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arXiv 2025年

作者： Elias, Alexander J. Wen, John T. Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States

A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges. A task-space path may have a valid IK solution for each point along the path, but a continuous joint-space path may depend on the choice of the IK solution or even be infeasible. This paper presents new analysis, path planning, and optimization methods to enhance the utility of cuspidal robots. We first demonstrate an efficient method to identify cuspidal robots and show, for the first time, that the ABB GoFa and certain robots with three parallel joint axes are cuspidal. We then propose a new path planning method for cuspidal robots by finding all IK solutions for each point along a task-space path and constructing a graph to connect each vertex corresponding to an IK solution. Graph edges are weighted based on the optimization metric, such as minimizing joint velocity. The optimal feasible path is the shortest path in the graph. This method can find non-singular paths as well as smooth paths which pass through singularities. Finally, this path planning method is incorporated into a path optimization algorithm. Given a fixed workspace toolpath, we optimize the offset of the toolpath in the robot base frame while ensuring continuous joint motion. Code examples are available in a publicly accessible repository. © 2025, CC BY.

关键词： Inverse kinematics

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Terahertz Channel Modeling Considering Near-to-Far Field Transition: Benefits & Challenges

Terahertz Channel Modeling Considering Near-to-Far Field Tra...

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European Conference on Antennas and Propagation, EuCAP

作者： Priyangshu Sen Sherif Badran Josep M. Jornet Arjun Singh Department of Engineering SUNY Polytechnic Institute Utica NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

ISBN: (数字)9788831299107

ISBN: (纸本)9798350366327

Terahertz band (0.1-10 THz) communication is set to play a pivotal role in the advancement of subsequent generations of wireless technology by facilitating high data rates, ultra-secure transmission, high-resolution sensing, and low-latency links, among others. Nevertheless, the issues of low transmission power and high path loss necessitate large-aperture high-gain antennas, which can result in a considerably expanded near-field operational region. The distinctive mechanism of wave propagation within this region, as well as its transition to the far-field area, necessitates a comprehensive reevaluation of channel modeling. In this paper, we discuss the effects of antennas on path loss models and channel metrics while operating in both the near- and far-field regions. We present a detailed analysis of near-field propagation mechanisms, illustrating that an antenna-agnostic channel model is not feasible. Furthermore, we discuss the potential benefits and challenges associated with these regions.

关键词： Wireless communication Measurement Wireless sensor networks Propagation Transmitting antennas Propagation losses Transceivers Sensors Channel models Terahertz communications

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A Novel Approach to Smart Grid Energy Management Using the Osprey Optimization Algorithm 4

A Novel Approach to Smart Grid Energy Management Using the O...

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4th International Conference on Sentiment Analysis and Deep Learning, ICSADL 2025

作者： Rudrapogu, Nissisolomon Hemalatha, N. Warkad, Sanjay B Jayanthi, A. Vinoth, K. Jayaram, B. Lecturer in Eee Nissisolomon Rudrapogu Mbts Government Polytechnic College Department of Electrical and Electronics Engineering Section Andhra Pradesh Guntur522005 India Bharath Institute of Higher Education and Research Department of Electrical and Electronics Engineering Tamil Nadu Chennai600073 India P. R. Pote Patil College of Engineering & Management Department of Electrical Engineering Maharashtra Amravati444602 India Jeppiaar Institute of Technology Department of Physics Tamil Nadu Sriperumbudur631502 India Vel Tech Rangarajan Dr. Sagunthala R&d Institute of Science and Technology Department of Electrical and Electronics Engineering Tamil Nadu Chennai600062 India Rmk Engineering College Department of Computer Science and Business Systems Tamil Nadu Thiruvallur601206 India

