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CURE: Simulation-Augmented Autotuning in Robotics

IEEE TRANSACTIONS ON ROBOTICS 2025年 41卷 2825-2842页

作者： Hossen, Md Abir Kharade, Sonam O'Kane, Jason M. Schmerl, Bradley Garlan, David Jamshidi, Pooyan Univ South Carolina Columbia SC 29208 USA Texas A&M Univ College Stn TX 77840 USA Carnegie Mellon Univ Pittsburgh PA 15213 USA

Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a component, its associated configuration options must be set to the appropriate values. Configuration options across the system stack interact nontrivially. Finding optimal configurations for highly configurable robots to achieve desired performance poses a significant challenge due to the interactions between configuration options across software and hardware that result in an exponentially large and complex configuration space. These challenges are further compounded by the need for transferability between different environments and robotic platforms. Data efficient optimization algorithms (e.g., Bayesian optimization) have been increasingly employed to automate the tuning of configurable parameters in cyber-physical systems. However, such optimization algorithms converge at later stages, often after exhausting the allocated budget (e.g., optimization steps, allotted time) and lacking transferability. This article proposes causal understanding and remediation for enhancing robot performance (CURE)-a method that identifies causally relevant configuration options, enabling the optimization process to operate in a reduced search space, thereby enabling faster optimization of robot performance. CURE abstracts the causal relationships between various configuration options and the robot performance objectives by learning a causal model in the source (a low-cost environment such as the Gazebo simulator) and applying the learned knowledge to perform optimization in the target (e.g., Turtlebot 3 physical robot). We demonstrate the effectiveness and transferability of CURE by conducting experiments that involve varying degrees of deployment changes in both physical robots and simulation.

关键词： Robots Optimization Transfer learning Robot sensing systems Navigation Safety Computer bugs Bayes methods Tuning software algorithms Causal inference optimization robot testing robotics and cyber-physical systems

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UWB Transparent Metamaterial Absorber With Optimally Patterned Gold Nanolayer

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IEEE TRANSACTIONS ON MICROWAVE THEORY AND TECHNIQUES 2025年第4期73卷 2414-2424页

作者： Soghi, Sahar Heidar, Hamid Haraty, Mohammad Reza Nayyeri, Vahid Malek Ashtar Univ Technol Fac Elect & Comp Engn Tehran 177415875 Iran Iran Univ Sci & Technol Sch Adv Technol Tehran *** Iran

A novel thin, optically transparent microwave metamaterial absorber (TMMA) is presented. The proposed structure utilizes a 3-mm-thick polycarbonate (PC) main substrate coated on both sides with 8-nm-thick gold thin films deposited via thermal evaporation. To achieve maximum absorption bandwidth, polarization insensitivity, and angular stability, the unit cell of the TMMA is optimized through a pixelation and binary optimization technique. This process results in an optimal pattern of gold nanolayer on the upper surface of the substrate. The resulting periodic pattern is transferred using optical lithography. The bottom gold film acts as the electrical ground plane. An additional 3-mm-thick PC superstrate is then incorporated to improve impedance matching and protect the coating of the main substrate. Comprehensive full-wave electromagnetic simulations are employed to assess the absorption performance. The design is subsequently validated through sample fabrication and experimental measurements. The proposed TMMA exhibits over 90% absorption within an ultrawideband (UWB) range of 5.1-25.2 GHz while maintaining an average optical transparency of approximately 70%. The symmetrical design additionally offers wide angular stability and minimal polarization sensitivity.

关键词： Gold Optimization Substrates Absorption Microwave theory and techniques Surface impedance Optical films software algorithms Optical surface waves Optical polarization Binary particle swarm optimization (BPSO) gold deposition metamaterial absorber (MMA) optically transparent pattern optimization pixelation wideband absorber

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First-Person View Interfaces for Teleoperation of Aerial Swarms

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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年第5期10卷 4476-4483页

作者： Jarvis, Benjamin Toumieh, Charbel Floreano, Dario Ecole Polytech Fed Lausanne Lab Intelligent Syst CH-1015 Lausanne Switzerland

Aerial swarms can substantially improve the effectiveness of drones in applications such as inspection, monitoring, and search for rescue. This is especially true when those swarms are made of several individual drones that use local sensing and coordination rules to achieve collective motion. Despite recent progress in swarm autonomy, human control and decision-making are still critical for missions where lives are at risk or human cognitive skills are required. However, first-person-view (FPV) teleoperation systems require one or more human operators per drone, limiting the scalability of these systems to swarms. This work investigates the performance, preference, and behaviour of pilots using different FPV interfaces for teleoperation of aerial swarms. Interfaces with single and multiple perspectives were experimentally studied with humans piloting a simulated aerial swarm through an obstacle course. Participants were found to prefer and perform better with views from the back of the swarm, while views from the front caused users to fly faster but resulted in more crashes. Presenting users with multiple views at once resulted in a slower completion time, and users were found to focus on the largest view, regardless of its perspective within the swarm.

