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Generating routes for autonomous driving in vehicle-to-infrastructure communications

Digital Communications and Networks 2020年第4期6卷 444-451页

作者： Jianjun Yang Tinggui Chen Bryson Payne Ping Guo Yanping Zhang Juan Guo Department of Computer Science and Information Systems University of North GeorgiaOakwood30566USA Zhejiang Gongshang University HangzhouChina Department of Computer Science and Information Systems University of North GeorgiaDahlonega30597USA Department of Computer Science University of Illinois at SpringfieldSpringfieldILUSA Department of Computer Science Gonzaga UniversitySpokaneWAUSA

The study of vehicular networks has attracted considerable interest in academia and the *** the broad area,connected vehicles and autonomous driving are technologies based on wireless data communication between vehicles or between vehicles and infrastructures.A Vehicle-to-Infrastructure(V2I)system consists of communications and computing over vehicles and related *** such a system,wireless sensors are installed in some selected points along roads or driving *** autonomous driving,it is crucial for a vehicle to figure out the ideal routes by the communications between its equipped sensors and infrastructures then the vehicle is automatically moving along the *** this paper,we propose a Bezier curve based recursive algorithm,which effectively creates routes for vehicles through the communication between the On-Board Unit(OBU)and the Road-Side Units(RSUs).In addition,this approach generates a very low *** conduct simulations to test the proposed algorithm in various *** experiment results demonstrate that our algorithm creates almost ideal routes.

关键词： Autonomous driving Vehicles and infrastructures Bezier curve recursive algorithm On board unit Road side unit

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General class of tensegrity structures: Topology and prestress equilibrium analysis

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2003年第5期26卷 685-694页

作者： Williamson, D Skelton, RE Univ Wollongong Wollongong NSW 2522 Australia Univ Calif San Diego La Jolla CA 92093 USA

A general class of tensegrity structures, consisting of both compression members, that is, bars, and tensile members, that is, cables, is defined. For a given number N of bars, we define the topological structure that is necessary to establish a tensegrity. Necessary and sufficient conditions for prestress mechanical equilibria of the tensegrity are then provided in terms of a nonlinear function of the position and orientation of the bars and the rest lengths of the cables.

关键词： Tensegrity Structures Hooke's Law Mechanical Properties recursive algorithm

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Predictive avoidance for ground-based laser illumination

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JOURNAL OF SPACECRAFT AND ROCKETS 2000年第1期37卷 122-128页

作者： Alfano, S Burns, R Pohlen, D Wirsig, G US Space Command Peterson AFB CO 80914 USA USAF Res Lab Space Vehicles Directorate Kirtland AFB NM 87117 USA

Predictive avoidance determines discrete windows of time for safe laser illumination from a ground-based laser platform. That is, the analysis identifies time periods during which the laser will not inadvertently illuminate a satellite. The geometry of the problem is utilized to filter satellites that cannot possibly be illuminated by a specific laser platform. Further, several nongeometric filters are introduced to filter remaining satellites by removing those which cannot lie illuminated by the platform in a specified period. Both sets of filters improve the efficiency of the analysis by reducing the number of state propagations necessary. A method For determining the times of possible accidental illumination using cubic polynomial approximation is also presented. Finally, a test case is run that considers the entire catalog of objects publicly available from the U.S. Space Command. The complete analysis, which considers the entire catalog as potential victims for one target satellite pass, yields verified results in less than 3.5 s on a laptop personal computer running at 266 MHz.

关键词： Lasers Perigee Satellite Catalog Earth Air Force Space Command recursive algorithm Angular Motion Space Debris

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Quantised polynomial filtering for nonlinear systems with missing measurements

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INTERNATIONAL JOURNAL OF CONTROL 2018年第10期91卷 2250-2260页

作者： Liu, Yang Wang, Zidong Zhou, D. H. Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao Peoples R China Brunel Univ London Dept Comp Sci Uxbridge Middx England Tsinghua Univ Dept Automat Beijing Peoples R China

This paper is concerned with the polynomial filtering problem for a class of nonlinear systems with quantisations and missing measurements. The nonlinear functions are approximated with polynomials of a chosen degree and the approximation errors are described as low-order polynomial terms with norm-bounded coefficients. The transmitted outputs are quantised by a logarithmic quantiser and are also subject to randomly missing measurements governed by a Bernoulli distributed sequence taking values on 0 or 1. Dedicated efforts are made to derive an upper bound of the filtering error covariance in the simultaneous presence of the polynomial approximation errors, the quantisations as well as the missing measurements at each time instant. Such an upper bound is then minimised through designing a suitable filter gain by solving a set of matrix equations. The filter design algorithm is recursive and therefore applicable for online computation. An illustrative example is exploited to show the effectiveness of the proposed algorithm.