ISBN: (纸本)9798331523923

Smart Grid Energy Management (SGEM) denotes the function of optimizing energy flow in the grid while enhancing grid efficiency and stability. One major issue is that increased integration of Renewable Energy Sources (RESs) may add a layer of complexity to EM, which may, in turn, reduce the reliability and stability of the grid. Keeping such challenges in mind, this paper proposes the Osprey Optimization Algorithm (OOA) on its part to enhance SGEM through various facets of load balancing and energy distribution. The objective of this method is to minimize the Mean Absolute Percentage Error (MAPE), enhancing the precision of energy predictions and optimizing grid performance. The OOA optimizes energy distribution in micro grids, improving efficiency and reducing power losses. The performance of the suggested OOA method is assessed by contrasting it with other optimization approaches that are currently in use, including Particle Swarm Optimization (PSO), Multi Objective Genetic Algorithm (MOGA), Sparrow Search Algorithm (SSA), and Multi Objective Wind Driven Optimization (MOWDO). The OOA method is implemented on the MATLAB platform. The outcomes show that the proposed OOA method provides superior performance in minimizing MAPE, achieving the lowest MAPE value of 0.28%, indicating its enhanced accuracy in energy demand forecasting and optimization. © 2025 IEEE.

关键词： Clean energy

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Investigation of a New Stator Permanent Magnet with the effects of Flux-Reversal and Flux-Switching

Investigation of a New Stator Permanent Magnet with the effe...

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Power Electronic and Drive Systems and Technologies Conference (PEDSTC)

作者： Mohammad Reza Sarshar Mohammad Amin Jalali Kondelaji Mojtaba Mirsalim Seyed Hamid Montazeri Department of Electrical Engineering Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology (MIT) Cambridge USA

ISBN: (数字)9798331533946

ISBN: (纸本)9798331533953

This article studies a new stator-permanent magnet (PM) motor with flux-switching (FS) and flux-reversal (FR) effects synergies. The proposed structure benefits from the splitting stator pole PMs and consequent-pole FRPM, which reduces the PM utilization compared to the conventional ones. Also, the proposed structure is optimized by a random search multiobjective algorithm to attain the structure with the highest output torque and minimum torque ripple. Additionally, the proposed motor is compared to a conventional FSPM to investigate the advantages of the main motor. Using finite element analysis (FEA) studies, the flux density distribution results show that the FR effect lowers the saturation risk compared to FSPM. Also, the back-EMF generation of the proposed motor has improved by 135% compared to its benchmark. Correspondingly, fullload results show that the proposed topology has enhanced the average torque by 75% and deteriorated the ripple by about 55% compared to FSPM. Therefore, the proposed structure offers a profitable for high torque density applications.

关键词： Magnetic flux Torque Switches Stators Motors Permanent magnets Power electronics Topology Torque measurement Saturation magnetization

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A Hybrid Deep Learning Framework for IoT Security Enhancement and Anomaly Detection 3

A Hybrid Deep Learning Framework for IoT Security Enhancemen...

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3rd International Conference on Integrated Circuits and Communication Systems, ICICACS 2025

作者： Baswaraj, D. Rahman, Abdur Pandey, Deependra Bhargavi, T. Ismoilov, Muslimbek Deepthi, Natha Vasavi College of Engineering Department of Computer Science and Engineering Hyderabad India School of Business & Technology Emporia State University EmporiaKS United States Amity University Department of Electronics and Communication Engineering Lucknow India St. Martins Engineering College Department of Information Technology Hyderabad India Fergana Polytechnic Institute Department of Electrical Engineering Fergana Uzbekistan Koneru Lakshmaiah Education Foundation Department of Computer Science and Engineering Guntur India

ISBN: (纸本)9798331508456

Cyber threats targeting Internet-of-Things(IoT) devices have grown in frequency and severity alongside the IoT's fast uptake and usage in the past few years. Because of this, creating a model that can detect hostile attacks and lessen security risks in IoT-devices is becoming a very important subject. Botnets pose a significant risk because they disrupt the networks that Internet of Things (IoT) devices rely on to function. An method called GA-HDLAD, which stands for genetic-algorithm with hybrid deep learning(DL), was created in this study to advance security in the IoT environment by detecting botnets. Botnet detection makes use of hybrid deep learning, which combines attention concepts, feature-extraction-techniques(FETs), and recurrent-neural-networks(RNNs). The hybrid-DL approach can identify botnet attacks, which frequently use complicated patterns. In addition, the model's RNNs capture temporal dependencies, while FETs guarantee efficient feature extraction from geographical data. To choose the hyperparameters required by the HDL method, simulated annealing (SA) is employed. This paper compares the GA-HDLAD system to other detection approaches and finds that it outperforms them experimentally using a benchmark botnet dataset. © 2025 IEEE.

