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检索条件"主题词=Software Algorithms"

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Time-varying Formation Control for Multiple Omni-WMRs Based on ROS

Time-varying Formation Control for Multiple Omni-WMRs Based ...

引用

Chinese Automation Congress (CAC)

作者： Dengguo Luo Kaibin Su Jun Zhao Huimin Zeng Artificial Intelligence Key Laboratory of Sichuan Province School of Automation and Information Engincering Sichuan University of Science and Engineering Yibin China School of Automation and Information Engincering Sichuan University of Science and Engineering Yibin China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

The present study introduces a time-varying formation control algorithm designed for multiple omni-directional mobile robots (Omni-WMRs). The algorithm employs a leader-follower strategy, which tackles the challenge of time-varying consistency in multi-robot formation control within complex environments by devising a communication topology and an error control method that ensure consistency. To validate this algorithm, a multi-robot experimental platform based on ROS was designed and constructed, utilizing its modularity and scalability to facilitate dynamic adjustments and efficient cooperation within the multi-robot system. Experimental results show that the control algorithm and experimental platform can achieve precise target trajectory tracking and flexible formation control in complex environments, maintaining consistency errors within acceptable ranges, and demonstrating efficiency and stability in practical applications.

关键词： Trajectory tracking Heuristic algorithms software algorithms Formation control Stability analysis software Topology Multi-robot systems Mobile robots Time-varying systems

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Metamorphic relationship generation based on Faure Sequence Initialized Slime Mould Algorithm

Metamorphic relationship generation based on Faure Sequence ...

引用

International Conference on Electronics Information and Emergency Communication

作者： Tingzhi Hong Leiyan Qian Jiayi Fang Tongshuai Wang Zhicheng Zhu Xin Qin Wei Nai Zan Yang School of Electronic Information Huzhou College Huzhou China Huzhou Key Laboratory for Urban Multidimensional Perception and Intelligent Computing Huzhou China Pablic Teaching and Research Department Huzhou College Huzhou China

ISBN: (数字)9798350361896

ISBN: (纸本)9798350361902

Metamorphic relationship is an extremely important software testing method in the field of software engineering, and after years of research by scholars, a relatively complete system has been formed. However, the objective function of the metamorphic relationship generation algorithm is essentially a non-differentiable L1 norm, which means that the algorithm can finally be transformed into a non-smooth optimization problem. If traditional gradient dependent methods like gradient descent (GD) or stochastic gradient descent (SGD) are used, the objective function cannot be solved. The coordinate descent (CD) or sub-gradient descent (SubGD) methods usually used to solve the objective function are prone to falling into the trap of local minima, making it difficult to find the global optimal solution. Therefore, it is necessary to find a derivative-free optimization method to solve the objective function of metamorphic relationship generation algorithm. In this paper, a novel slime mold algorithm (SMA), which is called the Faure sequence initialized SMA (FSSMA) has been proposed for global optimization of the objective function. FSSMA can effectively overcome the shortcomings of CD and SubGD methods. Through numerical experiments, the effectiveness and computational efficiency of FSSMA have been demonstrated.

关键词： software testing Search methods software algorithms Optimization methods Linear programming Computational efficiency software engineering

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The segmentation algorithm of improvement a two-dimensional Otsu and application research

The segmentation algorithm of improvement a two-dimensional ...

引用

International Conference on software Technology and Engineering (ICSTE)

作者： Changhua Lu Ping Zhu Yong Cao School of Computer and Information Hefei University of Technology Hefei China

ISBN: (纸本)9781424486670

Thresholding is an efficient technique for image segmentation. Otsu is frequently used in digital image processing. Two-dimensional Otsu threshold algorithm has been proposed based on Otsu algorithm. This paper gives an improved two-dimensional Otsu segmentation method which changes the coordinate system of the two-dimensional histogram to strengthen resistance to noise and improve the computing speed. Experimental results show that the method is superior to the traditional one-dimensional and two-dimensional Otsu segmentation, and can be used to Tube-type bottle line machine vision inspection.

关键词： Image segmentation Object segmentation Histograms software algorithms Gaussian noise Pixel

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An Efficient Optimal Path Finding for Mobile Robot Based on Dijkstra Method

An Efficient Optimal Path Finding for Mobile Robot Based on ...

