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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Characterizing feedback signal drop patterns in formal verification of networked control systems

Characterizing feedback signal drop patterns in formal verif...

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2013 IEEE Conference on computer Aided Control System Design, CACSD 2013

作者： Goswami, Dip Chakraborty, Samarjit Bhaduri, Purandar Mitter, Sanjoy K. Institute for Real-Time Computer Systems TU Munich Germany Department of Computer Science and Engineering IIT Guwahati India Laboratory for Information and Decision Systems MIT United States

ISBN: (纸本)9781479915651

In order to obtain resource efficient implementations of control loops on embedded platforms, recently there has been a renewed interest in studying stability and various other quality-of-control (QoC) metrics in the presence of control message drops. Towards this, different methods have been proposed to quantify the impact of message drops on stability and control performance. In this paper we will survey these techniques and clarify the relationship between them. Given a drop pattern that satisfies stability and specified QoC constraints, it is important to check whether an implementation platform satisfies this pattern. In other words, whether the control loop in question may be implemented on this platform. Given an architecture, we will also show how certain notions of expressing drop patterns are easier to verify compared to others. © 2013 IEEE.

关键词： Drops

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Generalized Norm Optimal Iterative Learning Control with Intermediate Point and Sub-interval Tracking

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International Journal of Automation and computing 2015年第3期12卷 243-253页

作者： David H.Owens Chris T.Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield School of Electronics and Computer Science University of Southampton Advanced Robotics Division Italian Institute of Technology

Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. This problem addresses the practical needs of many applications, including industrial automation, crane control, satellite positioning and motion control within a medical stroke rehabilitation context. This paper provides a substantial generalization of this framework by providing a solution to the problem of convergence at intermediate points with simultaneous tracking of subsets of outputs to reference trajectories on subintervals. This formulation enables the NOILC paradigm to tackle tasks which mix "point to point" movements with linear tracking requirements and hence substantially broadens the application domain to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments. A solution to the problem is presented in the framework of NOILC and inherits NOILC s well-defined convergence properties. Design guidelines and supporting experimental results are included.

关键词： Iterative learning control learning control optimization linear systems robotics.

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Model-based diagnosis of complex systems: Structuring and temporal reasoning

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IFAC Proceedings Volumes 1991年第10期24卷 41-45页

作者： T. Hübner Institute for Real Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Karlsruhe Germany

Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined in this paper is based on semantic nets representing causal and temporal knowledge to be used for fault diagnosis. A view and a hierarchy-concept serve for structured modelling and focused diagnosis. An efficient diagnostic inference mechanism is based on a pre-computation phase, where diagnostic knowledge is restructured to grant efficient access operations during a diagnostic session phase.

关键词： Failure detection artificial intelligence expert systems modeling causal reasoning temporal reasoning structuring model-based

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An optimisation algorithm for minimising energy dissipation in NoC-based hard real-time embedded systems 13

An optimisation algorithm for minimising energy dissipation ...

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21st International Conference on real-time Networks and systems, RTNS 2013

作者： Mohd Sayuti, M. Norazizi Sham Indrusiak, Leandro Soares Garcia-Ortiz, Alberto Real-Time Systems Group Department of Computer Science University of York United Kingdom Institute of Electrodynamics and Microelectronics University of Bremen Germany

ISBN: (纸本)9781450320580

This paper introduces an evolutionary multi-objective optimisation algorithm to facilitate fast and efficient task allocation of hard real-time embedded systems with Networks-On-Chip (NoC) as the interconnection at the early design stage, where evaluating as many as possible solutions is crucial. Our approach uses analytical fitness functions to provide fast evaluation of large number of solutions;a contrast to simulation-based optimisation technique, whereby it tends to be not only impractical when the design space is very large but also unfeasible as far as hard real-time systems are concerned. The proposed algorithm guarantees the predictability in timing behaviour of the systems whilst minimising energy dissipation whenever tasks are reallocated and their packets are rerouted, which differs from the state-of-the-art approaches. In addition, not only it can explore the allocation of tasks but also the encoding of the data packets. The evidence gathered from case studies shows that the proposed algorithm is able to find schedulable allocation of tasks, preserving it whilst further minimising energy dissipation. © 2013 ACM.

关键词： Energy dissipation

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The virtual lover： variable and easily guided 3D fish animations as an innovative tool inmate-choice experiments with sailfinmollies-II. Validation

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Current Zoology 2017年第1期63卷 65-74页

作者： Stefanie GIERSZEWSKI Klaus MuLLER levgen SMIELIK Jan-Marco HUTWOHL Klaus-Dieter KUHNERT Klaudia WITTE Research Group of Ecology and Behavioral Biology Institute of Biology University of Siegen Adolf-Reichwein- StraBe 2 Siegen 57068 Germany Institute of Real-Time Learning Systems Department of ElectricalEngineering & Computer Science University of Siegen HSIderlinstraBe 3 Siegen 57076 Germany

The use of computer animation in behavioral research is a state-of-the-art method for designing andpresenting animated animals to live test animals. The major advantages of computer animations are：（1） the creation of animated animal stimuli with high variability of morphology and even behavior; （2）animated stimuli provide highly standardized, controlled and repeatable testing procedures; and （3）they allow a reduction in the number of live test animals regarding the 3Rs principle. But the use of ani-mated animals should be attended by a thorough validation for each test species to verify that behaviormeasured with live animals toward virtual animals can also be expected with natural stimuli. Here wepresent results on the validation of a custom-made simulation for animated 3D sailfin mollies Poecilialatipinna and show that responses of live test females were as strong to an animated fish as to a videoor a live male fish. Movement of an animated stimulus was important but female response was stron-ger toward a swimming 3D fish stimulus than to a ＂swimming＂ box. Moreover, male test fish wereable to discriminate between animated male and female stimuli; hence, rendering the animated 3D fisha useful tool in mate-choice experiments with sailfin mollies.