关键词： Feature Selection

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Optimal Location of Renewable Energy Generators in Transmission and Distribution System of Deregulated Power Sector:A Review

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Energy engineering 2025年第3期122卷 823-859页

作者： Digambar Singh Najat Elgeberi Mohammad Aljaidi Ramesh Kumar Rabia Emhamed Al Mamlook Manish Kumar Singla Department Electrical Engineering Government Polytechnic CollegeBTE LucknowEtah207120India University of Nevada RenoNV 89557USA Department of Computer Science Zarqa UniversityZarqa13110Jordan Department of Interdisciplinary Courses in Engineering Chitkara University Institute of Engineering&TechnologyChitkara UniversityChandigarh160002India Jadara University Research Center Jadara UniversityIrbid00962Jordan Department of Industrial Engineering Al Zawiya UniversityAl-ZawiyaP.O.Box 16418Libya Applied Science Research Center Applied Science Private UniversityAmman11931Jordan Department of Biosciences Saveetha School of EngineeringSaveetha Institute of Medical and Technical SciencesChennai602105India

The literature on multi-attribute optimization for renewable energy source(RES)placement in deregulated power markets is extensive and diverse in *** study focuses on the most relevant publications directly addressing the research problem at ***,while the body of work on optimal location and sizing of renewable energy generators(REGs)in balanced distribution systems is substantial,only the most pertinent sources are cited,aligning closely with the study’s objective function.A comprehensive literature review reveals several key research areas:RES integration,RES-related optimization techniques,strategic placement of wind and solar generation,and RES promotion in deregulated powermarkets,particularly within transmission ***,the optimal location and sizing of REGs in both balanced and unbalanced distribution systems have been extensively *** demonstrate significant potential for standalone applications in remote areas lacking conventional transmission and distribution *** presents a thorough review of current modeling and optimization approaches for RES-based distribution system location and ***,it examines the optimal positioning,sizing,and performance of hybrid and standalone renewable energy *** paper provides a comprehensive review of current modeling and optimization approaches for the location and sizing of Renewable Energy Sources(RESs)in distribution systems,focusing on both balanced and unbalanced networks.

关键词： Optimization of RESs distributed generation modeling and selection of RESs hybrid systems standalone systems optimal location

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Improved High-Speed Thermal Analysis Based on Two-Step Simulation for High-Frequency Transformers 14

Improved High-Speed Thermal Analysis Based on Two-Step Simul...

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14th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2025

作者： Yi, Zheyuan Sun, Kai Li, Qiang Liu, Zengyang Tsinghua University State Key Laboratory of Power System Department of Electrical Engineering Beijing China Delta Electronics Shanghai Co. Ltd. Shanghai China University Blacksburg Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State BlacksburgVA United States

ISBN: (纸本)9798331516116

Thermal analysis is a crucial and time-consuming step in the optimization design process of high-frequency transformers (HFTs). This paper proposes an improved thermal analysis method based on heat dissipation-conduction two-step simulation, significantly reducing the computation time while ensuring the accuracy of thermal analysis. Simulation results validate the accuracy and of the proposed method and demonstrate that the proposed method saves 82% of computation time for a single thermal analysis case compared to direct CFD. Experimental results further verify the accuracy of the proposed method. An exemplary application of the proposed method in the optimization design of the HFT illustrates a 98% reduction in computation time for thermal analysis during the optimization process. © 2025 IEEE.

关键词： Thermal modeling

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Enhanced Multidimensional Harmonic Retrieval in MIMO Wireless Channel Sounding

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IEEE Internet of Things Journal 2025年第11期12卷 16243-16255页

作者： Zhang, Yanming Xu, Wenchao Jin, A-Long Tang, Tianquan Li, Min Ma, Peifeng Jiang, Lijun Gao, Steven The Chinese University of Hong Kong Department of Electronic Engineering Hong Kong Hong Kong The Hong Kong Polytechnic University Department of Computing Hong Kong Hong Kong Xi'an Jiaotong-Liverpool University Department of Communications and Networking Suzhou China HKU Zhejiang Institute of Research and Innovation Lab for Aerodynamics and Acoustics Hangzhou China Tianjin University School of Microelectronics Tianjin China The Chinese University of Hong Kong Institute of Space and Earth Information Science Department of Geography and Resource Management Hong Kong Hong Kong Missouri University of Science and Technology Department of Electrical and Computer Engineering RollaMO United States

