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A Generalized Robot Navigation Analysis Platform (RoNAP) with Visual Results Using Multiple Navigation algorithms

SENSORS 2022年第23期22卷 9036-9036页

作者： Cheng, Chuanxin Duan, Shuang He, Haidong Li, Xinlin Chen, Yiyang Soochow Univ Sch Mech & Elect Engn Suzhou 215031 Peoples R China Soochow Univ Dept Digital Media Suzhou 215031 Peoples R China

The robotic navigation task is to find a collision-free path among a mass of stationary or migratory obstacles. Various well-established algorithms have been applied to solve navigation tasks. It is necessary to test the performance of designed navigation algorithms in practice. However, it seems an extremely unwise choice to implement them in a real environment directly unless their performance is guaranteed to be acceptable. Otherwise, it takes time to test navigation algorithms because of a long training process, and imperfect performance may cause damage if the robot collides with obstacles. Hence, it is of key significance to develop a mobile robot analysis platform to simulate the real environment which has the ability to replicate the exact application scenario and be operated in a simple manner. This paper introduces a brand new analysis platform named robot navigation analysis platform (RoNAP), which is an open-source platform developed using the Python environment. A user-friendly interface supports its realization for the evaluation of various navigation algorithms. A variety of existing algorithms were able to achieve desired test results on this platform, indicating its feasibility and efficiency for navigation algorithm analysis.

关键词： analysis platform robot navigation algorithm testing

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USVs-Sim: A general simulation platform for unmanned surface vessels autonomous learning

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CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE 2022年第3期34卷

作者： Wang, Wei Zhang, Han Li, Yang Zhang, Zhenyu Luo, Xiangfeng Xie, Shaorong Shanghai Univ Sch Comp Engn & Sci Shanghai 200444 Peoples R China

Unmanned surface vessels (USVs) have been fully used in the civilian and military fields in recent years, which dramatically expands protective capability and detection range. However, the marine environment's complexity and variability make that verification of various advanced USVs control algorithms face high costs and high risks. In this article, we present USVs-Sim, a novel high-fidelity general simulation platform for USVs autonomous navigation data generation and control strategy testing. USVs-Sim is a collection of high-level extensible modules that allows the rapid development and testing of USVs configurations and facilitates the construction of complex ocean scenarios. USVs-Sim supports the steering or thrusting limits of USVs, as well as unique dynamics profiles. The platform can specify specific USVs sensor systems and change the time of day and weather conditions to generate robust data. USVs-Sim facilitates training of deep-learning algorithms by enabling data export from USVs sensors, including vision data, lidar, relative positions of ocean targets. Therefore, USVs-Sim allows for the rapid prototyping, development, and testing of USVs autonomous control algorithms in a complex marine environment. In this article, we detail the general simulation platform and testing several representative USVs intelligent control algorithms on the platform.

关键词： algorithm testing complex ocean scenarios data generation sensors simulation platform unmanned surface vessel

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Assessing text mining algorithm outcomes

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JOURNAL OF BUSINESS ANALYTICS 2020年第2期3卷 107-121页

作者： Ashton, Triss Evangelopoulos, Nicholas Paswan, Audhesh Prybutok, Victor R. Pavur, Robert Tarleton State Univ Dept Management Stephenville TX 76402 USA Univ North Texas Denton TX 76203 USA

There is a surge in the development of decision-oriented analysis tools intended to extract actionable information from text. These tools integrate various text-mining methods that were performance tested in a manner that was often biased toward the new system. Those tests primarily utilised descriptive measurement criteria and test datasets that are inconsistent with most business corpora. We propose and test a user-oriented judgment approach that allows testing under controlled customer-oriented corpora and generates effect size measures. To illustrate the approach, customer relations data was analysed by latent semantic analysis and latent Dirichlet analysis with results evaluated by prospective business analysts. Reporting includes comparisons of results with published literature. While the research centres on the context-region text-mining systems, literature comparisons include word-embedding methods. The analysis concludes that none of the systems reviewed possess a repeatable statistical advantage over the others. Instead, distribution attributes, algorithm configuration, and the evaluation task drive results.

