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5th International Conference on Parallel, Distributed and Grid computing, PDGC 2018

作者： Muchtar, Farkhana Singh, Pradeep Kumar Zawani Ahmmad, Siti Nor Ambar, Radzi Hanafi, Hafizul Fahri Fadilah, Suzi Iryanti Faculty of Computing Universiti Teknologi Malaysia Skudai Johor81310 Malaysia Department of CSE IT JayPee University of IT Waknaghat SolanHimachal Pradesh17334 India Instrumentation Control Engineering Universiti Kuala Lumpur MITEC Bandar Seri Alam Johor81750 Malaysia Faculty of Electronic Electrical Engineering Universiti Tun Hussein Onn Batu Pahat86400 Malaysia Faculty of Art Computing and Creative Industry Universiti Pendidikan Sultan Idris Tanjung Malim Perak35900 Malaysia School of Computer Sciences Universiti Sains Malaysia Gelugor Pulau Pinang11800 Malaysia

ISBN: (纸本)9781538660263

Lately, Peer to Peer (P2P) over Mobile Ad hoc Network have become a hot topics. Thus, the main motivation of this paper is to review various techniques that have been used in previously reported research of Peer to Peer (P2P) over Mobile Ad hoc Network (MANET). From the said document, it is identified that all previously techniques used in P2P over MANET have one similarity;namely maintaining the use of TCP/IP stack as network solution, in which the source for high energy resources for their proposed solution. Hence, this paper proposed a new solution beyond the TCP/IP stack paradigms in order to improve energy efficiency in P2P over MANET, whereby through the use of Content Centric Networking (CCN). In detail, this paper has included conceptual framework of our suggested solution. It is hoped that this paper achieves its two objectives: (i) to present a literature review on the topic of P2P over MANET, and (ii) to provide conceptual framework of our suggested solution. © 2018 IEEE.

关键词： Mobile ad hoc networks

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A performance analysis of computing the LU and the QR matrix decompositions on the CPU and the GPU

A performance analysis of computing the LU and the QR matrix...

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作者： Gajić, Dušan B. Stanković, Radomir S. Radmanović, Miloš Department of Computing and Control Engineering Faculty of Technical Sciences University of Novi Sad Novi Sad Serbia Department of Computer Science Faculty of Electronic Engineering University of Niš Niš Serbia

We present an analysis of time efficiency of five different implementations of the LU and the QR decomposition of matrices performed on central processing unit (CPUs) and graphics processing units (GPUs). Three of the considered implementations, developed using the Eigen C++ library, Intel MKL, and MATLAB are executed on a multi-core CPU. The remaining two implementations are processed on a GPU and employ MATLAB's Parallel computing Toolbox and Nvidia CUDA augmented with the cuSolver library. Computation times are compared using randomly generated single- and double-precision floating-point matrices. The experiments for the LU decomposition show that the two GPU implementations offer best performance for matrices that can fit into the GPU global memory. For larger LU decomposition problem instances, Intel MKL on the CPU is found to be the fastest approach. Furthermore, Intel MKL also proves to be the fastest method for computing QR decomposition for all considered sizes of matrices. Copyright © 2017 Inderscience Enterprises Ltd.

关键词： MATLAB

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Remaining Useful Battery Life Prediction for UAVs based on Machine Learning

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IFAC-PapersOnLine 2017年第1期50卷 4727-4732页

作者： Mansouri S.S. Karvelis P. Georgoulas G. Nikolakopoulos G. Robotics Group Control Engineering Division of the Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden Laboratory of Knowledge and Intelligent Computing Department of Computer Engineering Technological Educational Institute of Epirus Arta Greece

Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries have a fixed capacity and after some time drain out. In order to extend the flying time window, the prediction of the time that the battery will no longer be able to support a flying condition is crucial. This in fact can be cast as a standard Remaining Useful Life prognostic problem, similarly encountered in many fields. In this article, the problem of Remaining Useful Life estimation of a battery, under different flight conditions, is tackled using four machine learning techniques: a linear sparse model, a variant of support vector regression, a multilayer perceptron and an advanced tree based algorithm. The efficiency of the overall proposed machine learning techniques, in the field of batteries prognostics, is evaluated based on multiple experimental data from different flight conditions. © 2017

