Traditional method of FPGA updating system is programmingthe bitstream file into SPI Flash through JTAG interface. this operation needs professional personnel to do, and it needs to dismantle the machine, which takes...
ISBN:
(纸本)9798400708305
Traditional method of FPGA updating system is programmingthe bitstream file into SPI Flash through JTAG interface. this operation needs professional personnel to do, and it needs to dismantle the machine, which takes time and effort. To meet the requirement of flight control computer system updating, a new method of dynamic reconfiguration without special tools, dismantling and adding external circuits is designed. the design, experiment and verification of this method are introduced in detail. the application results show that this method can work normally and configuration can be loaded even if the programming process exits unexpectedly due to power failure and so on. We've also introduced a user-friendly graphical interface for online programming, making the process accessible even to non-experts, thus substantially reducing updating costs.
Appropriate safety constraints, especially the state constraints, of a quadrotor unmanned aerial vehicle (UAV) are fundamental for safe control. Following the prevalent geometric controller, a new safe geometric contr...
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ISBN:
(数字)9781665483063
ISBN:
(纸本)9781665483063
Appropriate safety constraints, especially the state constraints, of a quadrotor unmanned aerial vehicle (UAV) are fundamental for safe control. Following the prevalent geometric controller, a new safe geometric control approach is proposed with state constraints for a quadrotor UAV, wherein the control barrier function (CBF) is integrated into the geometric controller to achieve safe control of the quadrotor UAV. Specifically, the CBF with respect to the states is constructed to establish the corresponding safety region. To satisfy the safety constraints, i.e., confining the states of the quadrotor UAV in the safety region rigorously, the control inputs calculated from geometric controller are refined with minimal modification by utilizing quadratic programming. the simulation study demonstrates the remarkable performance of the proposed approach in terms of the safety motion of a quadrotor UAV.
In object-oriented programming languages, objects with polymorphic attributes can negatively impact performance and hinder static analysis. these attributes require dynamic dispatch, which is slower than static bindin...
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ISBN:
(纸本)9798400708688
In object-oriented programming languages, objects with polymorphic attributes can negatively impact performance and hinder static analysis. these attributes require dynamic dispatch, which is slower than static binding, and complicate the analysis process. We propose a novel algorithm for object specialization that addresses this issue by replacing polymorphic attributes with monomorphic ones, resulting in improved performance and simplified static analysis. Our algorithm is a new approach compared to existing function specialization algorithms. We provide a proof of the algorithm’s soundness and correctness, and present an implementation of the algorithm as a software tool. Empirical evaluation shows that our approach achieves significant improvements in performance and simplifies the static analysis process. Our algorithm can be applied to a variety of object-oriented languages such as Java and Python.
In this paper, we propose a linearization algorithm for solving a Mixed Integer NonLinear Problem (MINLP) for Intersection Management (IM) of Connected Autonomous Vehicles (CAVs). the objective of such problem is to m...
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ISBN:
(纸本)9789897585135
In this paper, we propose a linearization algorithm for solving a Mixed Integer NonLinear Problem (MINLP) for Intersection Management (IM) of Connected Autonomous Vehicles (CAVs). the objective of such problem is to minimize the time it takes to clear a given arbitrary intersection for all vehicles in the consideration. We treat the IM problem as a bi-level optimization problem. On the lower level we solve an Optimal Control Problem (OCP) for each individual vehicle, whereas on the higher level we deal with an optimization problem of finding the optimal sequence and starting times for every car, which essentially yields a MINLP. An intuitive linearization technique is presented to solve the emerging MINLP in a reasonable time. the actual controls, if necessary, are computed a posteriori by minimizing the L 2 -norm of control variables. the algorithm is tested in different intersection scenarios. Numerical results show that it is suitable for real-time applications.
this study attempts to examine the impact of age and gender on fluctuations in force output during voluntary muscle contractions and how this impacts task performance. More precisely, the study investigates how these ...