关键词： Text mining algorithm testing model development latent semantic analysis latent Dirichlet allocation

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Vehicle localization using laser scanner 7

Vehicle localization using laser scanner

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7th IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace)

作者： Szaj, Wieslaw Pieniazek, Jacek Rzeszow Univ Technol Fac Math & Appl Phys Dept Phys & Med Engn Rzeszow Poland Rzeszow Univ Technol Fac Mech Engn & Aeronaut Dept Avion & Control Rzeszow Poland

ISBN: (数字)9781728166360

ISBN: (纸本)9781728166360

The laser scanner gives the data which makes possible to localize moving vehicles in the environment. Concept of algorithms and its tests by simulation and using real time data are are main subjects of the paper. Although there are many algorithms in this application huge amount of data and iterative operation requires high computing power. The presentation is concerned on searching a methods to decrease number of iterations necessary to find vehicle position and direction of its body in the reference to surroundings. The scan to scan analysis results in estimation or rotation velocity and angle. This method is proposed as initialization stage of ICP or feature points method. The reduction of the computation time is proved by experiments.

关键词： laser scanner localization algorithm testing

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A performance evaluation framework for building fault detection and diagnosis algorithms

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ENERGY AND BUILDINGS 2019年 192卷 84-92页

作者： Frank, Stephen Lin, Guanjing Jjn, Xin Singla, Rupam Farthing, Amanda Granderson, Jessica Natl Renewable Energy Lab Golden CO 80401 USA Lawrence Berkeley Natl Lab Berkeley CA USA TRC Oakland CA USA Univ Michigan Ann Arbor MI 48109 USA

Fault detection and diagnosis (FDD) algorithms for building systems and equipment represent one of the most active areas of research and commercial product development in the buildings industry. However, far more effort has gone into developing these algorithms than into assessing their performance. As a result, considerable uncertainties remain regarding the accuracy and effectiveness of both research-grade FDD algorithms and commercial products a state of affairs that has hindered the broad adoption of FDD tools. This article presents a general, systematic framework for evaluating the performance of FDD algorithms. The article focuses on understanding the possible answers to two key questions: in the context of FDD algorithm evaluation, what defines a fault and what defines an evaluation input sample? The answers to these questions, together with appropriate performance metrics, may be used to fully specify evaluation procedures for FDD algorithms. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Fault detection and diagnosis Performance evaluation algorithm testing Benchmarking Building systems Building energy performance

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Building fault detection and diagnostics: Achieved savings, and methods to evaluate algorithm performance

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BUILDING AND ENVIRONMENT 2020年 168卷 106505-000页

作者： Lin, Guanjing Kramer, Hannah Granderson, Jessica Lawrence Berkeley Natl Lab Bldg Technol & Urban Syst Div 1 Cyclotron RdMS 90R3111 Berkeley CA 94720 USA

Fault detection and diagnosis (FDD) represents one of the most active areas of research and commercial product development in the buildings industry. This paper addresses two questions concerning FDD implementation and advancement 1) What are today's users of FDD saving and spending on the technology? 2) What methods and datasets can be used to evaluate and benchmark FDD algorithm performance? Relevant to the first question, 26 organizations that use FDD across a total 550 buildings and 97 M sf achieved median savings of 8%. Twentyseven FDD users reported that the median base cost for FDD software, annual recurring software cost, and annual labor cost were $8, $2.7 and $8 per monitoring point, with a median implementation size of approximately 1300 points. To address the second question, this paper describes a systematic methodology for evaluating the performance of FDD algorithms, curates an initial test dataset of air handling unit (AHU) system faults, and completes a trial to demonstrate the evaluation process on three sample FDD algorithms. The work provided a first step toward a standard evaluation of different FDD technologies. It showed the test methodology is indeed scalable and repeatable, provided an understanding of the types of insights that can be gained from algorithm performance testing, and highlighted the priorities for further expanding the test dataset.

关键词： Fault detection and diagnostics Energy efficiency Savings and costs Performance evaluation algorithm testing Data

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algorithm Inspection for Chatbot Performance Evaluation

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Procedia Computer Science 2020年 171卷 2267-2274页

作者： Vijayaraghavan V. Jack Brian Cooper Rian Leevinson J. Infosys Limited India

With the usage of Chatbots growing at an unprecedented rate, it is imperative that they are thoroughly tested, verified and validated. This is done to ensure that Chatbots do not fail during operation. Chatbot failures are undesirable and they often occur when the bot is provided with ambiguous or illegible input. The Chatbots have to be thoroughly tested to ensure that they do not fail under any circumstance and have mechanisms to deal with such scenarios. Although various methods are in use to test Chatbots, algorithm testing is a promising solution to the problem. This involves the use of techniques such as cross-validation, grammar and parsing, verification and validation and statistical parsing. This paper aims to explore the prominent types of chatbot testing methods with detailed emphasis on algorithm testing techniques.

