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共 8225 条记录，以下是121-130 订阅

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Model predictive control application for simplified adaptive cruise control 9

Model predictive control application for simplified adaptive...

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9th international symposium on Sensors, Mechatronics, and Automation System, ISSMAS 2023

作者： Sonmez, Ali Caglar Guan, Jifu Zhang, Zheng Xiong, Yan Department of Mechanical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781510672802

One of the Advanced Driver Assistance systems (ADAS), Adaptive Cruise Control (ACC), takes over longitudinal control of the car when activated. This article analyses a simplified Adaptive Cruise Control (ACC) function using Model Predictive Control (MPC). The aim is to ensure the desired distance between a preceding target vehicle moving with constant velocity and the following host vehicle. Inputs and state variables are constrained for drivability and safety concerns. The simulations performed using MATLAB under various initial conditions validated the MPC design. The optimal selection of the prediction horizon and the effectiveness of introducing constraints are also discussed in this paper. © 2024 SPIE.

关键词： Adaptive Cruise Control Model Predictive Control Quadratic programming

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Assessment of Simultaneous Calibration for Positions, Orientations, and Time Offsets in Multiple Microphone Arrays systems

Assessment of Simultaneous Calibration for Positions, Orient...

引用

IEEE/SICE international symposium on System Integration (SII)

作者： Sugiyama, Chishio Itoyama, Katsutoshi Nishida, Kenji Nakadai, Kazuhiro Tokyo Inst Technol Sch Engn Dept Syst & Control Engn Meguro Ku 2-12-1 Ookayama Tokyo 1528552 Japan Honda Res Inst Japan Co Ltd 8-1 Honcho Wako Saitama 3510188 Japan

ISBN: (纸本)9798350398687

This paper verify the performance of the method of calibrating their positions, orientations, and time offsets using observations with multiple microphone arrays and estimating the sound source positions in the real environment. The conventional method calculates the orientation and time offset independently, and it is difficult to correct the solution when one of the optimizations cannot be performed well. Therefore, a method was proposed that can simultaneously estimate the position, orientation, and time offset by combining two types of objective functions. We evaluate the effectiveness of this simultaneous optimization through numerical simulations and experiments with recorded acoustic signals. As a result, it was shown that the proposed method is effective under the condition that the input error is small.

关键词： Estimation Signal processing algorithms System integration Signal processing Linear programming Acoustic arrays Microphone arrays

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Evaluating performance and portability of high-level programming models: Julia, Python/Numba, and Kokkos on exascale nodes

Evaluating performance and portability of high-level program...

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37th IEEE international Parallel and Distributed Processing symposium (IPDPS)

作者： Godoy, William F. Valero-Lara, Pedro Dettling, T. Elise Trefftz, Christian Jorquera, Ian Sheehy, Thomas Miller, Ross G. Gonzalez-Tallada, Marc Vetter, Jeffrey S. Churavy, Valentin Oak Ridge Natl Lab Oak Ridge TN 37830 USA MIT Cambridge MA 02139 USA

ISBN: (纸本)9798350311990

We explore the performance and portability of the high-level programming models: the LLVM-based Julia and Python/Numba, and Kokkos on high-performance computing (HPC) nodes: AMD Epyc CPUs and MI250X graphical processing units (GPUs) on Frontier's test bed Crusher system and Ampere's Arm-based CPUs and NVIDIA's A100 GPUs on the Wombat system at the Oak Ridge Leadership Computing Facilities. We compare the default performance of a hand-rolled dense matrix multiplication algorithm on CPUs against vendor-compiled C/OpenMP implementations, and on each GPU against CUDA and HIP. Rather than focusing on the kernel optimization per-se, we select this naive approach to resemble exploratory work in science and as a lower-bound for performance to isolate the effect of each programming model. Julia and Kokkos perform comparably with C/OpenMP on CPUs, while Julia implementations are competitive with CUDA and HIP on GPUs. Performance gaps are identified on NVIDIA A100 GPUs for Julia's single precision and Kokkos, and for Python/Numba in all scenarios. We also comment on half-precision support, productivity, performance portability metrics, and platform readiness. We expect to contribute to the understanding and direction for high-level, high-productivity languages in HPC as the first-generation exascale systems are deployed.

关键词： Julia Python/Numba Kokkos OpenMP LLVM Performance Portability HPC Exascale GPU

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Towards Effective ASP-based Stream Reasoning: Facilitate the Reasoning over Patterns of Events 24

Towards Effective ASP-based Stream Reasoning: Facilitate the...

