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检索条件"任意字段=9th International Conference on Functional Programming"

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Nonlinear Model Predictive Clamping Force Control for Electromechanical Brake System 9

Nonlinear Model Predictive Clamping Force Control for Electr...

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9th IEEE international conference on Advanced Robotics and Mechatronics (ICARM)

作者： Wei, Wenpeng He, Tianyi Men, Yifan Wang, Jinxiang Xiong, Lu Yin, Guodong Southeast Univ Sch Mech Engn Nanjing 211189 Peoples R China Southeast Univ Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing 210096 Peoples R China Utah State Univ Dept Mech & Aerosp Engn Logan UT 84322 USA ZDrive Ai Ali Ctr 7th FloorBlock T21398 Shenchang Rd Shanghai Peoples R China Tongji Univ Sch Automot Studies Shanghai 201804 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

In this paper, the problem of clamping force control for the Electromechanical Brake (EMB) system in autonomous vehicles is addressed. A nonlinear model predictive control framework is proposed to solve for the optimal maneuver at each optimization step to realize accurate clamping force tracking. First, the EMB system is modeled to a state-space representation through the first-principle modeling;Second, a control framework that includes three blocks is proposed to achieve clamping force tracking. the first block designs a clamping force separation strategy and an unknown input observer based on Kalman filter is applied to estimate the clamping force to replace the force sensors;the second block develops an adaptive estimation of polynomial coefficients to deal with the time-varying coefficients to improve model adaptiveness;the last block conceives the nonlinear model predictive control to track the reference force, and the resulted nonlinear programming is solved by the multiple shooting method. Finally, the proposed framework is validated to achieve faster tracking speed and more accurate tracking in multiple simulation scenarios.

关键词： Nonlinear Model Predictive Control Brake-bywire System Electromechanical Brake Clamping Force Control Unknown Input Observer

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Randomised Testing of the Compiler for a Verification-Aware programming Language 17

Randomised Testing of the Compiler for a Verification-Aware ...

引用

17th IEEE international conference on Software Testing, Verification, and Validation (ICST)

作者： Donaldson, Alastair F. Sheth, Dilan Tristan, Jean-Baptiste Usher, Alex Imperial Coll London London England AWS Boston MA USA

ISBN: (纸本)9798350308198;9798350308181

We present the design and implementation of two new tools for randomised testing of the compiler of the Dafny programming language. the Dafny language and tool-chain supports formal verification of rich functional properties of programs, and is seeing increasing adoption by industry, being used by companies such as Amazon, Consensys, Microsoft and VMWare for the construction of high assurance software components. Bugs in the Dafny compiler are of critical importance because they have the potential to undermine the safety and security of deployed software that has been formally verified at the source code level. Our new testing tools, fuzz-d and DafnyFuzz, are based on randomised program generation, and overcome the test oracle problem using a combination of differential testing, metamorphic testing and the generation of programs with known expected results. the new tools go significantly further than XDsmith, an existing randomised compiler testing tool for Dafny, in terms of the features of the language that they support. We have used these tools to find and report 24 previously-unknown Dafny compiler bugs that were beyond the reach of XDsmith, of which 9 are soundness issues. Our fuzzing campaign has also led to changes to the Dafny language specification via the identification of ambiguous or under-documented language features. We present a set of controlled experiments looking at statement and mutation coverage on the Dafny compiler code base. the results show that fuzz-d and DafnyFuzz achieve substantial additional coverage on top of that provided by XDsmith, and can cover some areas missed by the Dafny compiler regression test suite. All three of fuzz-d, DafnyFuzz and XDsmith improve upon the number of mutants killed by the Dafny regression test suite.

关键词： Fuzzing compilers formal verification Dafny

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Optimal Energy Mix Model for the UAE Considering Economic and Environmental Impacts 9

Optimal Energy Mix Model for the UAE Considering Economic an...

