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A Hybrid Reactive Routing Protocol for Decentralized UAV Networks

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arXiv 2024年

作者： Garg, Shivam Ihler, Alexander Bentley, Elizabeth Serena Kumar, Sunil United States The Donald Bren Hall School of Information and Computer Sciences University of California Irvine United States The Air Force Research Laboratory RomeNY United States The Electrical and Computer Engineering Department SDSU San Diego United States

Wireless networks consisting of low SWaP (size, weight, and power), fixed-wing UAVs (unmanned aerial vehicles) are used in many applications, such as monitoring, search, and surveillance of inaccessible areas. A decentralized and autonomous approach ensures robustness to failures;the UAVs explore and sense within the area and forward their information, in a multihop manner, to nearby aerial gateway nodes. However, the unpredictable nature of the events, relatively high speed of the UAVs and dynamic trajectories cause the network topology to change significantly over time, resulting in frequent route breaks. A holistic routing approach is needed to support multiple traffic flows in these networks to provide mobility- and congestion-aware, high-quality routes when needed, with low control and computational overhead, using the information collected in a distributed manner. Existing routing schemes do not address all the mentioned issues. This paper presents a hybrid reactive routing protocol for decentralized UAV networks called Hyd-AODV. It searches routes on-demand (using a multi-metric route selection), monitors a region around the selected route (the "pipe"), and proactively switches to an alternative route before the current route’s quality degrades below a threshold. The impact of pipe width is empirically and theoretically evaluated to find alternate high-quality routes within the pipe and the overhead required to maintain the pipe. A queue management scheme is also incorporated to prioritize packet transmissions based on their age of information (AoI). Compared to existing reactive routing schemes, the proposed approach achieves higher throughput and reduces the number of route discoveries, overhead, and resulting flow interruptions at different traffic loads, node density, and speeds. Despite having limited network topology information and low overhead and route computation complexity, the proposed scheme achieves a superior throughput to proactive optimized l

关键词： Unmanned aerial vehicles (UAV)

How Much Reserve Fuel: Quantifying the Maximal Energy Cost of System Disturbances

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How Much Reserve Fuel: Quantifying the Maximal Energy Cost o...

IEEE Conference on Decision and Control

作者： Ram Padmanabhan Craig Bakker Siddharth Abhijit Dinkar Melkior Ornik Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign Urbana IL USA Coordinated Science Laboratory University of Illinois UrbanaChampaign Urbana IL USA National Security Directorate Pacific Northwest National Laboratory Richland WA USA Department of Aerospace Engineering University of Illinois UrbanaChampaign Urbana IL USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Motivated by the design question of additional fuel needed to complete a task in an uncertain environment, this paper introduces metrics to quantify the maximal additional energy used by a control system in the presence of bounded disturbances when compared to a nominal, disturbance-free system. In particular, we consider the task of finite-time stabilization for a linear time-invariant system. We first derive the nominal energy required to achieve this task in a disturbance-free system, and then the worst-case energy over all feasible disturbances. The latter leads to an optimal control problem with a least-squares solution, and then an infinited-imensional optimization problem where we derive an upper bound on the solution. The comparison of these energies is accomplished using additive and multiplicative metrics, and we derive analytical bounds on these metrics. Simulation examples on an ADMIRE fighter jet model demonstrate the practicability of these metrics, and their variation with the task hardness, a combination of the distance of the initial condition from the origin and the task completion time.

关键词： Measurement Upper bound Costs Additives Optimal control Fuels Optimization

cVTS: A Constrained Voronoi Tree Search Method for High Dimensional Analog Circuit Synthesis

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cVTS: A Constrained Voronoi Tree Search Method for High Dime...

Design Automation Conference

作者： Aidong Zhao Xianan Wang Zixiao Lin Zhaori Bi Xudong Li Changhao Yan Fan Yang Li Shang Dian Zhou Xuan Zeng Microelectronics Department State Key Laboratory of Integrated Chips and Systems Fudan University Shanghai China Department of Electrical Engineering University of Texas Dallas USA Department of Electrical and Computer Engineering University of California San Diego USA School of Data Science Fudan University Shanghai China School of Computer Science Fudan University Shanghai China

A constrained Voronoi tree-based domain decomposition method for high-dimensional Bayesian optimization is proposed to solve large scale analog circuit synthesis problems, which can be formulated as high-dimensional heterogeneous black-box optimization. Hierarchical Voronoi tree progressively breaks down the design space into partitions with implicit performance boundaries such that promising regions are efficiently explored. Fast exploitation is ensured in Voronoi nest via local Bayesian optimization with a few observations. A slice-enhanced Gibbs sampling method is proposed to sample acquisition function cMES in irregular polyhedrons with design constraints. Compared with state-of-the-art methods, cVTS achieves significant speed up without loss of accuracy.