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Scientific International Conference on Najaf (SICN)

作者： Ali Alyasin Eyad I. Abbas Sundus D. Hasan Directorate of Najaf Education Ministry of Education Al-Najaf Iraq Dept. of Electrical Engineerin University of Technology Baghdad Iraq

ISBN: (数字)9781728144252

ISBN: (纸本)9781728144269

This paper introduces a smart mobile robot for tracking an optimal path road network. The development of smart mobile robots became more useful and an efficient in a wide range of areas. Therefore, the proposed system was designed by using a microcontroller type Raspberry Pi 3 with associate the Python language and implemented on the a known road networks based on Dijkstra's algorithm to choosing the best path to reach the target by the smart mobile robot. The Dijkstra's algorithm has putted a solution for shortest length between two nodes in the graphic search. The experimental results were taken from the gradient training by Dijkstra's algorithm for obtain path set out. These results appeared a high accuracy to select the shortest path for robot moving. The mobile robot closed path for reach to the target in the shortest possible time and minimum weight and less expensive.

关键词： Mobile robots Roads Microcontrollers Path planning Shortest path problem software algorithms

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Study on missile-borne SAR imaging quality assessment based on global features

Study on missile-borne SAR imaging quality assessment based ...

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Computer Graphics, Image and Virtualization (ICCGIV), International Conference on

作者： Shunyu Yao Gang Lei Zeyu Ren Xi’an Electronic Engineering Research Institute Xi’an China

Synthetic aperture radar (SAR) image quality assessment can provide a measure of the strengths and weaknesses of SAR imaging algorithms, which provides an important reference for the selection of SAR imaging algorithms and how to improve SAR image quality. In this paper, some commonly used SAR image quality indicators based on global features are firstly selected, followed by the introduction of texture feature-based quality indicators and image gradient- based quality indicators to enrich the SAR image quality indicators based on global features, and then these indicators are used to comprehensively assess the quality of SAR images obtained from the same measured data processed by two different missile-borne SAR imaging algorithms. This paper also investigates the problem of how to improve SAR image quality by using the phase gradient autofocus algorithm (PGA) to improve a missile-borne SAR imaging algorithm and investigates the effect of the PGA algorithm on the focus quality of missile-borne SAR images using the image quality assessment indicators proposed in this paper. The simulation results show that the selected SAR image quality assessment indicators can accurately and comprehensively assess the image quality obtained by the missile- borne SAR imaging algorithm, and the PGA algorithm is an effective method to improve the quality of missile-borne SAR images.

关键词： Image quality Phase measurement Simulation software algorithms Radar polarimetry software Quality assessment

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Mobile Aircraft Landing Stair Scheduling

Mobile Aircraft Landing Stair Scheduling

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International Conference on Industrial Engineering and Systems Management (IESM)

作者： Ming Liu Zhongzheng Liu School of Economics & Management Tongji University Shanghai China

A mobile aircraft landing stair scheduling system is an important component of many intelligent airport transportation systems. We present a mobile aircraft landing stair scheduling problem, which is boarding and disembarking of aircraft passengers under the certainty of arrival time and departure time. The goal of this problem is to scheduling a set of mobile aircraft landing stairs for arrival and departure flights with an objective of minimizing total travel distance, satisfying some constraints, such as time windows and matching between aircraft sizes and mobile aircraft landing stair numbers. The main intent of this paper is to deal with challenging mobile aircraft landing stair scheduling scenarios. This mobile aircraft landing stair scheduling problem is related to the vehicle routing problem (VRP). In this problem, differing from the classic VRP, it is necessary to consider not only the impact of different aircraft scheduling on the time windows, but also the number of mobile aircraft landing stairs required by different aircraft types. A model based on VRP to minimize the total travel distance of mobile aircraft landing stair for vehicle routing problem considering time windows and aircraft sizes (VRPTW-AS) is proposed. Then CPLEX software is called to obtain optimal solution for this problem. An ant colony algorithm is developed to solve this mobile aircraft landing stair scheduling problem.

关键词： Aircraft Stairs Scheduling Atmospheric modeling Airports Bridges software algorithms

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Towards an Automatic Framework for Solving Optimization Problems with Quantum Computers

Towards an Automatic Framework for Solving Optimization Prob...

引用

Quantum software (QSW), IEEE International Conference on

作者： Deborah Volpe Nils Quetschlich Mariagrazia Graziano Giovanna Turvani Robert Wille Department of Electronics and Telecommunications Politecnico di Torino Italy Chair for Design Automation Technical University of Munich Germany Department of Applied Science and Technology Politecnico di Torino Italy Software Competence Center Hagenberg GmbH (SCCH) Austria