关键词： Chatbot testing algorithm testing NLP ambiguity verification validation machine learning

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A Novel testing Method for Narrowband Synthetic Aperture Radar (SAR) Imaging algorithm 4

A Novel Testing Method for Narrowband Synthetic Aperture Rad...

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4th International Conference on Dependable Systems and Their Applications (DSA)

作者： Zeng, Letian Yang, Chunhui Zhao, Yuelong Chen, Pin Wang, Qiang CEPREI Software Qual Engn Res Ctr Guangzhou Guangdong Peoples R China South China Univ Technol Sch Comp & Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781538636909

Imaging algorithms are the key factors of the performances of the synthetic aperture radar (SAR) imaging. Most existing methods usually need to utilize field environment and data, which dramatically reduces the effectiveness of the software testing. This paper presents a novel testing method for narrow-band SAR imaging algorithms, which is consisted of four parts: system parameter verification, echo data simulation, algorithm simulation and real data verification, evaluations of imaging results. This scheme has fully validated the correctness and feasibility of imaging algorithms. Also, this approach greatly improves the validity of the testing work. Finally, the correctness and effectiveness of the proposed method are verified by simulation experiments and real data results.

关键词： Synthetic aperture radar (SAR) imaging algorithm testing echo data simulation algorithm simulation and real data verification evaluations of imaging results

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Simulator for testing algorithms for Estimation of Parameters of Power System 41

Simulator for Testing Algorithms for Estimation of Parameter...

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41st International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO)

作者： Alispahic, Mirza Vila, Muhamed Aksamovic, Abdulah Univ Sarajevo Fac Elect Engn Sarajevo Bosnia & Herceg

ISBN: (纸本)9789532330953

In the paper, realized simulator for testing parameters estimation of the power system was described. Simulator allows definition of the test conditions like amplitude and phase, activity of decreasing direct component, variation of number of samples, variation of harmonic components, and change of frequency of the basic harmonic. The test criterion takes the error of the estimated value in relation to the default value and then time of convergence of the estimated value. As an illustration of algorithm functioning, the time format of the input signal and the timing response of the estimated amplitude and phase of signals are shown. In the simulator, algorithms for amplitude and phase estimation are implemented. For amplitude estimation, algorithms that were implemented: algorithm based on the Fourier bandwidth filter and algorithm based on the least squares method. For phase estimation, algorithms that were implemented: zero crossing algorithm and algorithm based on the Fourier bandwidth filter. All of the implemented algorithms are described and given with their mathematical models. Simulator was made in Matlab and can be expanded with addition of the noise, implementation of other algorithms, development and testing of new algorithms. For the demonstration of the usability of the simulator, results that were obtained by testing are shown.

关键词： simulator amplitude phase parameters estimation of power system algorithm testing

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A Real-Time Co-simulation Platform for Distribution Grid Voltage Control

A Real-Time Co-simulation Platform for Distribution Grid Vol...

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Australasian Universities Power Engineering Conference (AUPEC)

作者： Krata, Jaroslaw Univ Queensland Sch Informat Technol & Elect Engn Brisbane Qld Australia

ISBN: (纸本)9781538626474

The study aims to develop a real-time co-simulation testing platform for power system studies and provides an example application of a model-driven voltage controller in a distribution grid equipped with medium scale Photovoltaic (PV) generation. The platform consists of the Real-Time Digital Simulator (RTDS) connected by the TCP/IP protocol to MATLAB software. The RTDS device simulates dynamic behaviour of a real grid with 3.15MWp of PV generation while the MATLAB environment is used for fast prototyping and execution of a control algorithm. Furthermore, a novel voltage control method is applied to counteract voltage variations caused by fluctuation of PV generation. The novel method relies on predictions of the grid behaviour and chooses coordinated control strategies to satisfy regulation criteria. In result, the developed co-simulator allows demonstrating that it is possible to predict grid conditions in real-time and to apply a modern controller which makes use of computation power available in contemporary desktop computers.

关键词： algorithm testing co-simulation MATLAB real-time RTDS voltage grid control

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