关键词： Battery Machine Learning Prediction Remaining Useful Life UAVs

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Estimation of Non-integer Order Models to Represent the Pressure Dynamics in Common-rail Natural Gas Engines

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IFAC-PapersOnLine 2017年第1期50卷 14551-14556页

作者： Kapetina, Mirna Lino, Paolo Maione, Guido Rapai, Milan University of Novi Sad Faculty of Technical Sciences Computing and Control Department Trg D. Obradovica 6 Novi Sad Serbia Politecnico di Bari Department of Electrical and Information Engineering Via E. Orabona 4 Bari Italy

Automotive natural gas engines are designed to dramatically reduce the emission of polluting gases, particulate matter, and harmful substances associated to combustion of Diesel or gasoline fuels. Their performance depends on the accurate metering of the air/fuel ratio, which is pursued by controlling the gas injection timing and the pressure in the common rail volume. To this aim, an accurate control-oriented model is necessary to represent gas pressure dynamics in the main parts of the injection system. This work focuses on the gas transition from inner parts of the system to the common rail. The aim is to identify a linear non-integer-order model that describes the process in a more effective and compact way than ARX integer-order models of high order. Identification is performed in a non-parametric setting, trying to identify the optimal smooth fit in the frequency domain by minimization of an appropriate discrepancy criterion, between the actual measurements and the model outputs. In this way, the model structure will be obtained as part of the identification process and will not be fixed a priori. © 2017

关键词： Compressed natural gas Diesel engines Frequency response Gas engines Gases Particle swarm optimization (PSO) Actual measurements control oriented models Fractional order systems Harmful substances Identification process Injection systems Model identification Particulate Matter

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Input optics systems of the KAGRA detector during O3GK (vol 2023, 023F01, 2023)

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PROGRESS OF THEORETICAL AND EXPERIMENTAL PHYSICS 2023年第5期2023卷

