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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

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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

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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

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A C-Band Relativistic Backward Wave Oscillator Optimized by Multiobjective algorithms

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IEEE TRANSACTIONS ON ELECTRON DEVICES 2025年

作者： Xiang, Yujie Jin, Zhenxing Zhang, Dian Zhang, Jun Yang, Kaiqi Zhou, Fugui Natl Univ Def Technol Coll Adv Interdisciplinary Studies Changsha 410073 Peoples R China

The parameters of high-power microwave sources exhibit high sensitivity and discontinuity regarding their power efficiency, operation frequency, and other key performances. Currently, particle in cell (PIC) simulation in conjunction with intelligent optimization algorithms is frequently utilized to optimize device parameters but there is still the problem that fast power ramp-up and frequency control cannot be achieved at the same time. In pursuit of an effective resolution, this article undertakes a comparison of three major classes of evolutionary algorithms within the domain of artificial intelligence during the design process of a C-band relativistic backward wave oscillator (RBWO). Through a new design method of segmented optimization strategy using the OMOPSO and RSEA algorithms, a novel RBWO structure has been attained. This structure attains an output power of 2.3 GW, functions at a goal microwave frequency of 4.3 GHz, and achieves an energy conversion efficiency of 46% in simulation under a magnetic field of 0.28 T. This novel optimization strategy is characterized by rapid optimization speed and favorable optimization efficacy.

关键词： Optimization Electron beams Microwave frequencies software algorithms C-band Power generation Microwave theory and techniques Anodes Microwave oscillators Magnetic fields High-power microwave (HPM) multiobjective optimization new design method rapid optimization strategies

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Editorial: Special Issue on Opportunities and Challenges with Autonomous Racing

Field Robotics

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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

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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

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Transmission Line Protection based on Fine-Tuning CatBoost Fault Classification Technique

Transmission Line Protection based on Fine-Tuning CatBoost F...

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Sustainable Energy Technologies and Computational Intelligence (SETCOM), International Conference on

作者： Nilesh Chothani Dharmesh D. Patel Department of Electrical Engineering SoET Pandit Deendayal Energy University Gandhinagar India Department of Electrical Engineering Government Engineering College Bharuch India

ISBN: (数字)9798331520540

ISBN: (纸本)9798331520557

Transmission line challenges are complex because they involve many different factors and are subject to significant fluctuations. These complexities make it crucial to implement precise protective measures. Effective protection ensures that electrical power flows without interruption. To address these challenges, a new classification algorithm is proposed, which is based on CatBoost. This algorithm works in conjunction with a Wavelet Transform-based decomposition system. These tools help in accurately assessing the condition of the transmission lines and responding to any issues that may arise. For practical application, the Indian standard system serves as the simulation model. This system operates at a voltage rating of 220 kV and spans a length of 120 km, with a frequency of 50 Hz. The decomposition frequency is set at 4 kHz, and to perform the Wavelet decomposition method, 80 samples are taken per cycle. A comprehensive data collection occurs within the transmission line using the MULTIRUN block of PSCADTM software. This software is instrumental in gathering the necessary data for analysis. The developed CatBoost algorithm is implemented in MATLAB, ensuring that hyperparameters are optimized for better performance. Once data is collected from PSCADTM, it is then imported into MATLAB for further processing. The CatBoost algorithm is employed to validate the data and assess the performance of the transmission line protection system. The results from this classification reveal that the proposed algorithm significantly outperforms traditional methods in protecting transmission lines.

关键词： Wavelet transforms Power transmission lines software algorithms Power system protection Transmission line measurements software Mathematical models Classification algorithms MATLAB Transient analysis

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A generative model for synchrophasor network traffic in smart grids

A generative model for synchrophasor network traffic in smar...

