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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

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

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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

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

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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

From Warfighting Needs to Robot Actuation: A Complete Rapid Integration Swarming Solution

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Field Robotics 2025年 3卷 460-515页

作者： Eugene M. Taranta Adam Seiwert Anthony Goeckner Khiem Nguyen Erin Cherry Northrop Grumman Corporation Mission Systems Orlando FL 32817 Northrop Grumman Corporation Mission Systems Aurora CO 80017 Northrop Grumman Corporation Mission Systems Annapolis MD 21401 Northrop Grumman Corporation Mission Systems McLean VA 22102

Swarm robotics systems have the potential to transform warfighting in urban environments but until now have not seen large-scale field testing. We present the Rapid Integration Swarming Ecosystem (rise), a platform for future multi-agent research and deployment. rise enables rapid integration of third-party swarm tactics and behaviors, which was demonstrated using both physical and simulated swarms. Our physical testbed is composed of more than 250 networked heterogeneous agents and has been extensively tested in mock warfare scenarios at five urban combat training ranges. rise implements live, virtual, constructive simulation capabilities to allow the use of both virtual and physical agents simultaneously, while our “fluid fidelity” simulation enables adaptive scaling between low and high fidelity simulation levels based on dynamic runtime requirements. Both virtual and physical agents are controlled with a unified gesture-based interface that enables a greater than 150:1 agent-to-operator ratio. Through this interface, we enable efficient swarm-based mission execution. rise translates mission needs to robot actuation with rapid tactic integration, a reliable testbed, and efficient operation.

关键词： Robots Robot sensing systems Hardware software Robot kinematics Ecosystems Command and control systems Swarm robotics Surveys software algorithms

Evolutionary Generation Approach of Test Data for Multiple Paths Coverage of Message-Passing Parallel Programs

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Chinese Journal of Electronics 2025年第2期23卷 291-296页

作者： Tian Tian Dunwei Gong School of Information and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu China

Test data generation, the premise of software testing, has attracted scholars in the software engineering community in recent years. Influenced by task partitioning, process scheduling, and network delays, parallel programs are executed in a non-deterministic way, which makes test data generation of parallel programs different from that of serial programs in essence. This paper investigated the problem of generating test data for multiple paths coverage of message-passing parallel programs. A mathematical model of the above problem was built based on each given path and its equivalent ones. It was solved by using a genetic algorithm to generate all desired data in one run. The proposed method was applied to five benchmark programs, and compared with the existing methods. The experimental results show that the proposed method greatly shortens the number of iterations and time consumption without reducing the coverage rate.

关键词： software testing Technological innovation software algorithms Data collection Benchmark testing software Mathematical models Optimization software engineering Genetic algorithms

Ultrafast Ultrasound Imaging System With Beamforming on Single FPGA

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2025年 74卷

作者： Zhang, Xi Qi, Sheng Li, Yifan Xu, Lijun Ma, Jianguo Beihang Univ Sch Instrumentat & Optoelect Engn Beijing 100191 Peoples R China Shandong Jianzhu Univ Sch Sci Jinan 250100 Peoples R China

Ultrafast ultrasound imaging technologies, such as ultrasound localization microscopy (ULM) and functional ultrasound (FUS), are gaining significant attention in the ultrasound field, driving the demand for higher frame rates in open ultrasound systems. However, current open ultrasound systems face the challenge of balancing high imaging frame rates with the complexity of hardware architecture. This work reports the detailed implementation and hardware architecture of a 128-channel ultrafast ultrasound platform based on a single field-programmable gate array (FPGA). This platform connects the ultrasound card to a personal computer (PC) via peripheral component interconnect express (PCIe) 3.0, providing excellent compatibility. The platform uses custom instructions to implement flexible parameter configuration in the FPGA. It can control the transmission and reception of signals, the output of raw or beamformed RF data, and the sampling depth. Additionally, a 64 sub-aperture delay-and-sum (DAS) beamformer within the FPGA is implemented in the platform. This beamformer gives output as a 128x2048 image at 10000 frames/s (fps) using plane wave. The core components of the platform measure only 12x21 cm, achieving a compact design while delivering high-frame-rate (HFR) imaging.

关键词： Ultrasonic imaging Field programmable gate arrays Delays Array signal processing Imaging Hardware Computer architecture software Radio frequency software algorithms Beamforming field-programmable gate array (FPGA) ultrasound system ultrafast ultrasound

Editorial: Special Issue on Opportunities and Challenges with Autonomous Racing

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Field Robotics 2025年 4卷 246-248页

作者： Johannes Betz Venkat Krovi Rahul Mangharam Madhur Behl Technical University of Munich Clemson University University of Pennsylvania University of Virginia

In the ever-evolving landscape of autonomous vehicles, competition and research of high-speed autonomous racing emerged as a captivating frontier, pushing the limits of perception, planning, and control. Autonomous racing presents a setup where the intersection of cutting-edge software and hardware development sparks unprecedented opportunities and confronts unique challenges. The motorsport axiom, “If everything seems under control, then you are not going fast enough,” resonates in this special issue, underscoring the demand for algorithms and hardware that can navigate at the cutting edge of control, traction, and agility. In pursuing autonomy at high speeds, the racing environment becomes a crucible, pushing autonomous vehicles to execute split-second decisions with high precision.

关键词： Special issues and sections Autonomous vehicles Full stack software algorithms Vehicle dynamics Trajectory Vehicle safety Collision avoidance Sports

Detecting Integer Overflow Vulnerabilities in Binary Executables Based on Target Filtering and Dynamic Taint Tracing

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Chinese Journal of Electronics 2025年第2期23卷 348-352页

作者： Baojiang Cui Xiaobiug Liang Bing Zhao Feng Zhai Jianxin Wang School of Computer Beijing University of Posts and Telecommunications Beijing China China Electric Power Research Institute Beijing China School of Information Science and Technology Beijing Forestry University Beijing China

The number of identified integer overflow vulnerabilities has been increasing rapidly in recent years. In this paper, a smart software vulnerability detection technology is presented, which is used for the identification of integer overflow vulnerabilities in binary executables. The proposed algorithm is combined with Target filtering and dynamic taint tracing (TFDTT). Dynamic taint tracing is used to reduce the mutation space and target filtering function is used to filter test cases during the process of test case generation. Theory analysis indicates that the efficiency of TFDTT is higher than NonTF-DTT and random Fuzzing technology. And the experiment results indicate that the detection technology based upon TFDTT can identify the possible integer vulnerabilities in binary program, meanwhile, it is more efficiency than other two technologies.

关键词： Filtering Source coding Heuristic algorithms software algorithms Prototypes Life estimation Fuzzing Filtering algorithms software Filtering theory

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