作者： Akutsu, T. Ando, M. Arai, K. Arai, Y. Araki, S. Araya, A. Aritomi, N. Asada, H. Aso, Y. Bae, S. Bae, Y. Baiotti, L. Bajpai, R. Barton, M. A. Cannon, K. Cao, Z. Capocasa, E. Chan, M. Chen, C. Chen, K. Chen, Y. Chiang, C-I Chu, H. Chu, Y-K Eguchi, S. Enomoto, Y. Flaminio, R. Fujii, Y. Fujikawa, Y. Fukunaga, M. Fukushima, M. Furuhata, T. Gao, D. Ge, G-G Ha, S. Hagiwara, A. Haino, S. Han, W-B Hasegawa, K. Hattori, K. Hayakawa, H. Hayama, K. Himemoto, Y. Hiranuma, Y. Hirata, N. Hirose, E. Hong, Z. Hsieh, B-H Huang, G-Z Huang, H-Y Huang, P. Huang, Y-C Huang, Y-J Hui, D. C. Y. Ide, S. Ikenoue, B. Imam, S. Inayoshi, K. Inoue, Y. Ioka, K. Ito, K. Itoh, Y. Izumi, K. Jeon, C. Jin, H-B Jung, K. Jung, P. Kaihotsu, K. Kajita, T. Kakizaki, M. Kamiizumi, M. Kanbara, S. Kanda, N. Kang, G. Kataoka, Y. Kawaguchi, K. Kawai, N. Kawasaki, T. Kim, C. Kim, J. Kim, J. C. Kim, Ws Kim, Y-M Kimura, N. Kita, N. Kitazawa, H. Kojima, Y. Kokeyama, K. Komori, K. Kong, A. K. H. Kotake, K. Kozakai, C. Kozu, R. Kumar, R. Kume, J. Kuo, C. Kuo, H-S Kuromiya, Y. Kuroyanagi, S. Kusayanagi, K. Kwak, K. Lee, H. K. Lee, H. W. Lee, R. Leonardi, M. Li, K. L. Lin, L. C-C Lin, C-Y Lin, F-K Lin, F-L Lin, H. L. Liu, G. C. Luo, L-W Majorana, E. Marchio, M. Michimura, Y. Mio, N. Miyakawa, O. Miyamoto, A. Miyazaki, Y. Miyo, K. Miyoki, S. Mori, Y. Morisaki, S. Moriwaki, Y. Nagano, K. Nagano, S. Nakamura, K. Nakano, H. Nakano, M. Nakashima, R. Nakayama, Y. Narikawa, T. Naticchioni, L. Negishi, R. Quynh, L. Nguyen Ni, W-T Nishizawa, A. Nozaki, S. Obuchi, Y. Ogaki, W. Oh, J. J. Oh, S. H. Ohashi, M. Ohishi, N. Ohkawa, M. Ohta, H. Okutani, Y. Okutomi, K. Oohara, K. Ooi, C. Oshino, S. Otabe, S. Pan, K-C Pang, H. Parisi, A. Park, J. Arellano, F. E. Pena Pinto, I. Sago, N. Saito, S. Saito, Y. Sakai, K. Sakai, Y. Sakuno, Y. Sato, S. Sato, T. Sawada, T. Sekiguchi, T. Sekiguchi, Y. Shao, L. Shibagaki, S. Shimizu, R. Shimoda, T. Shimode, K. Shinkai, H. Shishido, T. Shoda, A. Somiya, K. Son, E. J. Sotani, H. Sugimoto, R. Suresh, J. Suzuki, T. Suzuki, T. Tagoshi, H. Takahashi, H Gravitational Wave Science Project National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Advanced Technology Center National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Department of Physics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Research Center for the Early Universe The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research KAGRA Observatory The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa City Chiba 277-8582 Japan Accelerator Laboratory High Energy Accelerator Research Organization (KEK) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Earthquake Research Institute The University of Tokyo 1-1-1 Yayoi Bunkyo-ku Tokyo 113-0032 Japan Department of Mathematics and Physics Graduate School of Science and Technology Hirosaki University 3 Bunkyo-cho Hirosaki Aomori 036-8561 Japan Kamioka Branch National Astronomical Observatory of Japan 238 Higashi-Mozumi Kamioka-cho Hida City Gifu 506-1205 Japan The Graduate University for Advanced Studies (SOKENDAI) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Korea Institute of Science and Technology Information 245 Daehak-ro Yuseong-gu Daejeon 34141 Republic of Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 Beon-gil Yuseong-gu Daejeon 34047 Republic of Korea International College Osaka University 1-1 Machikaneyama-cho Toyonaka City Osaka 560-0043 Japan School of High Energy Accelerator Science The Graduate University for Advanced Studies (SOKENDAI) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Department of Astronomy Beijing Normal University Xinjiekouwai Street 19 Haidian District Beijing 100875 China Department of Applied Physics Fukuoka University 8-19-1 Nanakuma Jonan Fukuoka City Fukuoka 814-0180 Japan Department of Physics Tamkang University No. 151 Yingzhuan Road Danshui Dist. New Taipei City 25137 Taiwan Department of Physics

KAGRA, the underground and cryogenic gravitational-wave detector, was operated for its solo observation from February 25 to March 10, 2020, and its first joint observation with the GEO 600 detector from April 7 to April 21, 2020 (O3GK). This study presents an overview of the input optics systems of the KAGRA detector, which consist of various optical systems, such as a laser source, its intensity and frequency stabilization systems, modulators, a Faraday isolator, mode-matching telescopes, and a high-power beam dump. These optics were successfully delivered to the KAGRA interferometer and operated stably during the observations. The laser frequency noise was observed to limit the detector sensitivity above a few kilohertz, whereas the laser intensity did not significantly limit the detector sensitivity.

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An Efficient Network-on-Chip Router for Dataflow Architecture

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Journal of Computer Science & Technology 2017年第1期32卷 11-25页

作者： Xiao-Wei Shen Xiao-Chun Ye Xu Tan Da Wang Lunkai Zhang Wen-Ming Li Zhi-Min Zhang Dong-Rui Fan Ning-Hui Sun State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing 100049 China Department of Computer Science The University of Chicago IL 60637 U.S.A.

