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Scalable Plug-and-Play Robotic Fabrics Based on Kilobot Modules

IEEE Robotics and Automation Letters 2025年第7期10卷 6832-6839页

作者： Obilikpa, Stanley C. Talamali, Mohamed S. Miyauchi, Genki Oyekan, John Gros, Roderich The University of Sheffield School of Electrical and Electronic Engineering United Kingdom The University of York Department of Computer Science United Kingdom Technical University of Darmstadt Department of Computer Science Germany

This paper presents a framework for producing robotic fabrics using square lattice formations of interlinked Kilobot modules. The framework supports: (i) fabrics of arbitrary size and shape;(ii) different types of deformable links, namely springs and rods;(iii) easy plug-and-play reconfigurability. Two decentralized straight motion controllers are tested with robotic fabrics comprising up to 81 physical modules: an open-loop controller and a controller from the literature that responds to deformations within the fabric. For spring-based robotic fabrics, the deformation-correcting controller performs best overall, whereas for rod-based robotic fabrics, it is outperformed by the open-loop controller. A decentralized turning motion controller is formally derived and examined for either type of fabric, revealing the ability of the robotic fabrics to move along a curved trajectory using open-loop control. Finally, robotic fabrics are shown to perform basic object manipulation tasks. Robotic fabrics that deploy themselves based on distributed, embodied intelligence could pave the way for novel applications, from patching broken pipes to medical uses within the human body. © 2016 IEEE.

关键词： Modular robots

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Deep reinforcement learning for online scheduling of photovoltaic systems with battery energy storage systems

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Intelligent and Converged Networks 2024年第1期5卷 28-41页

作者： Yaze Li Jingxian Wu Yanjun Pan the Department of Electrical Engineering University of ArkansasFayettevilleAR 72701USA the Department of Computer Science and Computer Engineering University of ArkansasFayettevilleAR 72701USA

A new online scheduling algorithm is proposed for photovoltaic(PV)systems with battery-assisted energy storage systems(BESS).The stochastic nature of renewable energy sources necessitates the employment of BESS to balance energy supplies and demands under uncertain weather *** proposed online scheduling algorithm aims at minimizing the overall energy cost by performing actions such as load shifting and peak shaving through carefully scheduled BESS charging/discharging *** scheduling algorithm is developed by using deep deterministic policy gradient(DDPG),a deep reinforcement learning(DRL)algorithm that can deal with continuous state and action *** of the main contributions of this work is a new DDPG reward function,which is designed based on the unique behaviors of energy *** new reward function can guide the scheduler to learn the appropriate behaviors of load shifting and peak shaving through a balanced process of exploration and *** new scheduling algorithm is tested through case studies using real world data,and the results indicate that it outperforms existing algorithms such as Deep *** online algorithm can efficiently learn the behaviors of optimum non-casual off-line algorithms.

关键词： photovoltaic(PV) battery energy storage system(BESS) Markov decision process(MDP) deep deterministic policy gradient(DDPG)

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Advancements in Remote Sensing Image Dehazing: Introducing URA-Net with Multi-Scale Dense Feature Fusion Clusters and Gated Jump Connection

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computer Modeling in engineering & sciences 2024年第9期140卷 2397-2424页

作者： Hongchi Liu Xing Deng Haijian Shao School of Computer Jiangsu University of Science and TechnologyZhenjiang212003China Department of Electrical and Computer Engineering University of NevadaLas Vegas89119USA

The degradation of optical remote sensing images due to atmospheric haze poses a significant obstacle,profoundly impeding their effective utilization across various *** methodologies have emerged as pivotal components of image preprocessing,fostering an improvement in the quality of remote sensing *** enhancement renders remote sensing data more indispensable,thereby enhancing the accuracy of target *** defogging techniques based on simplistic atmospheric degradation models have proven inadequate for mitigating non-uniform haze within remotely sensed *** response to this challenge,a novel UNet Residual Attention Network(URA-Net)is *** paradigmatic approach materializes as an end-to-end convolutional neural network distinguished by its utilization of multi-scale dense feature fusion clusters and gated jump *** essence of our methodology lies in local feature fusion within dense residual clusters,enabling the extraction of pertinent features from both preceding and current local data,depending on contextual *** intelligently orchestrated gated structures facilitate the propagation of these features to the decoder,resulting in superior outcomes in haze *** validation through a plethora of experiments substantiates the efficacy of URA-Net,demonstrating its superior performance compared to existing methods when applied to established datasets for remote sensing image *** the RICE-1 dataset,URA-Net achieves a Peak Signal-to-Noise Ratio(PSNR)of 29.07 dB,surpassing the Dark Channel Prior(DCP)by 11.17 dB,the All-in-One Network for Dehazing(AOD)by 7.82 dB,the Optimal Transmission Map and Adaptive Atmospheric Light For Dehazing(OTM-AAL)by 5.37 dB,the Unsupervised Single Image Dehazing(USID)by 8.0 dB,and the Superpixel-based Remote Sensing Image Dehazing(SRD)by 8.5 *** noteworthy,on the SateHaze1k dataset,URA-Net attains preeminence in overall performance,yieldi

