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A Distributed Framework for real time Path Planning in Practical Multi-agent Systems

IFAC-PapersOnLine 2017年第1期50卷 10626-10631页

作者： Abdelkader M. Jaleel H. Shamma J.S. Physical Science & Engineering (PSE) King Abdullah University of Science and Technology Thuwal Saudi Arabia Computer Electrical and Mathematical Sciences & Engineering (CEMSE) Division King Abdullah University of Science and Technology Thuwal Saudi Arabia

We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios. © 2017

关键词： Control under communication constraints Cooperative systems Coordination of multiple vehicle systems programming real-time algorithms real-time control scheduling

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Privacy Preserving real-time Video Stream Change Detection Based on the Orthogonal Tensor Decomposition Models 14th

Privacy Preserving Real-Time Video Stream Change Detection B...

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14th International Conference on Research Challenges in Information Science (RCIS)

作者： Cyganek, Boguslaw AGH Univ Sci & Technol Al Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (纸本)9783030503154;9783030503161

In this paper the video change detection method that allows for data privacy protection is proposed. Signal change detection is based on the tensor models constructed in the orthogonal tensor subspaces. Tensor methods allow for processing of any kind of multi-dimensional signals since computation of special features is not required. The proposed signal encoding method makes that person identification in the processed signal is very difficult or impossible for the unauthorized personnel. It is demonstrated that despite the input being distorted for encryption, the proposed tensor based method can still correctly identify video shots in real-time. Compared with the non-distorted signals, the obtained accuracy is only slightly lower, at the same time providing data privacy.

关键词： Data privacy Image encryption Video analysis Tensor models HOSVD real-time algorithms

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Accelerating Mobile Object Tracking 24

Accelerating Mobile Object Tracking

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24th Signal Processing and Communication Application Conference (SIU)

作者： Ozuysal, Mustafa Izmir Yuksek Teknol Enstitusu Bilgisayar Muhendisligi Bolumu Izmir Turkey

ISBN: (纸本)9781509016792

In this paper, we present a mobile augmented reality implementation with an accelerated tracking module using Single Instruction Multiple Data (SIMD) instructions available in modern CPUs. We detail the implementation of an efficient Zero-Mean Sum of Squared Differences (ZMSSD) algorithm both using standard C++ and the SIMD NEON instruction set of ARM processors. We compare the numerical measurements of tracking speed on a mobile device of both versions.

关键词： Object Tracking real-time algorithms Augmented reality Single Instruction Multiple Data

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Management of time-shifted IPTV services through transparent proxy deployment

Management of time-shifted IPTV services through transparent...

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IEEE Global Telecommunications Conference (GLOBECOM 06)

作者： Wauters, T. Van de Meerssche, W. De Turck, F. Dhoedt, B. Demeester, P. Van Caenegem, T. Six, E. Univ Ghent Dept Informat Technol INTEC IMEC IBBT Gaston Crommenlaan 8Bus 201 B-9050 Ghent Belgium Alcatel R&I B-2018 Antwerp Belgium

ISBN: (纸本)9781424403561

A recent important evolution in broadband access network design is the deployment of IP aware access network elements, which allow to introduce access network services beyond basic triple-play. The focus of this paper is on the management of time-shifted television (tsTV), an IPTV service which allows for watching the broadcast content at real-time or with a (small) time shift. An architecture for a large-scale tsTV service deployment is presented, using co-operating transparent diskless proxy caches in broadband access networks, with an implementation based on the IETF's real-time Streaming Protocol (RTSP). Caching algorithms have been designed to take into account content popularity and distance metrics. The algorithms make use of the sliding window concept and calculate the optimal trade-off between bandwidth usage efficiency and storage cost. A prototype implementation of a transparent tsTV proxy is presented and evaluated through performance measurements.

关键词： IPTV time-shifted TV real-time algorithms transparent proxy RTSP

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Technical Devices Degradation Self-Analysis for Self-Maintenance Strategy: Crane Case Study 17th

Technical Devices Degradation Self-Analysis for Self-Mainten...