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the process of finding a block hash is a complex problem. One of the problems is making the hash from a generator algorithm that uses the existing string and the transaction data in the block. So far, the idea that ha...
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In "Backprop as functor", the authors show that the fundamental elements of deep learning-gradient descent and backpropagation-can be conceptualized as a strong monoidal functor Para(Euc)& RARR;Learn fro...
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In "Backprop as functor", the authors show that the fundamental elements of deep learning-gradient descent and backpropagation-can be conceptualized as a strong monoidal functor Para(Euc)& RARR;Learn from the category of parameterized Euclidean spaces to that of learners, a category developed explicitly to capture parameter update and backpropagation. It was soon realized that there is an isomorphism Learn & SIM;= Para(SLens), where SLens is the symmetric monoidal category of simple lenses as used in functional *** this note, we observe that SLens is a full subcategory of Poly, the category of polynomial functors in one variable, via the functor A 7 & RARR;AyA. Using the fact that (Poly, & OTIMES;) is monoidal closed, we show that a map A & RARR;B in Para(SLens) has a natural interpretation in terms of dynamical systems (more precisely, generalized Moore machines) whose interface is the internal-hom type [AyA,ByB].Finally, we review the fact that the category p-Coalg of dynamical systems on any p & ISIN;Poly forms a topos, and consider the logical propositions that can be stated in its internal language. We give gradient descent as an example, and we conclude by discussing some directions for future work.
How to comprehensively, clearly, and accurately obtain the electromagnetic characteristics and relations of planning objects is an important issue in realizing efficient and flexible electromagnetic spectrum planning....
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ISBN:
(数字)9798350384437
ISBN:
(纸本)9798350384444
How to comprehensively, clearly, and accurately obtain the electromagnetic characteristics and relations of planning objects is an important issue in realizing efficient and flexible electromagnetic spectrum planning. In this paper, we use knowledge Graph, an intelligent technology in Semantic Web research, to construct the knowledge graph ontology of frequency equipment. We use the reasoning structure based on OWL + SWRL + Jess, combined withthe OWL API to construct reasoning rules and procedures to complete the knowledge service required for system-level electromagnetic spectrum planning by setting up specific scenarios.
the paper proposes a variant of the Iterative Closest Point (ICP) algorithm for point cloud registration that addresses two main issues with existing ICP-based algorithms: the lack of precise and complete color inform...
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ISBN:
(数字)9798350385106
ISBN:
(纸本)9798350385113
the paper proposes a variant of the Iterative Closest Point (ICP) algorithm for point cloud registration that addresses two main issues with existing ICP-based algorithms: the lack of precise and complete color information and the lack of robustness to noise and outliers. the proposed algorithm introduces a color distance metric based on the L*a*b* color space and a correntropy-based objective function to enhance the accuracy and robustness of the algorithm. Simulation experiments on an RGB-D object dataset show that the proposed algorithm outperforms existing ICP-based methods in terms of accuracy and robustness.
this paper proposes a spacecraft formation trajectory optimization approach to solve the orbit-injection problem in the space gravitational wave detection mission. First, the dynamics of spacecraft formation is establ...
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ISBN:
(数字)9798350363012
ISBN:
(纸本)9798350363029
this paper proposes a spacecraft formation trajectory optimization approach to solve the orbit-injection problem in the space gravitational wave detection mission. First, the dynamics of spacecraft formation is established in the heliocentric inertial coordinate system. then, the fight constraints and fuel consumption are considered to establish the spacecraft formation orbit-injection optimization problem, and the optimization problem is discretized as a nonlinear programming problem based on the Radau pseudospectral method. At last, a sequential quadratic programming algorithm and hp-adaptive strategy are introduced to solve the discrete nonlinear programming problem. the simulation shows that the proposed approach can solve the spacecraft formation orbit-injection trajectory optimization problem effectively and accurately.
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