关键词： Remote sensing image image dehazing deep learning feature fusion

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A Comprehensive Data Description for LoRaWAN Path Loss Measurements in an Indoor Office Setting: Effects of Environmental Factors

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IEEE Access 2025年 13卷 83148-83170页

作者： Obiri, Nahshon Mokua Laerhoven, Kristof Van University of Siegen Department of Electrical Engineering and Computer Science Germany

This paper presents a comprehensive dataset of LoRaWAN technology path loss measurements collected in an indoor office environment, focusing on quantifying the effects of environmental factors on signal propagation. Utilizing a network of six strategically placed LoRaWAN end devices (EDs) and a single indoor gateway (GW) at the University of Siegen's Hölderlinstraße Campus in the City of Siegen, Germany, we systematically measured signal strength indicators such as the Received Signal Strength Indicator (RSSI) and the Signal-to-Noise Ratio (SNR) under various environmental conditions, including temperature, relative humidity, carbon dioxide (CO2) concentration, barometric pressure, and particulate matter levels (PM2.5). Our empirical analysis confirms that transient phenomena such as reflections, scattering, interference, occupancy patterns (induced by environmental parameter variations), and furniture rearrangements can alter signal attenuation by as much as 10.58 dB, highlighting the dynamic nature of indoor propagation. As an example of how this dataset can be utilized, we tested and evaluated a refined Log-Distance Path Loss and Shadowing Model that integrates both structural obstructions (Multiple Walls) and Environmental Parameters (LDPLSM-MW-EP). Compared to a baseline model that considers only Multiple Walls (LDPLSMMW), the enhanced approach reduced the root mean square error (RMSE) from 10.58 dB to 8.04 dB and increased the coefficient of determination (R2) from 0.6917 to 0.8222. By capturing the extra effects of environmental conditions and occupancy dynamics, this improved model provides valuable insights for optimizing power usage and prolonging device battery life, enhancing network reliability in indoor Internet of Things (IoT) deployments, among other applications. The dataset, accessible upon reasonable request, offers a solid foundation for future research and development in indoor wireless communication. © 2013 IEEE.

关键词： Green computing

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A Review of Anonymization Algorithms and Methods in Big Data

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Annals of Data science 2025年第1期12卷 253-279页

作者： Shamsinejad, Elham Banirostam, Touraj Pedram, Mir Mohsen Rahmani, Amir Masoud Department of Computer Engineering Central Tehran Branch Islamic Azad University Tehran Iran Department of Electrical and Computer Engineering Faculty of Engineering Kharazmi University Tehran Iran Department of Computer Engineering Science and Research Branch Islamic Azad University Tehran Iran

In the era of big data, with the increase in volume and complexity of data, the main challenge is how to use big data while preserving the privacy of users. This study was conducted with the aim of finding a solution to this challenge. In this study, we examined various data anonymization methods, including differential privacy, advanced encryption, and strong access controls. In addition, the operation, advantages, disadvantages, and use of these methods, the challenges of adapting these methods to big data, and possible solutions for them were also examined. Our results show that traditional data anonymization methods lack scalability, leading to privacy breaches and data loss. When faced with large volumes of data, these methods may not be able to fully process the data. Also, these methods may be ineffective against re-identification attacks, linkage attacks, and inference attacks. We introduced emerging methods that are capable of providing improved privacy with minimal data loss. These methods have scalability for big data. Finally, we examined future research works and raised important questions that can help improve existing algorithms or develop new methods, better manage the complexity and scale of unstructured data. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Big data