关键词： computer animation, fish behavior, mate-choice experiment, validation, virtual fish model.

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Multisite co-allocation algorithms for computational grid 20

Multisite co-allocation algorithms for computational grid

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20th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2006

作者： Zhang, Weizhe Cheng, Albert M. K. Hu, Mingzeng School of Computer Science and Technology Harbin Institute of Technology China Real-Time Systems Laboratory Department of Computer Science University of Houston Houston TX 77204-3010 United States

ISBN: (纸本)1424400546

Efficient multisite job scheduling facilitates the cooperation of multi-domain massively parallel processor systems in a computing grid environment. However, co-allocation, heterogeneity, adaptability, and scalability emerge as tough challenges for the design of multisite job scheduling models and algorithms. This paper presents a new multisite job scheduling schema based on the multisite job scheduling model and the performance model for a heterogeneous grid environment. There are three key components: resource selection, reservation, and backfilling. The optimal and greedy-heuristic adaptive resource selection strategies are introduced. The conservative and easy backfilling are incorporated into the backfilling procedure. Experiments indicate that the scheduler and the algorithm are effective and perform better than a non-adaptive algorithm. © 2006 IEEE.

关键词： Computational methods

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Fast block mode decision algorithm in H.264/AVC video coding

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JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION 2008年第3期19卷 175-183页

作者： Kim, Jong-Ho Kim, Byung-Gyu [a]Real-time Multimedia Research Lab Embedded Software Division Electronics and Telecommunications Research Institute Republic of Korea [b]Computer Software & Engineering Department University of Science and Technology Republic of Korea

The recent video coding standard H.264/AVC show extremely higher coding efficiency compare to any other previous standards. H.264/AVC can achieve over 50% of bit rate saving with same quality using the rate-distortion process, but it brings high computational complexity. In this paper, we propose an algorithm that can reduce the complexity of the codec by reducing the block mode decision process adaptively. Block mode decision process in H.264/AVC consists of inter mode decision process and intra mode decision process. We deal with reduction method for inter and intra mode decision. In this paper an efficient method is proposed to reduce the inter mode decision complexity using the direct prediction methods based on block correlation and adaptive rate distortion cost threshold for early stopping. The fast intra mode reduction algorithm based on inter mode information is also proposed to reduce the computational complexity. The experimental results show that the proposed algorithm can achieve up to 63.34-77.39% speed up ratio with a little PSNR loss. Increment in bit requirement is also not much noticeable. (c) 2007 Elsevier Inc. All rights reserved.

关键词： video coding image compression image coding prediction methods video processing

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End user specication of RoboCup teams 3rd

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3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999

作者： Scerri, Paul Ydrén, Johan Real-time Systems Laboratory Department of Computer and Information Science Linköpings Universitet LinköpingS-581 83 Sweden Institute for Computer Science Linkpings Universitet Sweden

ISBN: (纸本)9783540410430

Creating complex agents for simulation environments has long been the exclusive realm of AI experts. However it is far more desirable that experts in the particular application domain, rather than AI experts, are empowered to specify agent behavior. In this paper an approach is presented that allows domain experts to specify the high-level team strategies of agents for RoboCup. The domain experts’ specications are compiled into behavior based agents. The 1999 RoboCup World Cup provided an interesting basis for evaluation of the approach. We found that for RoboCup it is not necessary to allow a user to change low level aspects of the agents’ behavior in order for them to create a range of different, interesting teams. We also found that the modular nature of behavior based architectures make them an ideal target architecture for compiling enduser specications. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Artificial intelligence

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Optical position stabilization of an UAV for autonomous landing 7

Optical position stabilization of an UAV for autonomous land...

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7th German Conference on robotics, ROBOTIK 2012

作者： Ax, Markus Thamke, Stefan Kuhnert, Lars Schlemper, Jens Kuhnert, Klaus-Dieter University of Siegen Fak. IV - Electrical Engineering and Computer Science Institute for Real-Time Learning Systems Germany

Vertical Take-Off and Landing (VTOL) capable Mini Unmanned Aerial Vehicles (MUAV) are an economic alternative to real helicopters if local aerial pictures or other aerial measurements are needed. With electronic stabilization, GPS based position-hold and autonomous way-point functions these systems are easy to operate. While autonomous take off and flying are done routinely, this is not true for autonomous landing. GPS based position stabilization, in conjunction with the normally used cheap and small IMUs, is not accurate enough to avoid dangerous moves in the very last moment of the landing operation. While sufficient for an emergency landing this is not suitable as routine operation. In this paper a solution is presented which uses optical flow techniques for position stabilization in the moment just before the touch down to avoid the inaccuracies from the GPS at this critical moment. © 7th German Conference on robotics, ROBOTIK 2012

关键词： Stabilization

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