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Robotic vectorial field alignment for spin-based quantum sensors.

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arXiv 2023年

作者： Smith, Joe A. Zhang, Dandan Balram, Krishna C. Quantum Engineering Technology Labs Department of Electrical and Electronic Engineering University of Bristol BristolBS8 1FD United Kingdom Bristol Robotics Laboratory Department of Engineering Mathematics University of Bristol BristolBS8 1TW United Kingdom

Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move towards real world applications, from biological sensing to communication in space, increasing experimental complexity introduces constraints that can be alleviated by the introduction of new technologies. robotics has shown tremendous progress in realising increasingly smart, autonomous and highly dexterous machines. Here, we demonstrate that a robotic arm equipped with a magnet can sensitise an NV centre quantum magnetometer in challenging conditions unachievable with standard techniques. We generate vector magnetic field with 1◦ angular and 0.1 mT amplitude accuracy and determine the orientation of a single stochastically-aligned spin-based sensor in a constrained physical environment. Our work opens up the prospect of integrating robotics across many quantum degrees of freedom in constrained settings, allowing for increased prototyping speed, control, and robustness in quantum technology applications. © 2023, CC BY.

关键词： robotics

A New Extension of the Topp–Leone-Family of Models with Applications to Real Data

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Annals of Data Science 2023年第1期10卷 225-250页

作者： Muhammad, Mustapha Liu, Lixia Abba, Badamasi Muhammad, Isyaku Bouchane, Mouna Zhang, Hexin Musa, Sani Department of Mathematics Guangdong University of Petrochemical Technology Maoming525000 China School of Mathematical Sciences Hebei Normal University Shijiazhuang050024 China School of Mathematics and Statistics Central South University Changsha China Department of Mathematics Yusuf Maitama Sule University Kano Nigeria School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China Key Laboratory of Augmented Reality College of Mathematics and Information Science Hebei Normal University Shijiazhuang China Department of Mathematics and Computer Science Sule Lamido University Jigawa Kafin-Hausa Nigeria

In this article, we proposed a new extension of the Topp–Leone family of distributions. Some important properties of the model are developed, such as quantile function, stochastic ordering, model series representation, moments, stress–strength reliability parameter, Renyi entropy, order statistics, and moment of residual life. A particular member called new extended Topp–Leone exponential (NETLE) is discussed. Maximum likelihood estimation (MLE), least-square estimation (LSE), and percentile estimation (PE) are used for the model parameter estimation. Simulation studies were conducted using NETLE to assess the MLE, LSE, and PE performance by examining their bias and mean square error (MSE), and the result was satisfactory. Finally, the applications of the NETLE to two real data sets are provided to illustrate the importance of the NETLG families in practice;the data sets consist of daily new deaths due to COVID-19 in California and New Jersey, USA. The new model outperformed many other existing Topp–Leone’s and exponential related distributions based on the real data illustrations. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Maximum likelihood estimation

Active Metric-Semantic Mapping by Multiple Aerial Robots

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arXiv 2022年

作者： Liu, Xu Prabhu, Ankit Cladera, Fernando Miller, Ian D. Zhou, Lifeng Taylor, Camillo J. Kumar, Vijay GRASP Laboratory University of Pennsylvania United States The Department of Electrical and Computer Engineering Drexel University United States

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the active metric-semantic mapping problem that enables multiple heterogeneous robots to collaboratively build a map of the environment. The robots actively explore to minimize the uncertainties in both semantic (object classification) and geometric (object modeling) information. We represent the environment using informative but sparse object models, each consisting of a basic shape and a semantic class label, and characterize uncertainties empirically using a large amount of real-world data. Given a prior map, we use this model to select actions for each robot to minimize uncertainties. The performance of our algorithm is demonstrated through multirobot experiments in diverse real-world environments. The proposed framework is applicable to a wide range of real-world problems, such as precision agriculture, infrastructure inspection, and asset mapping in factories. Copyright © 2022, The Authors. All rights reserved.

