying whegs, this implementation with omnidirectional wheels allows the correction of misalignments between right and left wheels before traversing obstacles, which effectively improves the success rate and simplifies the preparation process before the wheel-leg transformation. We describe the design concept, mechanism, and the dynamic characteristic of the wheel-leg structure. We then evaluate its performance in various scenarios, including passing obstacles, climbing steps of different heights, and turning/moving omnidirectionally. Our results confirm that this mobile platform can overcome common indoor obstacles and move flexibly on the flat ground with the new transformable wheel-leg mechanism, while keeping a high degree of stability.

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TCS Journal 2004 Journal Article

Routing algorithm for multicast under multi-tree model in optical networks

Jun Gu
Xiao-Dong Hu
Xiaohua Jia
Mu-Hong Zhang

To establish a multicast connection in a wavelength routed optical network, two steps are needed under the multi-tree model. One is to construct a set of light-trees rooted at the source node such that in each of them at most a specified number of destination nodes are allowed to receive the data and every destination node must be designated in one of them to receive the data. The other is to assign a wavelength to each of the produced light-trees in such a way that two light-trees must be assigned two distinct wavelengths if they use a common link. In this paper we mainly study how to construct a multicast routing of minimal cost under the multi-tree model in optical networks, where the routing cost is total costs of the produced light-trees. We propose a 4-approximation algorithm for this NP-hard problem.

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TCS Journal 2001 Journal Article

Wire segmenting for buffer insertion based on RSTP-MSP

Bing Lu
Jun Gu
Xiaodong Hu
Eugene Shragowitz

This paper presents an approximation algorithm for simultaneously constructing a rectilinear Steiner tree and buffer insertion points into the tree. The objective of the algorithm is to divide each wire into multiple smaller segments and minimize the number of the buffer insertion points (Steiner points) which are only located at the end of each segment. We show that (a) the Steiner ratio is 1 3, that is, the rectilinear minimum spanning tree yields a polynomial-time approximation with a performance ratio exactly 3; (b) there exists a polynomial-time approximation with a performance ratio 2.

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