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9th international conference on Optimization and Applications, ICOA 2023

作者： Lail, Lina Abu Aydin, Ridvan Olabi, Abdul Ghani University of Sharjah Department of Industrial Engineering and Engineering Management Sharjah United Arab Emirates University of Sharjah Department of Sustainable and Renewable Energy Engineering Sharjah United Arab Emirates

ISBN: (纸本)9798350312546

With growing concerns about climate change and increasing demand for energy, planning and decision-making for an optimal energy mix have become essential for policymakers, energy companies, and researchers alike. this study proposes an optimization-based methodology for determining the optimal energy mix in electricity generation in the United Arab Emirates from various energy sources, such as: natural gas, solar energy, hydroelectricity, biomass, and nuclear power, while simultaneously minimizing economic and environmental costs. the optimization model helps minimize the total cost for future investments in electricity generation capacities over 30 years which includes the installation cost of additional power plants, the fixed cost for annual operation and maintenance, the variable cost for operation and maintenance, and the emissions cost of energy sources. this model addresses energy demand requirements, annual installation capacities, peak demand, and renewable energy technologies. the results show that most future energy installation capacity is obtained from solar photovoltaic energy, followed by natural gas. In addition, CO2 emissions per kWh of electricity generation by 2050 can be reduced by around 10% without limiting fossil fuels and by about 20% with limiting fossil fuels. © 2023 IEEE.

关键词： Linear programming

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Research on Key Techniques of Dexterous Movement of Continuum Robots: A Review 9

Research on Key Techniques of Dexterous Movement of Continuu...

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9th IEEE international conference on Advanced Robotics and Mechatronics (ICARM)

作者： Su, Tingting Liang, Xu Xiao, Wendong Li, Guotao Wang, Jiaxing Zhang, Haojian Xie, Shoulie Beijing Univ Technol Fac Informat Technol Beijing 100124 Peoples R China Beijing Jiao Tong Univ Sch Automat & Intelligence Beijing 100044 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China ASTAR Inst Infocomm Res Singapore 138632 Singapore

ISBN: (纸本)9798350385731;9798350385724

Continuum robot has good motion flexibility and strong environmental compliance. It can well adapt to large deformation and complex environment, and can carry out safe, dexterous and accurate intelligent interaction between robot and environment. Because of the above advantages, continuum robot can be widely used in medical equipment, industrial production and other fields. the realization of safe, stable and flexible intelligent interactive operation of continuum robot in constrained space is the focus and difficulty in these fields. the research status of continuum robot system is investigated and analyzed in aspects of model analysis, trajectory planning and control methods in this manuscript, so as to provide a useful reference for scholars related to continuum robot.

关键词： Robot programming

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Autonomous Object Exploration with Semantics-Aware Routes-Enhanced Next-Best-View Planning 9

Autonomous Object Exploration with Semantics-Aware Routes-En...

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9th IEEE international conference on Advanced Robotics and Mechatronics (ICARM)

作者： Lu, Liang Zuo, Haobo Liu, Wenjia Fu, Changhong Ctr Transformat Garment Prod Bldg 19WHong Kong Sci Pk Hong Kong Peoples R China Univ Hong Kong Dept Comp Sci Pok Fu Lam Hong Kong Peoples R China Shanghai Customs Coll Sch Customs & Publ Adm Shanghai Peoples R China Tongji Univ Sch Mech Engn Shanghai Peoples R China

ISBN: (纸本)9798350385731;9798350385724

In modern industries, real-time scene understanding has emphasized incorporating semantic information into robotic tasks, particularly in autonomous target searching and transportation. this work introduces a Semantics-Aware Routes-enhanced Next-Best-View Planner i.e., SAR-NBVP designed to explore objects efficiently. the SAR-NBVP consists of a semantic perception strategy and a semantics-aware planning method. In the semantic perception phase, semantic point clouds are generated using RGBD images, which are then mapped into a volumetric map. this process enables the representation of semantic object information within the constructed map. the semantics-aware planning phase considers kinematic, geometric, and semantic costs within the SAR-NBVP. this ensures that the planner effectively searches for semantic objects by considering the robot's physical constraints as well as the environment's geometric and semantic characteristics. the proposed perception and planning algorithm's effectiveness is validated through simulation experiments, demonstrating its ability to incorporate semantic information, efficiently explore the environment, and search objects. the video of the simulation experiment is shown at https://***/STjwV0xQcvw.

