With the development of technology and application of industrial internet of things, a large amount of data is generated in the research and development (R&D) processes in manufacturing domain, including manufactu...
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This paper addresses the problem of distributed formation trajectory planning for multi-vehicle systems with collision avoidance among vehicles. Unlike some previous distributed formation trajectory planning methods, ...
This paper addresses the problem of distributed formation trajectory planning for multi-vehicle systems with collision avoidance among vehicles. Unlike some previous distributed formation trajectory planning methods, our proposed approach offers great flexibility in handling computational tasks for each vehicle when the global formation of all the vehicles changes. It affords the system the ability to adapt to the computational capabilities of the vehicles. Furthermore, global formation constraints can be handled at any selected vehicles. Thus, any formation change can be effectively updated without recomputing all local formations at all the vehicles. To guarantee the above features, we first formulate a dynamic consensus-based optimization problem to achieve desired formations while guaranteeing collision avoidance among vehicles. Then, the optimization problem is effectively solved by ADMM-based or alternating projection-based algorithms, which are also presented. Theoretical analysis is provided not only to ensure the convergence of our method but also to show that the proposed algorithm can surely be implemented in a fully distributed manner. The effectiveness of the proposed method is illustrated by a numerical example of a 9-vehicle system.
Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for target...
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Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for targeted delivery in gastrointestinal(GI)***,the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload ***,we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic *** magnetic orientation encoded robot can move in multiple modes,with a substantially reduced drag,terrain adaptability,and improved motion velocity across the non-Newtonian ***,the robot stiffness can be reversibly controlled with magnetically induced hardening,enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic ***,the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating *** verify the potential applications inside the body,the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the *** developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.
Background and objectiveKnee contact force (KCF) is pivotal in both the study and degenerative pathologies like Knee Osteoarthritis. Traditionally, they are primarily estimated using musculoskeletal modeling and machi...
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In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrate...
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In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.
Real-time video processing has found its range of applications from defense to consumer electronics for surveillance, video conferencing, etc. With the advent of Field Programmable Gate Arrays (FPGAs), flexible real-t...
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Microsatellite instability(MSI)is a key biomarker for cancer therapy and *** experimental assays are laborious and time-consuming,and next-generation sequencingbased computational methods do not work on leukemia sampl...
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Microsatellite instability(MSI)is a key biomarker for cancer therapy and *** experimental assays are laborious and time-consuming,and next-generation sequencingbased computational methods do not work on leukemia samples,paraffin-embedded samples,or patient-derived xenografts/organoids,due to the requirement of matched normal ***,we developed MSIsensor-pro,an open-source single sample MSI scoring method for research and clinical ***-pro introduces a multinomial distribution model to quantify polymerase slippages for each tumor sample and a discriminative site selection method to enable MSI detection without matched normal *** demonstrate that MSIsensor-pro is an ultrafast,accurate,and robust MSI calling *** samples with various sequencing depths and tumor purities,MSIsensor-pro significantly outperformed the current leading methods in both accuracy and computational ***-pro is available at https://***/xjtu-omics/msisensor-pro and free for non-commercial use,while a commercial license is provided upon request.
Harnessing exotic optical forces promises a plethora of biophysical applications and novel light-matter interactions. The exotic optical pulling force (OPF) and optical lateral force (OLF) have been studied separately...
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3D Morphable Model (3DMM) fitting has widely benefited face analysis due to its strong 3D priori. However, previous reconstructed 3D faces suffer from degraded visual verisimilitude due to the loss of fine-grained geo...
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Recently, several practical wavelength attacks on continuous-variable quantum key distribution (CVQKD) were proposed based on the wavelength-dependent property of a beam splitter in Bob's station. These attack sch...
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Recently, several practical wavelength attacks on continuous-variable quantum key distribution (CVQKD) were proposed based on the wavelength-dependent property of a beam splitter in Bob's station. These attack schemes are limited to the fiber channel systems with a relatively stable transmittance. However, unlike the fiber channel, the transmittance of the atmospheric channel is complex and fluctuates dramatically in time, which may invalidate the attack equations that must be satisfied in the optical fiber channel. In this paper, we propose two wavelength attack schemes against complex atmospheric CVQKD systems and formulize the two schemes based on the parameter estimation method. To verify the feasibility and availability of this attack, we deduce the success criteria for the two attack schemes. By numerical analysis, our attack schemes are proved to be feasible in the permitted parameter regimes. The secret key rate and propagation distance of CVQKD can be further overestimated by selecting the condition parameters effectively. Moreover, we discuss the possible prevention countermeasures to resist these attack schemes. The proposed method will fill the gap of wavelength attack for the implementation of practical atmospheric CVQKD.
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