关键词： Drones Visualization Feeds Forestry Computer crashes Trajectory Surveys software algorithms Real-time systems Navigation Swarm robotics telerobotics user interfaces

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L1Topo: The Level-1 Topological Processor for ATLAS Phase-I Upgrade and Its Firmware Evolution for Use Within the Phase-II Global Trigger

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IEEE TRANSACTIONS ON NUCLEAR SCIENCE 2025年第3期72卷 392-399页

作者： Filimonov, Viacheslav Johannes Gutenberg Univ Mainz Inst Phys D-55128 Mainz Germany

The increased instantaneous luminosity of the Large Hadron Collider (LHC) in Run 3 brings the need for the upgrade of the A Toroidal LHC Apparatus (ATLAS) trigger system. The newly commissioned Phase-I L1Topo system, which replaces its Phase-0 predecessor, processes data from the feature extractors (FEXes) and the upgraded muon to central trigger processor interface (MUCTPI) to perform topological and multiplicity triggers. The L1Topo system consists of three ATCA modules, each hosting two processor field programmable gate arrays (FPGAs) (Xilinx Ultrascale+9P). The L1Topo firmware is composed of a large number of sort/select, decision, and multiplicity algorithms, that are automatically assembled and configured based on the provided trigger menu. For the high-luminosity LHC (HL-LHC), the Phase-I L1Topo system will be replaced by a Global Trigger, a time-multiplexed system, which concentrates the data of a full event into a single FPGA. In order to match the new operational environment, the fully synchronous, very low latency (new data arriving every 25 ns), parallel implementation [similar to 2.5M look-up tables (LUTs)] of the Phase-I topological firmware is being adapted to a significantly higher latency budget (new data arriving every 1.2 mu s) and a substantially tighter resource budget (similar to 100k LUTs). The main challenge is to allow for multiple working points of the utilized resources and latency for each algorithm. A detailed overview of the Phase-I L1Topo hardware and firmware is provided. Preliminary performance results achieved by the Phase-I L1Topo together with a description of the challenges found during the commissioning process are included. Phase-II-related firmware adaptations are also discussed.

关键词： Microprogramming Field programmable gate arrays Hardware Optical fibers Detectors software algorithms Mesons A Toroidal LHC Apparatus (ATLAS) field programmable gate array (FPGA) Large Hadron Collider (LHC) topological trigger

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A Computer Search of New OBZCPs of Lengths up to 49

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2025年第2期61卷 5469-5476页

作者： Kazakov, Peter Liu, Zilong Bulgarian Acad Sci Inst Math & Informat Sofia 1040 Bulgaria Univ Essex Sch Comp Sci & Elect Engn Colchester CO4 3SQ England

In this article, we aim to search for new optimal and suboptimal odd binary Z-complementary pairs (OBZCPs) for lengths up to 49. As an alternative to the celebrated binary Golay complementary pairs, optimal OBZCPs are the best almost-complementary sequence pairs having odd lengths. We introduce a computer search algorithm with time complexity O(2(N)), where N denotes the sequence length and then show optimal results for all 27 <= N <= 33 and N = 37,41,49. For those sequence lengths (i.e., N = 35,39,43,45,47) with no optimal pairs, we show OBZCPs with largest zero-correlation zone widths (i.e., Z-optimal). Finally, based on the Pursley-Sarwate criterion, we present a table of OBZCPs with smallest combined auto-correlation and cross-correlation.

