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13th European Control Conference (ECC)

作者： Michiels, Wim Unal, Hakki Ulas Katholieke Univ Leuven Dept Comp Sci B-3001 Heverlee Belgium

ISBN: (纸本)9783952426913

The controllers designed for time-delays systems often involve finite impulse response (FIR) filters, in particular prediction based controllers for systems with input/output delays. We present algorithms and software to evaluate the frequency response, to approximate the filters by stable linear time-invariant systems and to compute their induced L-2 gain. The approach is based on the theory of functions of matrices. In the approach pole zero cancelations in frequency domain representations are explicitly taken into account.

关键词： Approximation algorithms Approximation methods Delays Eigenvalues and eigenfunctions Finite impulse response filters software algorithms Transfer functions FIR filters software algorithms Approximation method Eigenfunctions TRANSFER FUNCTIONS Approximation algorithms computer software delay Approximate Controllers frequency response algorithms

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Fast sequential and parallel algorithms for label selection to obtain space efficient implementations in a software configuration management system

Fast sequential and parallel algorithms for label selection ...

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International Conference on Parallel Computing in Electrical Engineering (PARELEC 2000)

作者： Greenlaw, R Shipley, C Wogulis, J Armstrong Atlantic State Univ Dept Comp Sci Savannah GA 31419 USA

ISBN: (纸本)076950759X

software configuration management (SCM) systems require the ability to maintain collections of a large number of specific versions of files. One technique for managing these configurations is to maintain a single time-stamp identifying which versions of the files belong to the configuration along with an exception list to that time-stamp. Given the individual time-stamps of n files represented by half-open intervals, we develop an O (n log n) time sequential algorithm that finds a time-stamp leading to the smallest possible exception list. The technique is used ill a commercial SCM system and works well in practice. We also develop a parallel version of the algorithm that films in O (log n) rime using n processors on all EREW-PRAM. IS the intervals are sorted, the sequential algorithm runs optimally in O(n) time and the parallel algorithm runs optimally in O (log n) time using n/ log n processors on all EREW-PRAM.

关键词： Computer science Documentation Drives Operating systems Optimizing compilers Parallel algorithms software algorithms software maintenance software systems

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Autonomous Navigation and Control System for Capturing a Moving Drone

Field Robotics

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Field Robotics 2025年 2卷 34-54页

作者： Hong Tao Tao Song Defu Lin Ren Jin Bin Li Beijing Key Laboratory of UAV Autonomous Control Beijing Institute of Technology Beijing China

This paper describes an autonomous navigation and control system for capturing the maneuvering drones. A vision-based navigation method seeks and detects the intruding drone, then, the target trajectory is predicted by fusing onboard vision and inertial-measurement resources. The target's relative position, velocity and acceleration are also obtained at the same time. Then, we present a modified proportional-derivative (PD) algorithm based on the estimated target states. In addition, the boundary constraints of the protected area are considered to avoid a collision. The proposed capture navigation and control system has demonstrated its efficiency both in simulation, flight experiments, and MBZIRC 2020, where our team won the Challenge I competition.

关键词： Drones Trajectory Prediction algorithms Control systems Hardware software algorithms Vectors software Autonomous robots Accuracy

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Intelligent Optimization for a Full-Sized PDC Bit with Composite Percussive Rock Breaking Drilling

Journal of Intelligent Construction

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Journal of Intelligent Construction 2025年第4期1卷 1-11页

作者： Liping Li Xuegang Liu Yu Zhou Chengshuai Qin Zhihui Liu Lige Wang Chongqiang Zhu Zizheng Sun School of Qilu Transportation Shandong University Jinan China Institute of Mechanics Chinese Academy of Sciences Beijing China School of Science and Engineering University of Dundee Dundee UK

Intelligent drilling has obtained a lot of attention in mining engineering, oil and gas production, and tunnelling engineering. The optimization of drilling parameters is one of the most important technologies of intelligent drilling while determining the key values to improve the drilling efficiency is still a difficulty. In this paper, we established a composite percussive rock breaking model of a full-size polycrystalline diamond compact (PDC) bit based on the continuous-discontinuous element method (CDEM). The evolution of rock fragmentation under the action of composite impact is analysed by the rock breaking volume and the torque applied on the drill bit during drilling. Based on actual construction, two key parameters, axial impact velocity and impact frequency, affecting the process of composite impact rock breaking were selected, to further investigate their effect on composite impact rock breaking. The fitting curves obtained from the sensitivity analysis of the rock breaking effect under different construction parameters were proposed to guide the intelligent drilling. Furthermore, the construction parameters of a diversion inclined shaft in the #2 construction branch hole of Tiantai Mountain pumped storage power station in Zhejiang Province were collected, which provides validation data for the proposed optimizing theory of the drilling parameters.