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17th IFAC Symposium on Information Control Problems in Manufacturing (INCOM)

作者： Szpytko, Janusz Duarte, Yorlandys Salgado AGH Univ Sci & Technol Ave A Mickiewicza 30 PL-30059 Krakow Poland

Self-learning from historical data and using the resulting information to improve the future self-decision-making focused on technical objects, results machine learning approach, is a major goal in today's devices exploitation process, including also self-maintenance. Simulation-based risk-oriented approach into the broad machine learning machinery usually fits independent theorical distributions to historical degradation data of the device in order to forecast risk indicators and evaluate in the final stage the maintenance process standards The study case of the paper are critical overhead cranes operating with hazardous and continuous operation conditions. The subject of the paper is a technical devices degradation self-analysis for self-maintenance strategy discussed on crane case study, also including device representative data sensitivity analysis. The proposed subject directly impacts the device risk control management and maintenance scheduling processes, and the analysis proves the robustness of the intelligent self-analysis system by introducing additional information for future decision making The devices degradation representative data analysis impact on the preferred exploitation focused decisions have been discussed. The device features have been presented via stochastic non-linear optimization model with bounded constraint that assess a risk global -system indicator based on Monte Carlo simulations. Copyright (C) 2021 The Authors.

关键词： real-time algorithms scheduling and programming Intelligent maintenance systems Cyber-Physical Systems Robustness analysis Simulation of stochastic systems Modeling for control optimization

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real life applicative timing algorithm for a smart junction with social priorities and multiple parameters

Real life applicative timing algorithm for a smart junction ...

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IEEE International Conference on the Science of Electrical Engineering in Israel (ICSEE)

作者： Barzilai, Orly Voloch, Nadav Hasgall, Alon Steiner, Orna Lavi Coll Acad Studies Or Yehuda Israel

ISBN: (纸本)9781538663783

Smart devices and their connections to the Internet of Things (IoT) have been the subject of many papers in the past decade. One of the transportation subjects of IoT is a smart junction. This research deals with the case of this junction, where several cars approach the intersection from various directions, and a smart traffic light must decide about the time intervals of RED and GREEN in each direction, with our novel approach that is based not only on the number of vehicles in each lane, but also on other factors such as the type of vehicles (e.g. emergency vehicles), and the social characteristics of the passengers (e.g. a handicapped person, a student who is late for an exam). Those factors will he gleaned from the IoT network amongst cars, traffic lights, individuals, municipality data, and more. Once those priorities have been examined, they arc fed into the algorithm we have devised, and outputted as a timing schedule for the different sides of the intersection, taking also into consideration the cars physical attributes such as length and speed. In this paper we present the algorithm, the prioritizing research, its implementation in the algorithm and our experimental results.

关键词： Smart Junction Internet of Things (IoT) real-time algorithms social dilemmas in IoT

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An 0(n) Parallel Multiplier with Bit-Sequential Input and Output

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IEEE Transactions on Computers 1979年第10期C-28卷 721-727页

作者： Chen, I-Ngo Willoner, Robert Department of Computing Science University of Alberta Edmonton Alta. Canada

Previous proposals for fast multipliers are discussed, along with a summary of the known theoretical limitations of such designs. Then, a new parallel multiplier with a very simple configuration is suggested. This multiplier operates in time 0(n), where n is the maximum of the lengths of the multiplier and multiplicand, both of which are fixed point, expressed in binary notation. It is a logical circuit consisting of 2n modules, each being only slightly more complex than a full adder;instead of three inputs and two outputs, each module has five inputs and three outputs. A logical circuit realization is given for the modules. But perhaps the most significant aspect of this design is the property that the input is required only bit-sequentially and the output is generated bit-sequentially, both at the rate of one bit per time step, least significant bit first. The advantages of such bit-sequential input and output arithmetic units are described. Copyright © 1979 by the Institute of Electrical and Electronics Engineers, Inc.