关键词： Correlation Aerospace and electronic systems Zero correlation zone Vectors software algorithms Time complexity software Wireless communication Systematics Spectroscopy Aperiodic correlation Golay complementary pair (GCP) odd-length binary ZCP (OBZCP) Pursley-Sarwate criterion (PSC) Z-complementary pair (ZCP) zero-correlation zone (ZCZ)

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Programmable Real-Time Scheduling of Disaggregated Network Functions: A Theoretical Model

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IEEE TRANSACTIONS ON NETWORK AND SERVICE MANAGEMENT 2025年第1期22卷 485-498页

作者： Levai, Tamas Vass, Balazs Retvari, Gabor Budapest Univ Technol & Econ HUN REN BME Informat Syst Res Grp H-1111 Budapest Hungary Budapest Univ Technol & Econ Dept Math & Comp Sci Hungarian Line HUN REN BME Informat Syst Res Grp H-1111 Budapest Hungary Babes Bolyai Univ Cluj Napoca 400347 Romania

Novel telecommunication systems build on a cloudified architecture running softwarized network services as disaggregated virtual network functions (VNFs) on commercial off-the-shelf (COTS) hardware to improve costs and flexibility. Given the stringent processing deadlines of modern applications, these systems are critically dependent on a closed-loop control algorithm to orchestrate the execution of the disaggregated components. At the moment, however, the formal model for implementing such real-time control loops is mostly missing. In this paper, we introduce a new real-time VNF execution environment that runs entirely on COTS hardware. First, we define a comprehensive formal model that enables us to reason about packet processing delays across disaggregated VNF processing chains analytically. Then we integrate the model into a gradient-optimization control algorithm to provide optimal scheduling for real-time infocommunication services in a programmable way. We present experimental evidence that our model gives a proper delay estimation on a real software switch. We evaluate our control algorithm on multiple representative use cases using a software switch simulator. Our results show the algorithm drives the system to a real-time capable state in just a few control periods even in case of complex services.

关键词： Real-time systems software Switches Delays Hardware Optimal scheduling Pipelines software algorithms Costs Telecommunications Dataflow graph software switch SDN NFV

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Performance Benchmarking With the Austin RCS Benchmark Suite: Beyond empirical verification and validation

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IEEE ANTENNAS AND PROPAGATION MAGAZINE 2025年第2期67卷 95-108页

作者： Maicke, Andrew Kelley, Jon T. Yilmaz, Ali E. Univ Texas Austin Elect & Comp Engn Austin TX 78712 USA Lockheed Martin Aeronaut Ft Worth TX USA Lockheed Martin Aeronaut Palmdale CA USA

The realized performance (error-cost tradeoff) of three computational electromagnetic (CEM) methods, which use parallel algorithms on a supercomputer to predict the radar cross section (RCS) of complex targets, are quantified using the Austin RCS Benchmark Suite. The article demonstrates how modern benchmark suites can be used to evaluate CEM methods empirically and compare their performances objectively. The Austin RCS Benchmark Suite [1], [2] has recently been populated with 20 carefully selected problem sets that span a wide range in six dimensions of computational difficulty [3].

关键词： Radar cross-sections software algorithms Benchmark testing Computational electromagnetics Antennas and propagation Hardware Supercomputers software engineering Computational efficiency Parallel algorithms

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CODEI: Resource-Efficient Task-Driven Codesign of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles

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IEEE TRANSACTIONS ON ROBOTICS 2025年 41卷 2727-2748页

作者： Milojevic, Dejan Zardini, Gioele Elser, Miriam Censi, Andrea Frazzoli, Emilio Swiss Fed Inst Technol Inst Dynam Syst & Control CH-8092 Zurich Switzerland Empa Swiss Fed Labs Mat Sci & Technol Chem Energy Carriers & Vehicle Syst Lab CH-8600 Dubendorf Switzerland MIT Lab Informat & Decis Syst Cambridge MA 02139 USA

This article discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as costs, energy, computational requirements, and weight. We emphasize the interplay between perception and motion planning in decision-making by introducing the concept of occupancy queries to quantify the perception requirements for sampling-based motion planners. Sensor and algorithm performance are evaluated using false negative rate and false positive rate across various factors such as geometric relationships, object properties, sensor resolution, and environmental conditions. By integrating perception requirements with perception performance, an integer linear programming approach is proposed for efficient sensor and algorithm selection and placement. This forms the basis for a codesign optimization that includes the robot body, motion planner, perception pipeline, and computing unit. We refer to this framework for solving the codesign problem of mobile robots as CODEI, short for codesign of embodied intelligence. A case study on developing an autonomous vehicle for urban scenarios provides actionable information for designers, and shows that complex tasks escalate resource demands, with task performance affecting choices of the autonomy stack. The study demonstrates that resource prioritization influences sensor choice: cameras are preferred for cost-effective and lightweight designs, while lidar sensors are chosen for better energy and computational efficiency.

