This paper presents a real-time implementation of highly scalable, configurable and adaptive formation control of robots using a decentralized swarm control algorithm. The software provides capabilities of autonomousl...
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ISBN:
(纸本)9781665406383
This paper presents a real-time implementation of highly scalable, configurable and adaptive formation control of robots using a decentralized swarm control algorithm. The software provides capabilities of autonomously creating a formation in a decentralized manner as well as providing a graphical user interface (GUI) for the user to issue instructions to the robots. The software also integrates the camera system and sensors in real-time. The system utilizes a modular design built around a publisher/subscriber framework. The hardware platform provides a cost-effective solution to execute the decentralized control algorithm individually on each robot, as well as a global command station to allow a user to directly interact with and control the robots if desired. The platform implements the algorithm's functionality of organizing the robots into a given formation, moving all the robots while maintaining a formation, and morphing between various formations. Simulations and real-time experimental results are presented along with the theoretical analysis.
Car driving in off-road areas and the deserts, in particular, is a challenging task. In such a harsh environment, drivers need to move while avoiding getting stuck in the sand or rolled upside down. In UAE, with its v...
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ISBN:
(纸本)9781665458696
Car driving in off-road areas and the deserts, in particular, is a challenging task. In such a harsh environment, drivers need to move while avoiding getting stuck in the sand or rolled upside down. In UAE, with its vast desert, this is a daily challenge for oil companies who operate in inland oil exploring, organizers of safari tours, and the border guards. This paper introduces an intelligent route finder for UAE desert driver based on A * Algorithm (IRF) framework as a route guidance tool for off-road driving. The goal is to find the shortest and safest path to the destination. The IRF combines Artificial Intelligence (AI) pathfinding algorithms and Geographic Information Systems (GIS), such as the Digital Terrain Model (DTM) and Surface Type, to enhance pathfinding decisions. We model and combine this information to improve cost estimation in the A * artificial intelligence searching algorithm. Drivers can use the developed software to predict the safest optimal route to help navigate more safely in the sandy desert and save time.
High-level synthesis (HLS) tools have greatly improved the development efficiency of FPGA accelerators in many application areas. With the HLS tools, FPGA designers can focus more on algorithm specifications using sof...
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High-level synthesis (HLS) tools have greatly improved the development efficiency of FPGA accelerators in many application areas. With the HLS tools, FPGA designers can focus more on algorithm specifications using software languages such as C/C++, OpenCL, and Python. However, due to the fact that CPU-oriented software languages are designed to describe sequential execution, the repurposing of these languages yields insufficient support for describing parallel data execution and flexible spatial structures on FPGA architecture. To strengthen HLS's ability to describe configurable algorithmlevel spatial structures, we propose fusing hardware-friendly design patterns, namely high-level descriptive language, into imperative programming model on Python.
Automated teller machines are affected by two kinds of attacks: physical and logical. It is common for most banks to look for zero-day protection for their devices. The most secure solutions available are based on com...
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Automated teller machines are affected by two kinds of attacks: physical and logical. It is common for most banks to look for zero-day protection for their devices. The most secure solutions available are based on complex security policies that are extremely hard to configure. The goal of this article is to present a concept of using the modified MajorClust algorithm for generating a sandbox-based security policy based on ATM usage data. The results obtained from the research prove the effectiveness of the used techniques and confirm that it is possible to create a division into sandboxes in an automated way.
In daily software development, inconsistencies between architecture and code inevitably occur with the continuous contribution, even under model-driven development which can trace between design and code. Many methods...
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ISBN:
(数字)9781728189130
ISBN:
(纸本)9781728189147
In daily software development, inconsistencies between architecture and code inevitably occur with the continuous contribution, even under model-driven development which can trace between design and code. Many methods have been proposed for consistency checking, but most require huge human efforts on establishing the mappings between architectural and code elements. Besides, the multi-layered architecture and code increases the difficulties in inconsistency detection, while existing algorithms do not handle this well. Thus, we propose an improved mapping method for automated consistency check between software architecture and Java implementation, with the premises that initial tracing between architecture and code are established. To be specific, during software evolution, our method can automatically re-establish the mappings between architecture and code using initial tracing information. Then, with detailed inconsistency check rules, we detect the inconsistencies heuristically. Experiments with two projects show our method's high effectiveness with more than 98% of recall and 96% of precision.
Video production is one of the most dominant industries in the 21st century, and research into the automation of tasks associated with it has drastically increased. The production of videos take place in three stages:...
