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Synthetic traffic generation can produce sufficient data for model training of various traffic analysis tasks for IoT networks with few costs and ethical concerns. However, with the increasing functionalities of the latest smart devices, existing approaches can neither customize the traffic generation of various device functions nor generate traffic that preserves the sequentiality among packets as the real traffic. To address these limitations, this paper proposes IoTGemini, a novel framework for high-quality IoT traffic generation, which consists of a Device Modeling Module and a Traffic Generation Module. In the Device Modeling Module, we propose a method to obtain the profiles of the device functions and network behaviors, enabling IoTGemini to customize the traffic generation like using a real IoT device. In the Traffic Generation Module, we design a Packet Sequence Generative Adversarial Network (PS-GAN), which can generate synthetic traffic with high fidelity of both per-packet fields and sequential relationships. We set up a real-world IoT testbed to evaluate IoTGemini. The experiment result shows that IoTGemini can achieve great effectiveness in device modeling, high fidelity of synthetic traffic generation, and remarkable usability to downstream tasks on different traffic datasets and downstream traffic analysis tasks. 

Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in modeling multi-legged motion with slipping and producing reliable predictions of body velocity. Here, we present a detailed measurement of the foot contact forces in a hexapedal robot with multiple sliding contacts, and provide an algorithm for predicting these contact forces and the body velocity. The algorithm relies on the recently published observation that even while slipping, multi-legged robots are principally kinematic, and employ a friction law ansatz that allows us to compute the shape-change to body-velocity connection and the foot contact forces. This results in the ability to simulate motion plans for a large number of contacts, each potentially with slipping. Furthermore, in homogeneous environments, this kind of simulation can run in (parallel) logarithmic time of the planning horizon. 

Legged movement is ubiquitous in nature and of increasing interest for robotics. Most legged animals routinely encounter foot slipping, yet detailed modeling of multiple contacts with slipping exceeds current simulation capacity. Here we present a principle that unifies multilegged walking (including that involving slipping) with slithering and Stokesian (low Reynolds number) swimming. We generated data-driven principally kinematic models of locomotion for walking in low-slip animals (Argentine ant, 4.7% slip ratio of slipping to total motion) and for high-slip robotic systems (BigANT hexapod, slip ratio 12 to 22%; Multipod robots ranging from 6 to 12 legs, slip ratio 40 to 100%). We found that principally kinematic models could explain much of the variability in body velocity and turning rate using body shape and could predict walking behaviors outside the training data. Most remarkably, walking was principally kinematic irrespective of leg number, foot slipping, and turning rate. We find that grounded walking, with or without slipping, is governed by principally kinematic equations of motion, functionally similar to frictional swimming and slithering. Geometric mechanics thus leads to a unified model for swimming, slithering, and walking. Such commonality may shed light on the evolutionary origins of animal locomotion control and offer new approaches for robotic locomotion and motion planning. 

Abstract Phytoplankton blooms in coastal oceans can be beneficial to coastal fisheries production and ecosystem function, but can also cause major environmental problems 1,2 —yet detailed characterizations of bloom incidence and distribution are not available worldwide. Here we map daily marine coastal algal blooms between 2003 and 2020 using global satellite observations at 1-km spatial resolution. We found that algal blooms occurred in 126 out of the 153 coastal countries examined. Globally, the spatial extent (+13.2%) and frequency (+59.2%) of blooms increased significantly ( P  < 0.05) over the study period, whereas blooms weakened in tropical and subtropical areas of the Northern Hemisphere. We documented the relationship between the bloom trends and ocean circulation, and identified the stimulatory effects of recent increases in sea surface temperature. Our compilation of daily mapped coastal phytoplankton blooms provides the basis for global assessments of bloom risks and benefits, and for the formulation or evaluation of management or policy actions.