关键词： Robot sensing systems Robots software Hardware Optimization software algorithms Planning Pipelines Mobile robots Decision making Codesign mobile robots sensor selection

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Equalizer Optimization Method Based on Local Multi-Constraint Modeling-Bayesian Optimization With Region Partitioning

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2025年

作者： Li, Xiang-Ru Zhang, Peng Wang, Da-Wei Liu, Jun Sun, Lingling Zhao, Wen-Sheng Hangzhou Dianzi Univ Sch Elect & Informat Sch IC Sci & Engn Innovat Ctr Elect Design Automat Technol Hangzhou 310018 Peoples R China

As an important technology in high-speed systems, equalizer (EQ) is used to mitigate inter-symbol interference (ISI) caused by inconsistent attenuation of high and low frequencies. The difficulty of signal integrity improvement increases the complexity of EQ design, making the existing algorithms inefficient in high-dimensional searching and constraint processing. In this article, a local multi-constraint modeling-Bayesian optimization (BO) with region partitioning is proposed, aiming to provide a general optimization solution for high-dimensional multi-constraint EQs and improve convergence accuracy and efficiency. The constraint filtering mechanism is used to exclude areas that violate simulation-independent constraints. Local modeling and region partitioning techniques complement each other, taking into account both the local accuracy of the model and the global search performance of the algorithm. The multi-constraint modeling strategy allows simulation-dependent constraints to be pre-judged through the surrogate model, overcoming the shortcomings of the traditional solution of adding the penalty term to the target value, which makes it difficult to balance the weights and can only judge the constraints after simulation, thereby reducing the waste of computing resources caused by simulating data that violates the constraints. The proposed algorithm is applied to EQ optimization in a 16 Gbps high-bandwidth memory channel and a 64 Gbps differential peripheral component interconnect express channel, respectively. The algorithm is developed based on PyTorch, and the eye diagrams are obtained using Keysight ADS software. Two applications are conducted on computer with Intel Core i5-13500 processor and 32 GB RAM. By utilizing the region partitioning and constraint filtering techniques, the actual number of simulations in the optimization can be significantly reduced. The experimental results demonstrate that the proposed algorithm has significant shorter computing tim

关键词： Optimization Data models Partitioning algorithms Integrated circuit modeling Genetic algorithms Accuracy Predictive models Analytical models software algorithms Linear programming 3-D integration equalizer signal integrity eye diagram Bayesian optimization region partitioning multi-constraint modeling

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Present and Future of Everyday-Use Augmented Reality Eyeglasses

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IEEE COMPUTER GRAPHICS AND APPLICATIONS 2025年第1期45卷 56-66页

作者： Chakravarthula, Praneeth Univ North Carolina Chapel Hill Chapel Hill NC 27599 USA

Augmented reality (AR) is emerging as the next ubiquitous wearable technology and is expected to significantly transform various industries in the near future. There has been tremendous investment in developing AR eyeglasses in recent years, including about $45 billion investment by Meta since 2021. Despite such efforts, the existing displays are very bulky in form factor and there has not yet been a socially acceptable eyeglasses-style AR display. Such wearable display eyeglasses promise to unlock enormous potential in diverse applications such as medicine, education, navigation, and many more;but until eyeglass-style AR glasses are realized, those possibilities remain only a dream. My research addresses this problem and makes progress "towards everyday-use augmented reality eyeglasses" through computational imaging, displays, and perception. My dissertation (Chakravarthula, 2021) made advances in three key and seemingly distinct areas: first, digital holography and advanced algorithms for compact, high-quality, true 3-D holographic displays;second, hardware and software for robust and comprehensive 3-D eye tracking via Purkinje Images;and third, automatic focus adjusting AR display eyeglasses for well-focused virtual and real imagery, toward potentially achieving 20/20 vision for users of all ages.

关键词： Three Dimensional Displays Navigation software algorithms Gaze Tracking Transforms Sensors Augmented Reality Investment Lenses Ubiquitous Computing Wearable Devices High Quality High Resolution Field Of View Form Factor Eye Tracking Virtual World Computer Image Tracking Accuracy Depth Of Focus Head Mounted Display Current Day Robust Tracking Wide Field Of View Object Of Attention Augmented Reality System Corneal Reflection Compactness Factor Spatial Resolution Image Quality 3 D Images Depth Perception Hologram Corrective Lenses Perception Of Quality Phase Retrieval Eye Surface Corrected Vision Refractive Error Interesting Future Direction Eye Model

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