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ISBN:
(数字)9781728184128
ISBN:
(纸本)9781728184135
Video production is one of the most dominant industries in the 21st century, and research into the automation of tasks associated with it has drastically increased. The production of videos take place in three stages: pre-production, production, and post-production. These three stages consist of script writing, scheduling, logistics, and other administration work. There are commercial products to automate these individual tasks. Incorporating all these software into video production can be expensive and difficult to manage. This study proposes the “Assist” software to handle all processes in video production. It has resulted in a product that covers the three main stages featuring scripts, storyboards, inventory management, production progress tracking and management, and rendering. The mentioned features were designed and developed using decision tree algorithm, PyQt5, general decimation algorithm, mesh simplification algorithm, and multi-variable regression.
The frequency domain is one of the most popular and powerful frameworks for designing control systems. Usually, the controller is designed by working on the open-loop transfer function. However, it is also possible to...
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The frequency domain is one of the most popular and powerful frameworks for designing control systems. Usually, the controller is designed by working on the open-loop transfer function. However, it is also possible to design the controller by working on the closed-loop transfer functions. This closed-loop shaping methodology offers a straightforward framework that enables designers and students to focus on fulfilling the required specifications and dealing with inherent linear systems limitations without the need for complex computations or the use of difficult algorithms. In comparison to open-loop shaping, closed-loop shaping offers an exact approach in a very simple framework. Interactive software tools have proven to be particularly useful techniques with high impact on control education. This kind of interactive tool has been demonstrated to help students learn in a much more active way. This article summarizes the basic ideas of manual closed-loop shaping and presents the basic functionality of the Interactive Tool for Closed-Loop Shaping Control Design (ITCLSD). Different illustrative examples are included to show the uses of the ITCLSD.
The trajectory concept is immersed in various socio-technical systems. Certainly, moving object data intended for location-based services is predominant, due to availability of spatiotemporal location data provided by...
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The trajectory concept is immersed in various socio-technical systems. Certainly, moving object data intended for location-based services is predominant, due to availability of spatiotemporal location data provided by current devices such as mobile devices, GPS devices, RFID and various sensors. This work examines the use of our trajectories meta-model given in previous works to detect and monitor frauds, from the point of view of trajectories semantic aspects. Modeling of frauds by trajectories gives meaning to the sequence of events that made it possible to detect them and to recognize the situations of their occurrence. The semantic dimension qualifies a fraud trajectory as a story that has both meaning and intention, described by episodes of semantic events related to the creation of the fraud, to its dynamic and to its ending. Fraud analytics will benefit from trajectory analytics for both big data ecosystems and spatiotemporal data mining algorithms and practices. Finally, we propose the architecture and structure of the software components that make up the proposed software system. The software design is based on the reactive manifesto and federates graph-oriented NoSQL databases and graph-based data science processing.
The mechanical reducer gear has the advantages of good meshing performance, strong bearing capacity and smooth transmission, which has been widely used in the mechanical transmission system. But the traditional design...
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The mechanical reducer gear has the advantages of good meshing performance, strong bearing capacity and smooth transmission, which has been widely used in the mechanical transmission system. But the traditional design cycle of mechanical reducer gear parameters is long, especially the gear calibration analysis, the calculation process is cumbersome and labor intensity is high, which leads to the incomplete interface of mechanical reducer gear model. In order to improve the analysis accuracy, a lot of correction work is needed. Therefore, based on particle swarm optimization algorithm for mechanical reducer gear parametric modeling research. Based on SolidWorks 3D software, the parametric development of spur gear, modified helical gear, bevel gear, internal gear, tooth root transition curve and helix is carried out. The finite element contact theory is introduced to calculate the contact problem of two cylinders, and compared with the classical Hertz theory, the correctness of the theory is verified. On this basis, the influence of friction on the contact stress and meshing strength of gears is obtained by setting different sliding friction coefficients, and compared with the theoretical calculation results, the correctness of the finite element analysis is verified.
A lots of online courses are other remote education programs are continuing throughout the whole universe as a result of globalization and advancement of modern technology and internet. Examination is a part and parce...
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ISBN:
(纸本)9781665482820
A lots of online courses are other remote education programs are continuing throughout the whole universe as a result of globalization and advancement of modern technology and internet. Examination is a part and parcel of both online and offline education system to evaluate the students took part in the program. In case of online exam numerous techniques were proposed to limit probability of cheating in the examination but no algorithm is available to consider the bandwidth problem for students in low internet speeds. In this paper, a completely new algorithm is designed where the total exam time of the students is dependent on data speed of his device. Moreover, a mock test is arranged with ten students locating different locations to validate the proposed method. The integration of this method with any one high security algorithm will enrich the acceptability of the software to the users.
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