This paper introduces a recursive parallel dynamic mode decomposition (RPDMD) scheme tailored for multidimensional harmonic retrieval (MHR), specifically applied to MIMO wireless channel sounding. The RPDMD algorithm is devised to address the complexities inherent in multidimensional scenarios, leveraging the dynamic mode decomposition (DMD) framework within a recursive parallel structure. Initially, the observed tensorial multidimensional harmonic data is transformed into a two-dimensional matrix format along the r-th dimension. Subsequently, DMD dissects this matrix data into eigenvalues and their associated modes. The real and imaginary components of the DMD eigenvalues yield damping factors and frequencies in the r-th dimension, respectively. Furthermore, recursive DMD is employed to scrutinize each mode independently for parameter retrieval across the remaining dimensions, enabling parallel analysis. Ultimately, this high-dimensional correlated decomposition scheme delivers paired damping factors and frequencies for all tones. Notably, the proposed approach can ascertain the number of tones in undamped sinusoidal signals, making it particularly suitable for MHR even without prior knowledge of the source count. Numerical experiments demonstrate the accuracy and robustness of the RPDMD scheme, with comparative analysis indicating that RPDMD outperforms similar methods, achieving optimal results with minimal mean square error in high signal-to-noise ratio scenarios. This work presents an effective data-driven solution for the MHR problem in MIMO wireless channel sounding. © 2014 IEEE.

关键词： Eigenvalues and eigenfunctions

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Autonomous helicopter aerial refueling: controller design and performance guarantees

arXiv

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arXiv 2025年

作者： Jayarathne, Damsara Paternain, Santiago Mishra, Sandipan Department of Mechanical Aerospace and Nuclear Engineering United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY United States

In this paper, we present a control design methodology, stability criteria and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between the wake of the tanker, the contact-sensitive nature of the maneuver, and the uncertainty in drogue motion. Since the probe tip is located significantly away from the helicopter’s center-of-gravity, its position (and velocity) is strongly sensitive to the helicopter’s attitude (and angular rates). In addition, the fact that the helicopter is operating at high speeds to match the velocity of the tanker forces it to maintain a particular orientation, making the docking maneuver especially challenging. In this paper, we propose a novel outer-loop position controller that incorporates the probe position and velocity into the feedback loop. The position and velocity of the probe tip depend both on the position (velocity) and on the attitude (angular rates) of the aircraft. We derive analytical guarantees for docking performance in terms of the uncertainty of the drogue motion and the angular acceleration of the helicopter, using the ultimate boundedness property of the closed-loop error dynamics. Simulations are performed on a high-fidelity UH60 helicopter model with a high-fidelity drogue motion under wind effects to validate the proposed approach for realistic refueling scenarios. These high-fidelity simulations reveal that the proposed control methodology yields an improvement of 36% in the 2-norm docking error compared to the existing standard controller. © 2025, CC BY.

关键词： Helicopters

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Training Strategies for Increased Temporal Resolution in Clinical Cardiac-gated SPECT Studies with Deep Learning Denoising

Training Strategies for Increased Temporal Resolution in Cli...

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IEEE International Symposium on Biomedical Imaging

作者： Xirang Zhang Yongyi Yang Jovan G. Brankov P. Hendrik Pretorius Michael A. King Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL USA Department of Radiology University of Massachusetts Medical School Worcester MA USA

ISBN: (数字)9798331520526

ISBN: (纸本)9798331520533

Cardiac-gated SPECT studies are limited to the use of a small number of gated frames due to high imaging noise in clinical acquisitions. Here we investigate three strategies for training a deep learning (DL) network for suppressing the elevated imaging noise when the number of gate frames is doubled from conventional clinical studies. These training strategies are aimed at addressing the challenge of a lack of ground truth images in clinical acquisitions for use as the learning target by a DL network. In the experiments we investigated these strategies with a set of 237 clinical acquisitions. The results indicate that the trained DL network can effectively suppress both the spatial and temporal variability in the reconstructed myocardium in the gated frames. Moreover, surrogate training with gated data and noise-to-noise (N2N) training can yield better preservation of perfusion defects than with ungated data.

关键词： Training Deep learning Noise reduction Noise Logic gates Myocardium Single photon emission computed tomography Spatial resolution Image reconstruction Standards

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