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检索条件"任意字段=Applied Computing 2004 - Proceedings of the 2004 ACM Symposium on Applied Computing"

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Receding horizon path planning with implicit safety guarantees

Receding horizon path planning with implicit safety guarante...

引用

American Control Conference (ACC)

作者： T. Schouwenaars J. How E. Feron Department Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA USA

This paper extends a recently developed approach to optimal path planning of autonomous vehicles, based on mixed integer linear programming (MILP), to account for safety. We consider the case of a single vehicle navigating through a cluttered environment which is only known within a certain detection radius around the vehicle. A receding horizon strategy is presented with hard terminal constraints that guarantee feasibility of the MILP problem at all future time steps. The trajectory computed at each iteration is constrained to end in a so called basis state, in which the vehicle can safely remain for an indefinite period of time. The principle is applied to the case of a UAV with limited turn rate and minimum speed requirements, for which safety conditions are derived in the form of loiter circles. The latter need not be known ahead of time and are implicitly computed online. An example scenario is presented that illustrates the necessity of these safety constraints when the knowledge of the environment is limited and/or hard real-time restrictions are given.

关键词： Path planning Unmanned aerial vehicles Vehicle safety Remotely operated vehicles Vehicle detection Military computing Military aircraft Vehicle dynamics Kinematics Linear programming

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Multi-objective fast messy genetic algorithm solving deception problems

Multi-objective fast messy genetic algorithm solving decepti...

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Congress on Evolutionary Computation

作者： R.O. Day M.P. Kleeman G.B. Lamont Department of Electrical and Computer Engineering Graduate School of Engineering & Management Air Force Institute of Technology OH USA

Deception problems are among the hardest problems to solve using ordinary genetic algorithms. Recent studies show that Bayesian optimization can help in solving these problems. This work compares the results acquired from the multiobjective fast messy genetic algorithm (MOMGA-II), multiobjective Bayesian optimization algorithm (mBOA), and the nondominated sorting genetic algorithm-II (NSGA-II) when applied to three different deception problems. The three deceptive problems studies are: interleaved minimal deceptive problem, interleaved 5-bit trap function, and the interleaved 6-bit bipolar function. The unmodified MOMGA-II, by design, explicitly learns building block linkages which is required if an algorithm is to solve these hard deception problems. Preliminary results using the MOMGA-II are favorable.

关键词： Genetic algorithms Algorithm design and analysis Unmanned aerial vehicles Genetic engineering Bayesian methods Military computing Technology management Engineering management Sorting Couplings

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Dependence of RF performance of GaN/AlGaN HEMTs upon AlGaN barrier layer variation

Dependence of RF performance of GaN/AlGaN HEMTs upon AlGaN b...

引用

IEEE Conference on High Performance Devices

作者： E. Faraclas R.T. Webster G. Brandes A.F.M. Anwar Electrical and Computer Engineering University of Connecticut Storrs CT USA MA USA Cree Research Inc. Durham NC USA

The dependence of microwave performance of GaN/AlGaN high electron mobility transistors (HEMTs), namely the unity gain current cut-off frequency (f/sub T/) and the maximum oscillation frequency (f/sub MAX/), are reported as a function of the mole fraction of Al and the thickness of the barrier AlGaN layer. The parameters are computed using a physics-based model and compared to experimental results. Schrodinger and Poisson's equations are solved self-consistently to relate the applied gate bias to the channel electron concentration. The contributions of both spontaneous and piezoelectric polarizations towards f/sub T/ are explored. Finally, because of interest in using this family of devices at elevated temperatures, each simulation was repeated between 300K and 500K for comparison.

关键词： Aluminum gallium nitride Radio frequency Gallium nitride HEMTs MODFETs Cutoff frequency Performance gain Physics computing Poisson equations Electrons

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Understanding phases and styles of object-oriented systems' evolution

Understanding phases and styles of object-oriented systems' ...

引用

International Conference on Software Maintenance (ICSM)

作者： Zhenchang Xing E. Stroulia Computing Science Department University of Alberta Edmonton AB Canada

Understanding the phases and styles of evolution of software systems can provide valuable insight in support of project management. We present a method for studying the evolution of object-oriented software at system/subsystem level and analyzing the underlying factors that drive its unfolding over time. This method relies on analyzing the design-level structural changes between two subsequent software versions to identify additions, removals, moves, renamings and signature-changes of classes, interfaces, and their methods and fields, represented as change trees. A sequence of such change trees constitutes the system's evolution profile. Based on discrete system evolution profiles, three types of analyses: phasic analysis, gamma analysis, and optimal matching analysis, are applied, to abstract an overall sequential pattern and structural properties of system evolution phases and to develop the typology of system evolution styles. We report on two case studies evaluating our approach.

关键词： Software systems Pattern analysis Project management Reverse engineering Monitoring History Visualization Documentation Optimal matching Software tools

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An extended Isomap algorithm for learning multi-class manifold

An extended Isomap algorithm for learning multi-class manifo...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Yiming Wu Kap Luk Chan School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)0780384032

Isomap is a recently proposed algorithm for manifold learning and nonlinear dimensionality reduction. In the Isomap algorithm, geodesic distances between points are extracted instead of simply taking the Euclidean distance, thus a geometric distance graph is constructed and the embedding is obtained from the graph. However, when this method is applied into multi-class data, several isolated sub-graphs will form thus desirable embedding cannot be achieved. An extended Isomap algorithm is proposed for the multi-class manifold learning which computes within-class and between-class geodesic distances separately and the final embedding is obtained from the augmented geodesic distance matrix using multidimensional scaling algorithm. Experimental results on synthetic and real data reveal the promising performance of the proposed method.