ISBN: (数字)9798350368475

ISBN: (纸本)9798350368482

Optimizing objective functions stands to benefit significantly from leveraging quantum computers, promising enhanced solution quality across various application domains in the future. However, harnessing the potential of quantum solvers necessitates formulating problems according to the Quadratic Unconstrained Binary Optimization (QUBO) model, demanding significant expertise in quantum computation and QUBO formulations. This expertise barrier limits access to quantum solutions. Fortunately, automating the conversion of conventional optimization problems into QUBO formulations presents a solution for promoting accessibility to quantum solvers. This article addresses the unmet need for a comprehensive automatic framework to assist users in utilizing quantum solvers for optimization tasks while preserving interfaces that closely resemble conventional optimization practices. The framework prompts users to specify variables, optimization criteria, as well as validity constraints and, afterwards, allows them to choose the desired solver. Subsequently, it automatically transforms the problem description into a format compatible with the chosen solver and provides the resulting solution. Additionally, the framework offers instruments for analyzing solution validity and quality. Comparative analysis against existing libraries and tools in the literature highlights the comprehensive nature of the proposed framework. Two use cases (the knapsack problem and linear regression) are considered to show the completeness and efficiency of the framework in real-world applications. Finally, the proposed framework represents a significant advancement towards automating quantum computing solutions and widening access to quantum optimization for a broader range of users. The framework is publicly available on GitHub (https://***/cda-tum/mqt-qao) as part of the Munich Quantum Toolkit (MQT).

关键词： Computers Quantum computing Automation Linear regression software algorithms Transforms Quantum annealing

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A Deep Learning Model via Long Short Term Memory for Voltage Sag Location in Sparsely Monitored System

A Deep Learning Model via Long Short Term Memory for Voltage...

引用

Chinese Automation Congress (CAC)

作者： Yaping Deng Hao Jia Shaojie Lin Xiangqian Tong Xiaohui Zhang Lu Wang School of Electrical Engineering Xi’an University of Technology Xi’an China School of Automation and Information Xi’an University of Technology Xi’an China School of Electrical Engineering University of Waterloo Waterloo Canada

Voltage sag has already been recognized as a critical power quality issue in power system. In fact, not only economic loss but also social impact has been produced due to voltage sag. And hence, voltage sag location is of great importance to taking effective measures, evaluating power quality level, dividing responsibility and constructing harmonious power supply and consumption environment. And hence, a deep learning method via Long Short Term Memory for voltage sag location in power system, which is sparsely monitored is presented. In detail, for the presented model, the input is measured voltage through limited sensors in a sparsely monitored power system, and meanwhile, the output is the detailed line in the whole network. In this study, the data is collected via Matlab software and the algorithm is conducted through TensorFlow tool. The test results through IEEE 30-bus system illustrate that the accuracy of voltage sag location can be achieved with high accuracy.

关键词： Deep learning Voltage measurement Power measurement Voltage fluctuations Power quality software algorithms Mathematical models

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Improvements On Bicubic Image Interpolation

Improvements On Bicubic Image Interpolation

引用

IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)

作者： Yingmin Li Feifei Qi Yi Wan School of Information Science & Engineering Lanzhou University

Bicubic algorithm has the advantages of more accurate image magnification and faster processing speed. Nowadays, bicubic amplification technology is adopted in many image processing software, such as Adobe, printer driver, etc. In this paper, an improved bicubic interpolation algorithm is proposed. Unlike the traditional algorithm, which sets the key parameter a to - 0.5 in order to guarantee Taylor's third order approximation, we remove such requirement because this value is only applicable to the interpolation of flat area while the change of image pixel value is often irregular By directly optimizing the mean square deviation of the image, we obtain the higher-order optimization function. At the same time, a new variable is introduced to replace the a 2 term of the optimization function, so that the higher-order optimization problem can be transformed into the least squares problem. Experiments show that the optimized parameters have better reconstruction effect, and the acquisition of the optimized parameters is directly related to the magnification of the image, and the image itself has little influence.

关键词： Interpolation Kernel Optimization Image reconstruction software algorithms Approximation algorithms Image resolution

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An Algorithm for Calculating Access Time Windows of Spot Targets Based on Space Geometry Model

An Algorithm for Calculating Access Time Windows of Spot Tar...

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International Conference on Communication Systems and Network Technologies (CSNT)

作者： Xiao-Dong Liu Ying-Wu Chen Ren-Jie He Ju-Fang Li Department of Management National University of Defense Technology Changsha China

STK software is usually used to calculate access time windows for observing spot targets in aerospace, but it's difficult to develop some applications based on STK. In this paper, we present a novel algorithm for calculating roll angles and access time windows of spot targets based on space geometry model. The algorithm can quickly check the visibility of spot targets, and get roll angles and access time windows if they are visible. Experimental results show that the algorithm is effective.

关键词： Satellites Earth Orbits Remote sensing software algorithms software Target tracking

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