关键词： Nonlinear filtering polynomial approximation nonlinear systems missing measurements quantisation recursive algorithm

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An Efficient Approach for Historical Storage and Retrieval of Segmented Road Data in Geographic Information System for Transportation

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Chinese Geographical Science 2010年第3期20卷 236-242页

作者： Mohammad Reza Jelokhani-Niaraki Ali Asghar Alesheikh Abolghasem Sadeghi-Niaraki Faculty of Geodesy and Geomatics Engineering K. N. Toosi University of TechnologyTehran Iran Department of Geoinformatics Engineering Inha UniversityIncheon South Korea

One of the most powerful functions of Geographic Information System for Transportation (GIS-T) is Dynamic Segmentation (DS), which is used to increase the efficiency and precision of road management by generating segments based on attributes. The road segments describing transportation data are both spatially and temporally referenced. For a variety of transportation applications, historical road segments must be preserved. This study presents an appropriate approach to preserve and retrieve the historical road segments efficiently. In the proposed method, only the portions of segments of a time stamp that have been changed into new segments rather than storing the entire segments for every old time stamp are recorded .The storage of these portions is based on the type of changes. A recursive algorithm is developed to retrieve all segments for every old time stamp. Experimental results using real data of Tehran City, Iran justify the strength of the proposed approach in many aspects. An important achievement of the results is that database volume for 2006, 2007 and 2008 within the Historical Line Event Table (HLET) is reduced by 70%, 80% and 78%, respectively. The proposed method has the potential to prevent from vast data redundancy and the unnecessary storage of entire segments for each time stamp. Since the present technique is performed on ordinary plain tables that are readable by all GIS software, special software platforms to manage the storage and retrieval of historical segments are not needed. In addition, this method simplifies spatio-temporal queries.

关键词： GIS-T dynamic segmentation change type recursive algorithm time stamp

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Simultaneous Frequency and Harmonic Magnitude Estimation Using Decoupled Modules and Multirate Sampling

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2010年第4期59卷 954-962页

作者： Kusljevic, Miodrag D. Termoelektro Enel AD Belgrade 11060 Serbia

A number of measurement algorithms apply orthogonal signal components obtained by two orthogonal finite-impulse-response (FIR) filters. The most significant error in orthogonal FIR digital-filter-based measurement algorithms arises due to the FIR filters having different magnitude gains at frequencies other than the nominal power system frequency. In addition, although the FIR filters show complete rejection of harmonics when the power system frequency is equal to the nominal, this is not the case for other values of the power system frequency. To alleviate this drawback, the filter parameters have to be adapted during frequency estimation. Suitable implementations of adaptive filters that allow closed-form calculation of coefficients, such as cascade FIR comb filters and resonator-based filters, are present in the literature. In this paper, the advantages and pitfalls of these two techniques are addressed with regard to computational complexity, coefficient sensitivity problems, and convergence. As a result, an improved and very suitable combined algorithm based on parallel resonators with common feedback combined with an external FIR comb-filter-based module for frequency estimation that is applied on antialiasing-filtered and decimated input signal is proposed. The obtained simulation results allow us to establish the performance of the proposed algorithm by comparing its measurement precision with the results obtained using fast Fourier transform (FFT) implementations. It has been found that the proposed algorithm is suitable for real-time applications.

关键词： Cascaded integrator-comb (CIC) filter down-sampling finite-impulse-response (FIR) comb filter frequency estimation harmonics power quality (PQ) recursive algorithm resonator filters

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SOLVING SEQUENTIAL KNAPSACK-PROBLEMS

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OPERATIONS RESEARCH LETTERS 1993年第4期13卷 225-232页

作者： HARTMANN, M OLMSTEAD, T Department of Operations Research University of North Carolina Chapel Hill NC 27599 USA

We give an O(n log n) algorithm for solving sequential knapsack problems, whose bottleneck operation is sorting the ratios c(j)/a(j);otherwise the running time is O(n). This is used to compute a better bound than z(LP... 详细信息