关键词： Mapping

Ultra-Compact Magnetoelectric Sensors for Femto-Tesla Vlf Signal Reception

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SSRN

SSRN 2024年

作者： Dong, Cunzheng Sun, Changxing Chen, Lei He, Yifan Liu, Yisi Luo, Bin Sun, Nian-Xiang Department of Electrical and Computer Engineering Northeastern University BostonMA02115 United States State Key Laboratory of Reliability and Intelligence of Electrical Equipment Hebei University of Technology Tianjin300130 China Key Lab of Computer Vision and Intelligent Information System Chongqing University of Arts and Sciences Chongqing402160 China

Very low-frequency (VLF) electromagnetic waves can penetrate dense conductive media, such as earth and saltwater, with minimal attenuation, allowing for long-distance signal transmission via ionospheric reflection. These characteristics make VLF waves ideal for applications in submarine navigation, subterranean mapping, underground communication, and ionospheric remote sensing. Conventional VLF signal reception has relied on magnetic loop antennas due to their low noise performance;however, their large size and reduced sensitivity due to low quality factors (Q) limit their use in portable and compact applications, particularly in underwater and underground environments. To address these challenges, we propose an ultra-compact room-temperature extremely sensitive femto-tesla magnetic sensor based on a strain-mediated high-Q Metglas/Quartz magnetoelectric (ME) resonator operating at its electromechanical resonance (EMR) at 24.55 kHz for VLF signal reception. The Metglas/Quartz ME sensor demonstrates a sensitivity and magnetic noise performance enhancement by an order of magnitude compared to conventional Metglas/PZT ME sensors, achieving an ultra-low equivalent magnetic noise level of 5 fT/Hz1/2, owing to high magnetic permeability and magnetostriction of Metglas and the high-quality factor of Quartz at EMR. Moreover, the Metglas/Quartz ME VLF receiver exhibits overwhelming near-field and far-field VLF signal reception capability, realizing a successful reception of VLF signal 400 km away from the NAA VLF Transmitter Cutler. The demonstrated ultra-compact high-Q Metglas/Quartz ME sensor capable of femto-tesla VLF signal reception shows significant improvements in magnetic sensing capability, size, power consumption, and cost compared to traditional magnetic loop antennas, making it a promising solution for portable VLF signal reception in challenging environments. © 2024, The Authors. All rights reserved.

关键词： Loop antennas

Spatial and temporally controlled Log-Spiral optical beams

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Spatial and temporally controlled Log-Spiral optical beams

Conference on Lasers and Electro-Optics (CLEO)

作者： Justin Free J. Keith Miller Eric G. Johnson Micro-Photonics Laboratory the Holcombe Department of Electrical and Computer Engineering Clemson University Clemson South Carolina USA

Experimental results are presented for a high-speed ultrashort pulsed system utilizing a geometrical optical transform with an acousto-optical device for the generation of single and coherent combinations of logarithm... 详细信息

ISBN: (数字)9781957171050

ISBN: (纸本)9781665466660

关键词： Spirals Transforms Lasers and electrooptics Geometrical optics Laser beams Optical beams Optical pulse generation

Efficient Antenna Optimization Using a Hybrid of Evolutionary Programing and Particle Swarm Optimization

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arXiv 2022年

作者： Hoorfar, Ahmad Lakhani, Shamsha Antenna Reserach Laboratory Department of Electrical and Computer Engineering Villanova University VillanovaPA19085 United States

In this paper, we present a hybrid of Evolutionary Programming (EP) and Particle Swarm Optimization (PSO) algorithms for numerically efficient global optimization of antenna arrays and metasurfaces. The hybrid EP-PSO algorithm uses an evolutionary optimization approach that incorporates swarm directions in the standard self-adaptive EP algorithm. As examples, we have applied this hybrid technique to two antenna problems: the side-lobe-level reduction of a non-uniform spaced (aperiodic) linear array and the beam shaping of a printed antenna loaded with a partially reflective metasurface. Detailed comparisons between the proposed hybrid EP-PSO technique and EP-only and PSO-only techniques are given, demonstrating the efficiency of this hybrid technique in the complex antenna design problems. © 2022, CC BY.

关键词： Particle swarm optimization (PSO)