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26th international Conference on Principles and Practice of Declarative programming (PPDP)

作者： Laboccetta, Luca Mastria, Elena Calimeri, Francesco Leone, Nicola Perri, Simona Terracina, Giorgio Univ Calabria Arcavacata Di Rende Italy DLVSystem Srl Arcavacata Di Rende Italy

ISBN: (纸本)9798400709692

In the latest years, Stream Reasoning (SR) has become increasingly relevant in various scenarios where it is required to reason over heterogeneous and highly dynamic data streams, typically along with large background knowledge bases, such as Smart Cities, IoT, Healthcare, etc. In this context, several solutions based on Answer Set programming (ASP) have been successfully employed. Nevertheless, real applications showed that it is often needed to deal with events over the timeline generating specific patterns that, in turn, can fire additional events or invalidate others. In this respect, current ASP-based state of the art systems appear not fully satisfactory, both from a modelling point of view and when it comes to usability and performance. In this work, starting from a well-established ASP-based SR solution, namely I-DLV-sr, we: (i) extend the language with means to explicitly define, identify and reason about patterns of events and their consequences, possibly spanning across the timeline;(ii) generalize the system architecture so that it is able to decouple language and implementation support from the choice of a specific ASP system, thus allowing the user to select the one best suited to the specific programming framework for Stream Reasoning. DP-sr is put to the test, showing both the ease in modelling and performance improvements.

关键词： Stream Reasoning Knowledge Representation and Reasoning Answer Set programming

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Human Robot Collaborative Assembly Using Behavior Trees and Dynamic Tree Dispatching 56

Human Robot Collaborative Assembly Using Behavior Trees and ...

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56th international symposium on Robotics, ISR Europe 2023

作者： Behery, Mohamed Deutsch, Jonas Trinh, Minh Kötter, David Brecher, Christian Lakemeyer, Gerhard Knowledge-Based Systems Group RWTH Aachen University Aachen Germany RWTH Aachen University Aachen Germany Laboratory of Machine Tools RWTH Aachen University Aachen Germany

ISBN: (纸本)9783800761418

Modern industrial assembly scenarios require a lot of flexibility to cope with changing supply and demand as well as requirements for product variants. However, since the introduction of robotics into these scenarios, robot programming and monitoring have become an overhead when adapting production lines to these requirements. Additionally, the collaboration between humans and robots in these scenarios increases safety requirements in addition to throughput and performance requirements. This further increases the programming and reprogramming overhead needed with the above requirements, a burden on small and medium-sized enterprises which often lack programming and robotics experience. To reduce this overhead, this paper presents an extension to Behaviour Trees (BTs) that allows programming human-robot collaborative tasks. We combine the BTs with PDDL action models and a CLIPS-based dispatcher to model the human tasks in the process and reduce idling time by allowing the human and the robot to alternate tasks instead of waiting. Using BTs reduces the programming effort through modularity, code reuse, and drag-and-drop programming. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Behavior Trees Human-Robot Collaborative Assembly Robot programming

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Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques 19th

Hierarchy Control of Dual-Arm Concentric Tube Continuum Robo...

引用

international symposium on Advances in Robot Kinematics (ARK)

作者： Alsaka, Tarek Cinquin, Philippe Chikhaoui, M. Taha Univ Grenoble Alpes CNRS UMR 5525 VetAgro SupGrenoble INPTIMC F-38000 Grenoble France

ISBN: (纸本)9783031643798;9783031640575;9783031640568

Robot-assisted Single Port (SP) surgical systems have become popular in laparoscopy, consisting of multiple flexible instruments and an endoscope emerging through a single cannula. This innovative approach presents several challenges related to a smaller workspace and visual field of view. Previous works on Dual-Arm Concentric Tube Continuum Robots (DACTCR) aimed to enhance SP systems by increasing autonomy in a specific surgical subtask, thus simplifying procedures and reducing the surgeon's workload. This paper extends beyond state-of-the-art methods, particularly the utilization of the relative Jacobian and null-space projection for cooperation control. The main contributions of this paper in simulation involve the incorporation of an actuation limit avoidance solution as an additional block to the DACTCR control system and the evaluation of different promising redundancy resolution techniques like saturation in the null-space and null-space projection, both formulated as constrained quadratic programming problems.

关键词： Quadratic programming

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Fast Trend Extraction of Industrial Process Data Based on Deep Bidirectional LSTM 12

Fast Trend Extraction of Industrial Process Data Based on De...