关键词： Drilling Shafts Solid modeling Torque software algorithms Tunneling Rocks Data models software Optimization

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Optimization of LEACH Protocol for WSNs in Terms of Energy Efficient and Network Lifetime

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Journal of Cyber Security and Mobility 2025年第3期12卷 275-296页

作者： Fadhil Mohammed Salman Ahssan Ahmmed Mohammed Ahmed Fakhir Mutar Ministry of Education Babylon Education Directorate Iraq Department of Computer Technology Engineering Al-Mustaqbal University College Iraq

Wireless Sensor Network (WSN) is a group of small, intelligent sensors with limited resources. WSN has limited energy restrictions, so, the network lifetime is the major challenge that directly affect the efficiency of the network. This work presents an energy-saving clustering hierarchical algorithm for WSNs; it is an improvement of Low-Energy adaptive Clustering Hierarchy (LEACH) algorithm. The aim of this algorithm is to minimize power consumption by the appropriate election of new cluster heads in every data transfer round and avoid network collisions. This goal achieved by using an efficient function to select the best cluster heads nodes in each round, which takes into account the current energy in the sensors. The proposed algorithm improves the cluster formation process by relying on the shorter distance to the base station. The Time Division Multiple Access (TDMA) mechanism also utilized to schedule the transmission of data packets to cluster heads nodes and to avoid data packet collisions at the base station. Experiments conducted in MATLAB R (2020a) software showed that the suggested algorithm extended the network lifetime by 14.5%, and improved the network throughput by 16.8% compared to the LEACH algorithm. That means, the proposed energy-saving clustering hierarchy algorithm has improved the performance of the LEACH algorithm in term of enhancing network lifetime and increasing network throughput.

关键词： Wireless sensor networks Time division multiple access Base stations Schedules Voting software algorithms Clustering algorithms Throughput software MATLAB

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Artificial Neural Network Based Trilogic SVM Control in Current Source Rectifier

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Chinese Journal of Electronics 2025年第4期23卷 723-728页

作者： Xuan Yang Anwen Shen Jun Yang Jie Ye Jinbang Xu School of Automation Huazhong University of Science and Technology Wuhan Hubei China

Various modulation methods for the Current Source Rectifier (CSR) controlling scheme have been investigated in recent years. The traditional modulation methods have the disadvantages such as the great computing cost, sensitivity to load and system parameter variation. In this study, an Artificial neural network (ANN) based algorithm is adopted to tackle the problem. This algorithm features parallel computation and self-tuning. The Random weight change (RWC) algorithm is employed for on-line parameter tuning to achieve better performance. The principle of the trilogic Space vector modulation (SVM) for CSR is introduced as the theoretical foundation. The proposed method is introduced in two parts, the constructing of the neural network and the designing of an on-line parameter tuning algorithm. The simulation results based on SABER software show that the new algorithm has a good performance, especially under a non-rated system load.

关键词： Support vector machines Space vector pulse width modulation Training Simulation software algorithms Modulation Artificial neural networks Vectors Voltage control Tuning

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DARPA OFFSET: A Vision for Advanced Swarm Systems through Agile Technology Development and Experimentation

Field Robotics

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Field Robotics 2025年 3卷 97-124页

作者： Timothy H. Chung Roshan Daniel Advanced Autonomy & Applied Robotics (A3R) Microsoft Corporation Booz Allen Hamilton Chantilly VA USA

As robotics and autonomous technologies continue to see breakthrough innovations, specifically in the areas of large-scale multi-robot teams, their alignment with operationally relevant applications in fielded contexts has been necessary to both obtaining valuable user feedback as well as informing and refining the use cases themselves, i.e., co-evolving the concepts of operations alongside technology maturation. The Defense Advanced Research Projects Agency (DARPA) OFFensive Swarm-Enabled Tactics (OFFSET) program 1 was a four-year program which actively embraced this iterative, mission-focused development approach, coupling technology innovation with field experimentation activities to rapidly advance capabilities for large-scale, heterogeneous robotic teams in complex and adversarial urban environments. This vision paper highlights the motivation for the OFFSET program; provides descriptions of the technical objectives and outcomes; and offers insights into the program structure designed to facilitate and inject technology innovations through an ambitious campaign of field tests and learning.

关键词： Robots Urban areas Systems architecture Technological innovation Complexity theory Collaboration Standards software algorithms software Force

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Autonomous Cooperative Multi-Vehicle System for Interception of Aerial and Stationary Targets

Field Robotics

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Field Robotics 2025年 2卷 107-146页

作者： Lima Agnel Tony Shuvrangshu Jana V. P. Varun Aashay Anil Bhise S. Aruul Mozhi Varman B. V. Vidyadhara Mohitvishnu S. Gadde Raghu Krishnapuram Debasish Ghose Guidance Control and Decision Systems Laboratory (GCDSL) Department of Aerospace Engineering Indian Institute of Science Bangalore-560012 India Robert Bosch Center for Cyber-Physical Systems Indian Institute of Science Bangalore-560012 India

This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohamed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended from a maneuvering UAV and pop balloons anchored to the ground, using suitable manipulators. The important tasks carried out to address this challenge include the design and development of a hardware system with efficient grabbing and popping mechanisms, considering the restrictions in volume and payload, design of accurate target interception algorithms using visual information suitable for outdoor environments, and development of a software architecture for dynamic, multi-agent, aerial systems performing complex tasks. In this paper, we discuss the design of a custom end-effector mounted on a single degree of freedom manipulator, and robust algorithms for the interception of targets in an uncertain environment. Vision-based guidance and tracking strategies are developed based on the concept of pursuit engagement and artificial potential function. The software architecture presented in this work develops an Operation Management System (OMS) architecture that allocates static and dynamic tasks collaboratively among multiple UAVs to perform any given task. An important aspect of this work is that all the systems developed were designed to operate in completely autonomous mode. A detailed description of the architecture along with simulations of complete challenge in the Gazebo environment and field experiment results are also included in this work. The developed hardware-software system is useful for counter-UAV systems and can be used for other applications.

关键词： Autonomous aerial vehicles Target tracking Visualization Robots software algorithms Heuristic algorithms Hardware software architecture Manipulator dynamics Feature extraction

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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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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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