关键词： KNAPSACK PROBLEM RELAXATION BOUNDS recursive algorithm

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Hermite Functional Link Artificial-Neural-Network-Assisted Adaptive algorithms for IoV Nonlinear Active Noise Control

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IEEE INTERNET OF THINGS JOURNAL 2020年第9期7卷 8372-8383页

作者： Yin, Kai-Li Pu, Yi-Fei Lu, Lu Sichuan Univ Coll Comp Sci Chengdu 610065 Peoples R China Sichuan Univ Coll Elect & Informat Engn Chengdu 610065 Peoples R China

The Internet of Vehicles (IoV) plays a central role in intelligent transportation systems. Components, such as motor and transmission in the vehicle may produce noise, which seriously affects comfort. Therefore, vehicle manufacturers attach great importance to active noise control (ANC) technology. However, such an ANC system may have some nonlinear distortions in practical, thereby the nonlinear ANC (NANC) system is warranted. Moreover, we consider using IoV for rational resource allocation and record historical data for fault diagnosis, early warning, etc. So far, no work on NANC in the IoV environment is reported. In this article, based on the Hermite polynomial, a class of functional link artificial neural network (FLANN) algorithms is developed for NANC. The first proposed algorithm, called filtered-h least mean L-p-norm (FhLMP), incorporates the Lp-norm to obtain reliable performance. To further enhance the performance, the recursive FhLMP (RFhLMP) and hyperbolic recursive FhLMP (HRFhLMP) algorithms are designed by formulating two recursive structures. The proposed RFhLMP algorithm takes the filter output as part of the input and is expanded by the Hermite FLANN. The HRFhLMP algorithm activates the output by a hyperbolic tangent function and then recursively returns the activated output to the filter input. Simulations verify the improvement of the proposed algorithms for the NANC system.

关键词： Active noise control (ANC) functional link artificial neural network (FLANN) Hermite polynomial least mean L-p-norm recursive algorithm

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An Improved Method to Search All Minimal Paths in Networks

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IEEE TRANSACTIONS ON RELIABILITY 2023年第4期72卷 1420-1431页

作者： Zhou, Xinxin Bai, Guanghan Tao, Junyong Xu, Bei Natl Univ Def Technol Coll Intelligent Sci Lab Sci & Technol Integrated Logist Support Changsha 410073 Peoples R China Nanchang Hang Kong Univ Sch Gen Aviat Nanchang 330063 Peoples R China

Minimal paths (MPs) play an important role in system reliability analysis, such as binary network reliability evaluation and multistate network reliability evaluation. Searching all MPs is an NP-hard problem. The direct-search-based algorithm implements the depth-first search (DFS) mechanism to find all MPs, which is a simple and efficient method. The current efficient DFS algorithm is based on backtracking and linked list by nodes. In this article, we propose several improvements to speed up the current algorithm. First, we find that the relative positional information of the network can be used to avoid visiting some unnecessary nodes. Thus, we improve the algorithm by incorporating the point in the polygon algorithm to avoid visiting nodes surrounded by other nodes in a network. Second, we further improve the current backtracking condition in which the time complexity of implementing each backtrack is reduced. In addition, we find that different search branches from a similar node are independent and can be executed in parallel. A parallel search mechanism is proposed and incorporated to speed up the searching process. Through computational experiments on several benchmark networks and real transportation networks, we demonstrate that the improved algorithm is more efficient than the existing algorithm. The proposed algorithm becomes more advantageous as the size of the network grows.

关键词： Cut set minimal paths (MPs) network reliability node position parallel algorithm recursive algorithm

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recursive SOLUTION OF LINEAR QUADRATIC NASH GAMES FOR WEAKLY INTERCONNECTED SYSTEMS

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JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS 1988年第3期56卷 463-477页

作者： PETROVIC, B GAJIC, Z RUTGERS STATE UNIV DEPT ELECT & COMP ENGNPISCATAWAYNJ 08854

A recursive method is developed for the solution of coupled algebraic Riccati equations and corresponding linear Nash strategies of weakly interconnected systems. It is shown that the given algorithm converges to the exact solution with the rate of convergence ofO(ε²), where ε is a small coupling parameter. In addition, only low-order systems are involved in algebrdic computations; the amount of computations required does not grow per iteration and no analyticity assumption is imposed on the system coefficients.

关键词： Nash differential games weak coupling coupled Riccati equations recursive algorithm

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