Music is a sound based form of art. From medieval periods there has been a constant effort to create great melodies for the purpose of entertainment, propaganda and healing. There are many formal music systems worldwi...
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Over the last decade, the relationship between humans and cyber-physical systems has grown closer, particularly in fields such as manufacturing and transportation. This paper presents a control framework within the en...
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Nonconvex, nonlinear optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed...
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ISBN:
(数字)9781665468800
ISBN:
(纸本)9781665468800
Nonconvex, nonlinear optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. A key problem in this strategy is the priority assignment to agents, as the priorities highly impact the solution quality and even determine if a feasible solution for all agents exists. This problem has been investigated in the domain of robotics for many years, and has recently been picked up in the domain of road vehicles. We propose a distributed reprioritization process for priority-based non-cooperative distributed model predictive control and prove recursive feasibility for the NCS. We develop a dynamic priority assignment algorithm for road vehicles, which we use in our reprioritization process. In our algorithm, each vehicle determines its priority in a distributed fashion. Inspired by an approach from the domain of robotics, we increase the priority of a vehicle with the number of potential collisions with other vehicles on its planned trajectory. We evaluate our distributed reprioritization process and our dynamic priority assignment algorithm in experiments. We compare the algorithm's performance to dynamic random priorities and to static priorities.
Edge computing has emerged as a promising paradigm to address the latency and bandwidth constraints of traditional cloud computing by bringing computation and storage closer to the data source. In edge computing envir...
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The advent of large language models (LLMs), like ChatGPT ushers in revolutionary opportunities that bring a vast variety of applications (such as healthcare, law, and education) across various disciplines. The researc...
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The paper considers the privacy-preserving and communication constraints for multi-Agent systems. Firstly, a lightweight, decentralized, time-varying transformation method is introduced to prevent information leakage ...
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Efficiently synthesizing an entire application that consists of multiple algorithms for hardware implementation is a very difficult and unsolved problem. One of the main challenges is the lack of good algorithmic libr...
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Efficiently synthesizing an entire application that consists of multiple algorithms for hardware implementation is a very difficult and unsolved problem. One of the main challenges is the lack of good algorithmic libraries. A good algorithmic library should contain algorithmic implementations that can be physically composable, and their cost metrics can be accurately predictable. Physical composability and cost predictability can be achieved using a novel framework called SiLago. By physically abutting small hardware blocks together like Lego bricks, the SiLago framework can eliminate the time-consuming logic and physical synthesis and immediately give post-layout accurate cost estimation. In this paper, we build a library for matrix-matrix multiplication algorithm based on the SiLago framework as a case study because matrix-matrix multiplication is a fundamental operation in scientific computing that is frequently found in applications such as signal processing, image processing, pattern recognition, robotics, and so on. This paper demonstrates the methodology to construct such a library containing composable and predictable algorithms so that the application-level synthesis tools can utilize it to explore the design space for an entire application. Specifically, in this paper, we present an algorithm for matrix decomposition, several mapping strategies for selected kernel functions, an algorithm to construct the mapping of each matrix-matrix multiplication, and finally, the method to calculate the cost estimation of each solution.
Data clustering is a technique related to technology that can be used and utilized in vast areas of computer science and other applications. In this work, the technique access and used for clustering is improved-hybri...
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The paper's object is to develop a smart home automation system with sustainable renewable energy. The paper presents a conceptualization and implementation of developing a smart home system that uses solar panels...
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