关键词： Manifolds Principal component analysis Cameras Multidimensional systems Stress measurement Geophysics computing Nearest neighbor searches Laplace equations Linear approximation Sparse matrices

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Spatio-temporal photon density estimation using bilateral filtering

Spatio-temporal photon density estimation using bilateral fi...

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Computer Graphics International

作者： M. Weber M. Milch K. Myszkowski K. Dmitriev P. Rokita H.-P. Seidel MPI Informatik Saarbruecken Germany

Photon tracing and density estimation are well established techniques in global illumination computation and rendering of high-quality animation sequences. Using traditional density estimation techniques it is difficult to remove stochastic noise inherent for photon-based methods while avoiding overblurring lighting details. In this paper we investigate the use of bilateral filtering for lighting reconstruction based on the local density of photon hit points. Bilateral filtering is applied in spatio-temporal domain and provides control over the level-of-details in reconstructed lighting. All changes of lighting below this level are treated as stochastic noise and are suppressed. Bilateral filtering proves to be efficient in preserving sharp features in lighting which is in particular important for high-quality caustic reconstruction. Also, flickering between subsequent animation frames is substantially reduced due to extending bilateral filtering into temporal domain

关键词： Filtering Stochastic resonance Layout Animation Noise reduction Optical computing Noise level Surface reconstruction Lighting control 1f noise

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Mobile service provision system based on sensor and SIP event notification mechanism

Mobile service provision system based on sensor and SIP even...

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Asia-Pacific Conference on Communications

作者： Jehun Rhee Hyunseo Park Young-Jick Bahg Mobile Service Research Group Electronics and Telecommunications Research Institute Daejeon South Korea

ISBN: (纸本)0780386019

As the user's need to take a mobile service while roaming around increases, many solutions are needed to figure out the user's current location and service information and prepare subscribed mobile service without user's intervention. We propose a mobile service provision system, which is based on sensor and SIP-specific event notification mechanism. In this system, dynamically subscribed service terminal is selected and used to provide mobile service to a roaming user by a sensor-equipped user agent which is also interworking with 3GPP IMS for getting extended user profile stored in HSS. And this user profile, capability report and command script which are used in our system are all XML-based documents, so these can also be easily modified and applied to any other services.

关键词： Sensor systems Motion pictures Roaming System testing Wireless sensor networks Mobile computing Multimedia systems Telecommunications Protocols

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Automatic techniques for texture mapping in virtual urban environments

Automatic techniques for texture mapping in virtual urban en...

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Computer Graphics International

作者： R.G. Laycock A.M. Day School of Computing Sciences University of East Anglia Norwich UK

Many methods exist for automatically generating three dimensional models of urban environments at various levels of detail. To improve the realism of these models texture maps are applied to the building facades. This paper focuses on techniques which progress towards the automatic application of textural detail to building facades. In particular attention is paid to residential scenes where buildings are occluded by many objects such as vegetation and fences. The approach undertaken uses a set of images for each building being textured. From this set a single building image is created by identifying the building and removing occluding objects using a depth map. Further processing of the building image is undertaken to generate two texture maps, the wall map and the object map. The wall map contains a repeatable wall pattern extracted automatically from the building facade. The object map contains the spatial arrangement of features on a transparent background. The features are objects on the building facade such as windows and doors. These two texture maps are combined on the graphics card to permit the final textural detail of the building to be visualised

关键词： Urban planning Buildings Roads Layout Windows Image segmentation Vegetation mapping Graphics Visualization Digital elevation models

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Refinement of rule-based intrusion detection system for denial of service attacks by support vector machine

Refinement of rule-based intrusion detection system for deni...

引用

International Conference on Machine Learning and Cybernetics (ICMLC)

作者： A.P.F. Chan W.W.Y. Ng D.S. Yeung C.C. Tsang Department of Computing Hong Kong Polytechnic University Kowloon Hong Kong China

With the tremendous increase in connectivity and accessibility to the Internet, information security has become a serious global issue. Denial of service (DoS), one of the attacks evolved in recent years, has devastating effect to the commercial activities. We propose a hybrid intrusion detection system (HIDS) which incorporates the benefits of both rule-based and SVM techniques. In brief, the SVM is used to select important features and generate rules, while the rule-based system is then applied to detect the DoS attacks. The rule set generated by the HIDS is more accurate and compact. Experimental results show that the HIDS has a better performance than the rule-based system with rules extracted only from human experts.

关键词： Intrusion detection Computer crime Support vector machines Companies Internet Information security Humans Computer security Business Protection

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A power-aware IP core generator for the one-dimensional discrete Fourier transform

A power-aware IP core generator for the one-dimensional disc...

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IEEE International symposium on Circuits and Systems (ISCAS)

作者： Chih-Da Chien Chien-Chang Lin Jiun-In Guo Tien-Fu Chen Department of Computer Science and Information Engineering National Chung Cheng University Chiayi Taiwan

ISBN: (纸本)078038251X

This paper presents a power-aware IP core generator for the 1D DFT design. We optimize the proposed DFT IP design both in algorithm and architecture levels for achieving low hardware complexity. In algorithm level, we first use radix-2/sup c/ algorithm to split a length-N DFT into multiple length-N/2/sup c/ DFTs for facilitating computation sharing between parallel DFT outputs. Then, we formulate the length-N/2/sup c/ DFT into cyclic convolution form to facilitate the hardware cost reduction. In architecture level, we implement the design with a filter-based architecture optimized by a bit-level sub-expression sharing. In addition, we have applied the power-aware design concept in the proposed IP core generator through trading off the power consumption, data precision, and hardware cost in the design phase by parameter configurations through graphic user interface.

关键词： Power generation Discrete Fourier transforms Computer architecture Hardware Design optimization Costs Algorithm design and analysis Concurrent computing Convolution Energy consumption

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