关键词： Computer arithmetic on-line algorithms parallel multiplier pipelining real-time algorithms

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ARBA: Anomaly and Reputation Based Approach for Detecting Infected IoT Devices

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IEEE ACCESS 2020年 8卷 145751-145767页

作者： Rosenthal, Gilad Kdosha, Ofir Erets Cohen, Kobi Freund, Alon Bartik, Avishay Ron, Aviv Ben Gurion Univ Negev Sch Elect & Comp Engn IL-8410501 Beer Sheva Israel IBM Cyber Secur Ctr Excellence IL-8443944 Beer Sheva Israel

Today, cyber attacks are constantly evolving and changing, which makes them harder to detect. In particular, detecting attacks in large-scale networks is very challenging because they require high detection rates under real-time resource constraints. In this paper, we focus on detecting infected Internet of Things (IoT) hosts from domain name system (DNS) traffic data. IoT hosts, such as streaming cameras, printers, air conditioners, are hard to protect, unlike PCs and servers. Enterprises are often unaware of the devices which are connected to the network, their types, makes, and vulnerabilities. Since IoT hosts make use of the DNS protocol, analyzing DNS data can give a broad view of malicious activities, because they abuse the DNS protocol and leave fingerprints as part of their attack vector. In this collaborative research between Ben-Gurion University, and IBM, we establish a novel algorithm to detect infected IoT hosts in large-scale DNS traffic, named Anomaly and Reputation Based Algorithm (ARBA). Its novelty resides in developing a framework that combines host classification and domain reputation in a real-time production environment. ARBA is highly computational efficient and meets real-time requirements in terms of run time and computational complexity. By contrast to existing algorithms, it does not require a massive traffic volume for training, which is of significant interest in detecting infected hosts in real-time. The research was conducted on real live streaming data from IBM internal network traffic, and confirm the algorithm's strong performance in a real-time production environment.

关键词： real-time systems Machine learning algorithms Botnet Computer crime Internet of Things Anomaly detection Cyber security anomaly detection domain name system (DNS) detection algorithms real-time algorithms

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Automated Fault Management System in a Photovoltaic Array: A Reconfiguration-Based Approach

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ENERGIES 2021年第9期14卷 2397页

作者： Murillo-Soto, Luis D. Meza, Carlos Costa Rica Inst Technol Sch Electromech Engn Cartago 30101 Costa Rica Costa Rica Inst Technol Sch Elect Engn Cartago 30101 Costa Rica Costa Rica Inst Technol Cartago Costa Rica

This work proposes an automated reconfiguration system to manage two types of faults in any position inside the solar arrays. The faults studied are the short-circuit to ground and the open wires in the string. These faults were selected because they severely affect power production. By identifying the affected panels and isolating the faulty one, it is possible to recover part of the power loss. Among other types of faults that the system can detect and locate are: diode short-circuit, internal open-circuit, and the degradation of the internal parasitic serial resistance. The reconfiguration system can detect, locate the above faults, and switch the distributed commutators to recover most of the power loss. Moreover, the system can return automatically to the previous state when the fault has been repaired. A SIMULINK model has been built to prove this automatic system, and a simulated numerical experiment has been executed to test the system response to the faults mentioned. The results show that the recovery of power is more than 90%, and the diagnosis accuracy and sensitivity are both 100% for this numerical experiment.

关键词： photovoltaic simulation distributed switching matrix fault diagnosis reconfiguration algorithms real-time algorithms

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A local reactive steering law for 2D collision avoidance with curvature constraints and constant speed

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ROBOTICS AND AUTONOMOUS SYSTEMS 2022年 155卷

作者： Marchidan, Andrei Bakolas, Efstathios Univ Texas Austin Dept Aerosp Engn & Engn Mech 210 E 24th St Stop C0600 Austin TX 78712 USA

Motion planning algorithms for dynamic environments that explicitly take into account actuator constraints require a lot of computational effort due to replanning or optimizing trajectories. This makes them limited in use, especially for autonomous reactive behaviors that need to be computed on-board. Motivated by this need, we present a new real-time method for reactive collision avoidance for systems with bounded curvature in static and dynamic environments. Our approach relies on the implementation of a local steering law that satisfies a predefined bound on path curvature. The steering law depends on a user-defined parametric function that determines the transition between obstaclefree motion and collision avoidance by enforcing an obstacle impenetrability constraint. As such, we propose a systematic procedure which modulates the velocity vector to enforce curvature constraints in complex 2D environments characterized by static and moving obstacles. We provide theoretical guarantees for collision avoidance and we demonstrate this methodology through simulations. (c) 2022 Elsevier B.V. All rights reserved.

关键词： real-time algorithms Collision avoidance Steering law Curvature constraints Path planning Moving obstacles

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