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Representing a Model for the Anonymization of Big Data Stream Using In-Memory Processing

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Annals of Data science 2025年第1期12卷 223-252页

In light of the escalating privacy risks in the big data era, this paper introduces an innovative model for the anonymization of big data streams, leveraging in-memory processing within the Spark framework. The approach is founded on the principle of K-anonymity and propels the field forward by critically evaluating various anonymization methods and algorithms, benchmarking their performance with respect to time and space complexities. A distinctive formula for optimized cluster determination in the K-means algorithm is presented, along with a novel tuple expiration time strategy for the efficient purging of clusters. The integration of these components into Spark’s RDD and MLlib modules results in a significant decrease in execution time and data loss rates, even with increasing data volumes. The paper’s notable contributions are its methodological advancements that offer a robust, scalable solution for data anonymization, safeguarding user privacy without sacrificing data utility or processing efficiency. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Big data

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A Novel Deep Learning Approach Toward Efficient and Accurate Recommendation Using Improved Alternating Least Squares in Social Media

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Journal of The Institution of Engineers (India): Series B 2024年第3期105卷 657-675页

作者： Dhawan, Sanjeev Singh, Kulvinder Batra, Amit Choi, Anthony Choi, Ethan Department of Computer Science and Engineering University Institute of Engineering and Technology Kurukshetra University Haryana India Department of Electrical and Computer Engineering Mercer University MaconGA United States

The increasing number of electronic transactions on the Internet has given rise to the design of recommendation systems. The main objective of these systems is to give recommendations to the users about the items (i.e., movies, music, books, etc.) they are likely to purchase in near future. These recommendations are on the foundation of the response provided by the other individuals about these products in the terms of ratings, which are in the form of a five-star rating system. Plenty of algorithms have been proposed in the past for building recommender systems. The most popular of these algorithms comprise content-centered and collaborative filtering recommendation methodologies. Recently, matrix factorization has appeared as a technique in recommender systems. Several algorithms centered on matrix factorization have been suggested in the recent past. In this paper, an improved alternating least squares algorithm has been proposed for building more efficient and accurate recommender systems which improves the performance of matrix factorization. The performance of the model has been evaluated using metrics like root-mean-square-error and execution time. However, in general, the time complexity of both algorithms is O(n^3), where n is the number of users or items. This is because both IALS and ALS involve iteratively solving a system of linear equations, and the time complexity of solving a system of linear equations is O(n^3). However, IALS can achieve significant performance improvements over ALS, particularly for large datasets, due to its incorporation of stochastic gradient descent and parallelization techniques. © The Institution of Engineers (India) 2024.

关键词： Recommender systems

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Provision of Ramp-rate Limitation as Ancillary Service from Distribution to Transmission System:Definitions and Methodologies for Control and Sizing of Central Battery Energy Storage System

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Journal of Modern Power Systems and Clean Energy 2023年第5期11卷 1507-1518页

作者： Spyros I.Gkavanoudis Kyriaki-Nefeli D.Malamaki Eleftherios O.Kontis Aditya Shekhar Umer Mushtaq Sagar Bandi Venu Charis S.Demoulias Department of Electrical&Computer Engineering Aristotle University of ThessalonikiThessalonikiGreece Electrical Engineering Mathematics&Computer Science DepartmentDelft University of TechnologyDelftNetherlands FENECON Gmbh DeggendorfGermany

The variability of the output power of distributed renewable energy sources(DRESs)that originate from the fastchanging climatic conditions can negatively affect the grid ***,grid operators have incorporated ramp-rate limitations(RRLs)for the injected DRES power in the grid *** the DRES penetration levels increase,the mitigation of high-power ramps is no longer considered as a system support function but rather an ancillary service(AS).Energy storage systems(ESSs)coordinated by RR control algorithms are often applied to mitigate these power ***,no unified definition of active power ramps,which is essential to treat the RRL as AS,currently *** paper assesses the various definitions for ramp-rate RR and proposes RRL method control for a central battery ESS(BESS)in distribution systems(DSs).The ultimate objective is to restrain high-power ramps at the distribution transformer level so that RRL can be traded as AS to the upstream transmission system(TS).The proposed control is based on the direct control of theΔP/Δt,which means that the control parameters are directly correlated with the RR requirements included in the grid *** addition,a novel method for restoring the state of charge(So C)within a specific range following a high ramp-up/down event is ***,a parametric method for estimating the sizing of central BESSs(BESS sizing for short)is *** BESS sizing is determined by considering the RR requirements,the DRES units,and the load mix of the examined *** BESS sizing is directly related to the constant RR achieved using the proposed ***,the proposed methodologies are validated through simulations in MATLAB/Simulink and laboratory tests in a commercially available BESS.