关键词： Robot programming

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Using NLP to Quantify Program Decomposition in CS1 22

Using NLP to Quantify Program Decomposition in CS1

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9th Annual ACM conference on Learning at Scale, L@S 2022

作者： Charitsis, Charis Piech, Chris Mitchell, John C. Stanford University StanfordCA United States

ISBN: (纸本)9781450391580

Decomposition is a problem-solving technique that is essential to software development. Nonetheless, it is perceived as the most challenging programming skill for learners to master. Researchers have studied decomposition in introductory programming courses through guided experiments, case studies, and surveys. We believe that the rapid advancements in scientific fields such as machine learning and natural language processing (NLP) opened up opportunities for more scalable approaches. We study the relationship between problem-related entities and functional decomposition. We use an automated system to collect 78,500 code snapshots from two CS1 programming assignments of 250 students and then apply NLP techniques to quantify the learner's ability to break down a problem into a series of smaller, more straightforward tasks. We compare different behaviors and evaluate at scale the impact of decomposition on the time it takes to deliver the solution, its complexity, and the student's performance in the assignment and the course exams. Finally, we discuss the implications of our results for teaching and future research. © 2022 ACM.

关键词： introductory programming courses software development problem-solving approaches problem decomposition

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Structural design and process research of functional composite parts 9

Structural design and process research of functional composi...

引用

9th international conference on Mechanical Engineering, Materials, and Automation Technology, MMEAT 2023

作者： Wei, Shengwen Xue, Weifeng The 38th Institute of China Electronic Science and Technolgy Group Co. Hefei230031 China

ISBN: (纸本)9781510668584

A ground radar equipment is composed of several groups of antennas distributed into a certain shape. Each group of antennas consists of antenna array, antenna support tower and wind cable. Due to the needs of electrical performance of equipment, the interference of dense antenna support tower to the antenna is minimized. An antenna support tower is required to be developed, it is required to have strong structural properties of wind resistance, as well as wave transmission functional electrical performance requirements. It must also have sufficient structural strength and good dielectric performance. through the analysis of structure and function, the glass fiber composite is selected as the manufacturing material of the support tower, and the pultrusion process is selected as the research direction of the forming process of the support tower through the analysis and research of three typical process forming technologies, considering the cost, cycle and other comprehensive factors. the functional composite antenna support tower finally developed by the unidirectional fiber+braided bultrusion process fully meets the structural requirements of the radar equipment for its wind resistance performance and the wave transmission functional electrical requirements for the minimum interference to the antenna. © 2023 SPIE.

关键词： Structural design

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Case Study: Forecasting Time Consumption Exponential RSA Factorization Using Java Program 9

Case Study: Forecasting Time Consumption Exponential RSA Fac...

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9th international conference on Information Management and Technology, ICIMTech 2024

作者： Suhartana, Martin Yossy, Emny Harna BINUS Online Learning Bina Nusantara University Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350390025