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12th IFAC symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Liu, Ju Wang, Yibo Zhou, Yifan Shang, Chao Huang, Dexian Tsinghua Univ Dept Automat Beijing 100084 Peoples R China Luoyang Elect Equipment Test Ctr Luoyang 471000 Peoples R China

Data trend extraction plays a crucial role in process modeling, monitoring and fault diagnosis tasks in process industries. As industrial processes are becoming increasingly complex, there is a critical need for real-time and fast trend extraction algorithms. The current strategies such as dynamic programming (DP) are computationally expensive when applied to industrial practice. To address this, we propose an end-to-end learning approach to achieve fast trend extraction, which contains offline neural network training and online inference. In the offline stage, we first uses the existing method based on DP to extract data trends and then construct a training dataset. Based on this, a deep bidirectional long short-term memory (BiLSTM) network is trained to learn the mapping from original data to the underlying trend, where a novel regularizer tailored to trend extraction is proposed to enhance the smoothness of network outputs. In the online stage, we apply the trained neural network to achieve thrift albeit approximated trend extraction. The effectiveness of the proposed method in accelerating online trend extraction is validated on real-world industrial data with heavy noise. Copyright (c) 2024 The Authors.

关键词： Trend Extraction Industrial Big Data Recurrent Neural Network Dynamic programming

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HPPython: Extending Python with HPspmd for Data Parallel programming 2

HPPython: Extending Python with HPspmd for Data Parallel Pro...

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2nd international symposium on Computing and Artificial Intelligence, ISCAI 2023

作者： Nava, Judah Josiah Lee, Jaden Jinu Lee, Hanku Computer Science and Information Systems Department University Moorhead MN United States

ISBN: (纸本)9798400708954

In light of previous endeavors and trends in the realm of parallel programming, HPPython emerges as an essential superset that enhances the accessibility of parallel programming for developers, facilitating scalability across multiple nodes. Despite Python's popularity as a programming language in scientific and engineering applications and its native support for executing various processes, HPPython brings substantial simplification to the development of parallel programs and empowers program distribution across heterogeneous clusters consisting of multiple physical computers. HPPython leverages the MPI standard for its underlying communication, thereby harnessing the benefits of the SPMD model. Additionally, HPPython introduces novel syntax and constructs, such as parallel loops and distributed lists, while endeavoring to retain the natural essence of the original language. This paper delves into the distinct components of HPPython and elucidates their integration, establishing HPPython as a viable solution for parallel programming in today's data-driven world. © 2023 ACM.

关键词： Parallel programming

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Parallel Assembly Synthesis 34th

Parallel Assembly Synthesis

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34th international symposium on Logic-Based Program Synthesis and Transformation (LOPSTR)

作者： Hu, Jingmei Chong, Stephen Seltzer, Margo Harvard Univ Cambridge MA 02138 USA Univ British Columbia Vancouver BC Canada

ISBN: (纸本)9783031712937;9783031712944

Program synthesis offers an attractive alternative to the intricate and tedious process of writing assembly programs manually. Assembly program synthesis automatically generates implementations, given a high-level formal specification and a machine description. However, its limited scalability prevents widespread adoption. Automatic parallelization improves program synthesis in general, but parallelizing assembly synthesis is nontrivial as the realities that data are untyped and all state is global lead to an enormous search space and prevent straightforward decomposition into separable sub-problems that can be run in parallel. We present PASSES, a Parallel Assembly Synthesis System Exploiting Subspaces. PASSES uses five heuristics to transform an original assembly synthesis problem into a set of sub-problems;it runs multiple synthesis sub-problems in parallel and constructs the final result by combining them. We evaluate PASSES on 26 general bit manipulation assembly programming problems and 140 machine-dependent use cases from two operating systems. Compared to an existing assembly synthesis tool and a state-of-the-art parallel SMT solver, all five heuristics in PASSES significantly improve assembly synthesis scalability.

关键词： program synthesis assembly programming parallel computing

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Proceedings - 2024 IEEE 29th Pacific Rim international symposium on Dependable Computing, PRDC 2024

Proceedings - 2024 IEEE 29th Pacific Rim International Sympo...

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29th IEEE Pacific Rim international symposium on Dependable Computing, PRDC 2024

ISBN: (纸本)9798331540746

The proceedings contain 32 papers. The topics discussed include: empirical study on request timeout and retry for microservices communication;rl-based approach to enhance reliability and efficiency in autoscaling for heterogeneous edge serverless computing environments;robustness of redundancy-hardened convolutional neural networks against adversarial attacks;bridging gaps between scenario-based safety analysis and simulation-based testing for autonomous driving systems;sequential programming for distributed algorithm verification;selecting nodes to protect in interdependent networks using Shapley value analysis;smart building control system emulation platform for security testing;and construction of VDM++ specifications from extended screen transition diagrams for validation of microservice-based web applications.

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