关键词： Battery energy storage system distributed renewable energy resource sizing distribution system transmission system ramp-rate limitation state of charge

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Coordinated Frequency Control for Isolated Power Systems with High Penetration of DFIG-Based Wind Power

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CSEE Journal of Power and Energy Systems 2024年第4期10卷 1399-1414页

作者： Xin Ding Wei Lin Jian Xu Yuanzhang Sun Liangzhong Yao Beilin Mao School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China Department of Electrical Engineering and Computer Science Case Western Reserve UniversityClevelandOH 44106 USA

This paper proposes a coordinated frequency control scheme for emergency frequency regulation of isolated power systems with a high penetration of wind *** proposed frequency control strategy is based on the novel nonlinear regulator theory,which takes advantage of nonlinearity of doubly fed induction generators(DFIGs)and generators to regulate the frequency of the power *** deviations and power imbalances are used to design nonlinear feedback controllers that achieve the reserve power distribution between generators and DFIGs,in various wind speed *** effectiveness and dynamic performance of the proposed nonlinear coordinated frequency control method are validated through simulations in an actual isolated power grid.

关键词： Frequency control isolated power systems nonlinear feedback nonlinear regulator theory wind power

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IRS-enabled NOMA communication systems:A network architecture primer with future trends and challenges

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Digital Communications and Networks 2024年第5期10卷 1503-1528页

作者： Haleema Sadia Ahmad Kamal Hassan Ziaul Haq Abbas Ghulam Abbas Muhammad Waqas Zhu Han Faculty of Electrical Engineering and Telecommunications and Networking(TeleCoN)Research Center Ghulam Ishaq Khan Institute of Engineering and Technology(GIKI)Topi 23640Pakistan Faculty of Computer Science and Engineering GIKITopi 23640Pakistan Department of Computer Engineering College of Information TechnologyUniversity of Bahrain32028Bahrain School of Engineering Edith Cowan UniversityPerth WA6027Australia Department of Electrical and Computer Engineering University of HoustonHoustonTX 77004USA Department of Computer Science and Engineering Kyung Hee UniversitySeoul 446-701South Korea

Non-Orthogonal Multiple Access(NOMA)has already proven to be an effective multiple access scheme for5th Generation(5G)wireless *** provides improved performance in terms of system throughput,spectral efficiency,fairness,and energy efficiency(EE).However,in conventional NOMA networks,performance degradation still exists because of the stochastic behavior of wireless *** combat this challenge,the concept of Intelligent Reflecting Surface(IRS)has risen to prominence as a low-cost intelligent solution for Beyond 5G(B5G)*** this paper,a modeling primer based on the integration of these two cutting-edge technologies,i.e.,IRS and NOMA,for B5G wireless networks is *** in-depth comparative analysis of IRS-assisted Power Domain(PD)-NOMA networks is provided through 3-fold ***,a primer is presented on the system architecture of IRS-enabled multiple-configuration PD-NOMA systems,and parallels are drawn with conventional network configurations,i.e.,conventional NOMA,Orthogonal Multiple Access(OMA),and IRS-assisted OMA *** by this,a comparative analysis of these network configurations is showcased in terms of significant performance metrics,namely,individual users'achievable rate,sum rate,ergodic rate,EE,and outage ***,for multi-antenna IRS-enabled NOMA networks,we exploit the active Beamforming(BF)technique by employing a greedy algorithm using a state-of-the-art branch-reduceand-bound(BRB)*** optimality of the BRB algorithm is presented by comparing it with benchmark BF techniques,i.e.,minimum-mean-square-error,zero-forcing-BF,and ***,we present an outlook on future envisioned NOMA networks,aided by IRSs,i.e.,with a variety of potential applications for 6G wireless *** work presents a generic performance assessment toolkit for wireless networks,focusing on IRS-assisted NOMA *** comparative analysis provides a solid foundation for the dev

关键词： Intelligent reflecting surface Non-orthogonal multiple access 6G Beamforming Sum rate Energy efficiency

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