Dataflow architecture has shown its advantages in many high-performance computing cases. In dataflow computing, a large amount of data are frequently transferred among processing elements through the network-on-chip （NoC）. Thus the router design has a significant impact on the performance of dataflow architecture. Common routers are designed for control-flow multi-core architecture and we find they are not suitable for dataflow architecture. In this work, we analyze and extract the features of data transfers in NoCs of dataflow architecture： multiple destinations, high injection rate, and performance sensitive to delay. Based on the three features, we propose a novel and efficient NoC router for dataflow architecture. The proposed router supports multi-destination; thus it can transfer data with multiple destinations in a single transfer. Moreover, the router adopts output buffer to maximize throughput and adopts non-flit packets to minimize transfer delay. Experimental results show that the proposed router can improve the performance of dataflow architecture by 3.6x over a state-of-the-art router.

关键词： multi-destination router network-on-chip dataflow architecture high-performance computing

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Composite Learning for Trajectory Tracking control of Robot Manipulators with Output Constraints

Composite Learning for Trajectory Tracking Control of Robot ...

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International Conference on Information Science and Technology (ICIST)

作者： Dianye Huang Chenguang Yang Yongping Pan Shilu Dai Zhaojie Ju Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Biomedical Engineering National University of Singapore Singapore Singapore School of Computing University of Portsmouth Portsmouth UK

In this paper, a trajectory tracking scheme for robot manipulators with unknown dynamics is investigated, with the consideration of output constraints as well as small bounded external disturbances. Firstly, a modified backstepping control scheme is employed to control the robot manipulators where in the first step of the design a tan-type barrier Lyapunov candidate is chosen in order to tackle the constraint problem. Secondly, the philosophy of dynamic surface control is incorporated to implement the calculation of prediction errors, which can also reduce “explosion of complexity” of the backstepping scheme. In addition, composite learning is introduced for a better estimation of unknown parameters, and for canceling out the uncertainties of the robot manipulators. Stability analysis shows that the proposed control scheme guarantees a small bounded tracking error with parameter convergence in the absence of the stringent persistent excitation condition. Finally, a simulation is conducted and the results demonstrate the superiority of the proposed controller in the aspects of tracking capability and parameter estimation.

关键词： Manipulator dynamics Backstepping Uncertainty control systems Convergence

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Dominant-Set-Based Consensus For Fuzzy C-Means Clustering Ensemble

Dominant-Set-Based Consensus For Fuzzy C-Means Clustering En...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Pan Su Tianhua Chen Weifeng Xu Xuqiang Shao Hongtao Wang Yitian Zhao School of Control and Computer Engineering North China Electric Power University Baoding China Department of Computer Science School of Computing and Engineering University of Huddersfield Huddersfield UK Cixi Institute of Biomedical Engineering Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo China

ISBN: (纸本)9781538652152

Conventional clustering approaches partition a set of objects into a certain (some can automatically detect the number of clusters such as DBScan) number of clusters. During the partitioning process, the clusters of objects are produced where each object is assigned to one cluster. On the other hand, the dominantset-based clustering provides a formalisation of clusters by sequentially searching for individual clusters in the set of objects. The resultant clusters do not necessarily form a partition of the set. With the popularity of clustering ensemble, graph-based consensus approaches have been proposed with promising results achieved, many of which are based on the partition of the graph. In this paper, a dominant-set-based consensus method for fuzzy-c-means-based clustering ensemble is proposed. Different from traditional graph-based consensus techniques, the graph generated by the fuzzy clusters are grouped on the basis of the extracted dominant sets. The proposed approach employs a similarity relation to denote the links between component clusters from which the final clusters of ensemble are derived with the extracted dominant set. The proposed method is tested on benchmark data sets against several alternative ensemble methods for fuzzy c-means. The results of experiment show that the proposed dominant-set-based clustering ensemble method generally achieves higher accuracy than its competitors.

关键词： Clustering algorithms Benchmark testing Partitioning algorithms Fuzzy sets Symmetric matrices Power systems Computer science

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Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution

arXiv

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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Introduction

Advances in Industrial Control

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Advances in Industrial control 2018年第9783319610207期 1-18页

作者： Orsag, Matko Korpela, Christopher Oh, Paul Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electrical Engineering and Computer Science United States Military Academy West PointNY United States Department of Mechanical Engineering University of Nevada Las Vegas Las VegasNV United States

Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones. © Springer International Publishing AG 2018.

关键词： Antennas

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