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Annual Conference on Information Sciences and Systems (CISS)

作者： Leo Kosta Aaron St. Leger Department of Electrical Engineering and Computer Science United States Military Academy NY

ISBN: (数字)9798331513269

ISBN: (纸本)9798331513276

Smart grid technologies can revolutionize power distribution. However, engineers can’t write the software to realize this goal without large, publicly available datasets. Power companies are reluctant to share the data they collect because of consumer privacy concerns and concerns that they will expose themselves as targets of cyber attacks. We introduce a generative model for one of the most common types of smart grid data: synchrophasor network traffic. Our model can generate an unlimited amount of smart grid data while mitigating risks associated with exposing consumer and network information. Engineers can use our model to prototype smart grid software such as anomaly detection and state estimation.

关键词： Temperature software algorithms Telecommunication traffic Companies Phasor measurement units Data models Smart grids State estimation software tools Anomaly detection

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Modification of the Spectral Analysis Method for Measuring Power Parameters Based on the Application of Window Functions

Modification of the Spectral Analysis Method for Measuring P...

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International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)

作者： Alexey A. Kharinov Vladimir V. Korshunov Sergey A. Podobuev Anna A. Krylovich Viktor D. Kacharsky Andrey N. Serov Department of Computer Systems and Technologies National Research Nuclear University “MEPhI” Moscow Russian Federation Diagnostic Information Technologies Department National Research University “MPEI” Moscow Russian Federation

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

Accurate spectrum measurement is one of the most important measurement tasks in the electric power grids. Knowledge of the complex spectrum allows to indirectly measure the vast majority of signal parameters. These include the parameters of electric power: active, apparent and reactive. The prevailing source of methodological error is the so-called “spectrum leakage” effect. The most common approach to suppress the spectrum leakage effect is the window function application. This approach allows using computationally efficient fast Fourier transform algorithms to obtain the signal spectrum. In this paper, we consider the application of the window function method to measure frequency, amplitude, initial phase and power parameters for the case of using rectangular and Hanning window. Interpolations of the spectrum for different numbers of spectrum samples are considered: one, two, three and five. By using MATLAB and Simulink, simulation models are proposed that allow evaluation of the effectiveness of the presented techniques.

关键词： Measurement errors Power engineering Power measurement Accuracy Voltage measurement software packages software algorithms Power systems MATLAB Spectral analysis

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Bridging Simulation and Real-World for Autonomous UAVs in 5G RAN

Bridging Simulation and Real-World for Autonomous UAVs in 5G...

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IEEE Conference on Wireless Communications and Networking

作者： Riccardo Gobbato Andrea Lacava Salvatore D'Oro Maxime Elkael Prasanna Raut Jennifer Simonjan Evgenii Vinogradov Francesca Cuomo Tommaso Melodia Sapienza University of Rome Rome Italy Institute for the Wireless Internet of Things Northeastern University Boston MA USA Technology Innovation Institute Abu Dhabi UAE

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

Although the integration between Unmanned Aerial Vehicles (UAVs) and Radio Access Network (RAN) applications is envisioned to enable a variety of new use cases and services, several practical aspects related to autonomous operations over cellular systems are still largely unexplored due to difficulties in testing and validating such integration in the real world. In this paper, we bridge the gap between simulation and real-world applications by introducing a new framework that combines real-world robotic controllers and 5th generation (5G) cellular stacks with channel and flight simulation. We consider a holistic approach where we use ArduPilot as the flight controller and OpenAirInterface (OAI) and srsRAN as the 5G cellular stacks to provide a unified solution for developing and experimenting with UAV s for cellular applications. We utilize ArduPilot software-in-the-Loop (SITL) to simulate and control the mobility of UAVs, while OAI-RFSim and srsRAN are used to model channel conditions. Our framework is particularly useful for developing data-driven solutions that require (i) a large amount of data collected under realistic operational conditions to learn effective control policies; and (ii) a sandbox and safe testing environment that enables exploration of the action space. By addressing a UAV coverage problem and developing a greedy heuristic, we demonstrate how our framework can be used to create and test algorithms in a simulated environment, showcasing its potential as a bridge to real-world applications.

关键词： Training 5G mobile communication software algorithms Computer architecture Open RAN Autonomous aerial vehicles software Artificial intelligence Robots Testing

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