In response to the previous issue, wherein the RSA (n) factorization process relied on Pythagorean and quadratic equations, facilitated by MS Excel Solver, and constrained by a 15-digit limit for n [3], [19], transitioning to Java programming significantly enhanced the factorization capability, enabling operations on n exceeding 100 digits, but this was not done due to limited time and computer resources currently available. During experimentation, it became evident that the current computational speed averaged 0,00806444662771415 milliseconds per attempt, indicating that despite limited infrastructure computer, we are advancing scientific development and research. Our findings show that each two-digit addition (p∗ q) takes ten times as many attempts, leading to an exponential increase in processing time. this study proposed that the main strength of the RSA algorithm lay in the difficulty of factorizing long prime numbers with limited computer resources, and this experiment was only conducted to demonstrate that exponential occurred when the number of digits in p and q to form the n value in RSA increased. As example in TC#6, 13 x 13 digits, where the time required is amounting to 1562003 ms equal to 1562,003 seconds equal to 26,033 minutes. this research lays a foundational step towards more effective and efficient scientific development, thereby contributing to future advancements in the field. © 2024 IEEE.

关键词： Java programming language

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Teaching programming Amid the Digital Churn: Guidelines and Curriculum for a Laboratory 9th

Teaching Programming Amid the Digital Churn: Guidelines and ...

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9th international conference on Learning and Collaboration Technologies (LCT) Held as Part of the 24th international conference on Human-Computer Interaction (HCII)

作者： Tezza, Dante Abbott, Ben St Marys Univ San Antonio TX 78228 USA

ISBN: (纸本)9783031056574;9783031056567

In the modern and digital society, the importance of software development is undeniable. therefore, educating the next generation of software developers is crucial. However, learning how to program is challenging, and research on improving programming pedagogy is essential. Adding a laboratory component to programming courses can enhance the education. In this work, we first elicited requirements and guidelines for an introductory programming lab curriculum based on a literature review and feedback by instructors with years of experience. these included the use of (1) current and adequate tools, (2) collaborative learning environment, (3) formative assessment, (4) appropriate assignments for the target audience, (5) pedagogical innovations, and (6) to prepare students to be lifelong learners of the subject. Following, we present a curriculum for an introductory undergraduate programming lab based on the Raspberry Pi platform. It teaches students how to program following software development best practices and integrate software and hardware through a series of cyber-physical assignments, including developing a rover vehicle. We successfully piloted the curriculum with 30 students, and we present the highly positive feedback provided by them. Although the course was based on the C programming language, the underlying foundation on programming principles will allow students to apply the concepts in any language. Furthermore, this curriculum is not intended to be a one-size-fits-all approach to programming education. However, it can be a strong starting point for readers to tailor it to fit their audience, school needs, and student learning outcomes.

关键词： Curriculum Education Engineering education programming Software

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Constrained Nonlinear programming for Image-Based Hysteresis Compensation in Atomic Force Microscope Piezo Actuators 9

Constrained Nonlinear Programming for Image-Based Hysteresis...

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9th international conference on Control, Decision and Information Technologies, CoDIT 2023

作者： Belikov, Sergey Alexander, John Magonov, Sergei Spm Labs Llc TempeAZ United States

ISBN: (纸本)9798350311402

Compensation of Atomic Force Microscopy (AFM) image distortion due to the hysteresis of piezoelectric scanners is a critical task of AFM control systems. the main problem is to linearize the scans, i.e. transform them to the ones evenly spaced in the AFM images' XY lines. We propose a new approach to this task based on constrained optimization of transforms. the optimal transforms map original scans to nearly linear ones. these transforms (different for X and Y scans) can be used to map the distorted scans spaced evenly in time (but not in space) to the corrected (nearly even in space) XY image lines. this approach requires significant computing power which was a serious restriction for early AFM controllers but is eliminated now. Another, closer to traditional, approach is to use inverses of the optimal transforms in imbedded, usually implemented at FPGA, algorithms to transform linear-in-time voltages and apply them to XY scanners to produce scans that are evenly spaced in both time and space. In both approaches, constrained optimization provides rigorous design improvements over previously employed empirical methods. It also provides a rigorous approach to interpolate scaling that is different for X and Y as well as for varying scan sizes. these optimal transforms, e.g., selected from a set of polynomials, can also significantly reduce calculations required by Preisach model of hysteresis. © 2023 IEEE.

关键词： Constrained optimization

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