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Motion Planning in Topologically Complex Environments Via Hybrid Feedback

IEEE Transactions on Automatic Control 2024年第6期70卷 3742-3754页

作者： Kanakis, George S. Rovithakis, George A. Aristotle University of Thessaloniki Department of Electrical & Computer Engineering Thessaloniki54124 Greece

In this paper we consider the motion planning problem in an n-dimensional Euclidean space, n ≥q 2, containing finitely many obstacles with boundaries possessing a smooth structure. Obstacle boundaries are assumed to be compact and connected embedded submanifolds of the ambient Euclidean space of codimension 1. The proposed solution guarantees both global asymptotic stability of a target configuration and avoidance of the obstacles. The controller is based on a switching scheme between two modes of operation: a free space mode and an avoidance mode. A simulation study illustrates and clarifies the theoretical results in a 3-dimensional workspace. © 1963-2012 IEEE.

关键词： Asymptotic stability

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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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Distributed Estimation and Control for Jamming an Aerial Target With Multiple Agents

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IEEE Transactions on Mobile Computing 2023年第12期22卷 7203-7217页

作者： Papaioannou, Savvas Kolios, Panayiotis Ellinas, Georgios Department of Electrical and Computer Engineering Nicosia1678 Cyprus

This work proposes a distributed estimation and control approach in which a team of aerial agents equipped with radio jamming devices collaborate in order to intercept and concurrently track-and-jam a malicious target, while at the same time minimizing the induced jamming interference amongst the team. Specifically, it is assumed that the malicious target maneuvers in 3D space, avoiding collisions with obstacles and other 3D structures in its way, according to a stochastic dynamical model. Based on this, a track-and-jam control approach is proposed which allows a team of distributed aerial agents to decide their control actions online, over a finite planning horizon, to achieve uninterrupted radio-jamming and tracking of the malicious target, in the presence of jamming interference constraints. The proposed approach is formulated as a distributed model predictive control (MPC) problem and is solved using mixed integer quadratic programming (MIQP). Extensive evaluation of the system's performance validates the applicability of the proposed approach in challenging scenarios with uncertain target dynamics, noisy measurements, and in the presence of obstacles. © 2002-2012 IEEE.

关键词： Drones

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Secure kNN For Distributed Cloud Environment Using Fully Homomorphic Encryption

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IEEE Transactions on Cloud Computing 2025年第02期13卷 721-736页

作者： Fukuchi, Yuuya Hashimoto, Sota Sakai, Kazuya Fukumoto, Satoshi Sun, Min-Te Ku, Wei-Shinn Tokyo Metropolitan University Department of Electrical Engineering and Computer Science Tokyo Japan Tokyo Metropolitan University Department of Computer Science Tokyo Japan National Central University Department of Computer Science and Information Engineering Taoyuan Taiwan Auburn University Department of Computer Science and Software Engineering AuburnAL United States

Privacy-preserving k-nearest neighbor (PPkNN) classification for multiple clouds enables categorizing queried data into a class in keeping with data privacy, where the database and key servers jointly perform cryptographic operations. The existing solutions, unfortunately, take a long time and incur a large amount of traffic between the database and key servers. Therefore, in this paper, we propose a fast and secure kNN classification protocol, namely FSkNN, over distributed databases deployed in multiple clouds under the semi-honest model. Particularly, we focus on optimizing the network-related operations during kNN classification. That is, the proposed cryptographic protocol reduces the number of interactions between the servers by using a fully homomorphic encryption scheme and eliminates unnecessary traffic by applying mathematical techniques. In addition, the indistinguishability-based security of FSkNN is proven. We implemented FSkNN with C++ and the testbed experiments demonstrate that the proposed scheme significantly facilitates the query response time and reduces the communication cost. © 2013 IEEE.

关键词： Differential privacy

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A novel data-driven algorithm for object detection, tracking, distance estimation, and size measurement in stereo vision systems

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Multimedia Tools and Applications 2025年第12期84卷 11041-11061页

作者： Taromi, Amirhossein Dadashzadeh Klidbary, Sajad Haghzad Department of Engineering University of Zanjan Zanjan Iran Faculty of Engineering Department of Electrical and Computer Engineering University of Zanjan Zanjan Iran

Distance and size estimation of objects of interests is an inevitable task for many navigation and obstacle avoidance algorithms mainly used in autonomus and robotic systems. Stereo vision systems, inspired by human visual perception, can infer depth from images as a cheap and accessible solution. On one hand, accurately calibrating cameras is a challenging task and the main source of error in current stereo vision based distance and size estimation algorithms. On the other hand, considering the recent advancements in Deep Learning, alongside the fact that human eyes do not need calibration but human brain can estimate the distance and size of objects fairly accurate was the main motivation behind this study. The proposed algorithm uses YOLOv8 as the object detector, and an MLP to learn the relation between distance, size, and disparity from collected data in a stereo vision system. In our experiments, conducted at distances ranging from 50 to 200 centimeters with calibrated and uncalibrated cameras, our proposed algorithm showcased accurate performance in both scenarios. It achieved distance measurements with an accuracy of up to 99.99% in select cases and maintained the mean accuracy of 98.15% for distance, 92.87% for width, and 93.92% for height estimations. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Object detection

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Young Professional Events at the 2024 International Microwave Biomedical Conference [Young Professionals]

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IEEE Microwave Magazine 2025年第1期26卷 92-93页

作者： Meo, Simona Di University of Pavia Department of Electrical Computer and Biomedical Engineering Pavia27100 Italy

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Learning Reactive Power Control Polices in Distribution Networks Using Conditional Value-at-Risk and Artificial Neural Networks

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Journal of Modern Power Systems and Clean Energy 2023年第1期11卷 201-211页

作者： Krishna Sandeep Ayyagari Reynaldo Gonzalez Yufang Jin Miltiadis Alamaniotis Sara Ahmed Nikolaos Gatsis Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioUSA

Scalable coordination of photovoltaic(PV)inverters,considering the uncertainty in PV and load in distribution networks(DNs),is challenging due to the lack of real-time *** PV inverter setpoints can be achieved to address this issue by capitalizing on the abundance of data from smart utility meters and the scalable architecture of artificial neural networks(ANNs).To this end,we first use an offline,centralized data-driven conservative convex approximation of chance-constrained optimal power flow(CVaR-OPF)in which conditional value-at-risk(CVaR)is used to compute reactive power setpoints of PV inverter,taking into account PV and load uncertainties in *** that,an artificial neural network(ANN)controller is trained for each PV inverter to emulate the optimal behavior of the centralized control setpoints of PV inverter in a decentralized ***,the voltage regulation performance of the developed ANN controllers is compared with other decentralized designs(local controllers)developed using model-based learning(regressionbased controller),optimization(affine feedback controller),and case-based learning(mapping)*** tests using real-world feeders corroborate the effectiveness of ANN controllers in voltage regulation and loss minimization.

关键词： Chance constraint decentralized control distributed energy resource(DER) data-driven control neural network voltage regulation

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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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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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Free Space Optical Relaying via an Energy Harvesting Harvest-Store-Use Buffer-Aided Relay 5

Free Space Optical Relaying via an Energy Harvesting Harvest...

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5th IEEE Middle East and North Africa COMMunications Conference, MENACOMM 2025

作者： Abou-Rjeily, Chadi Minkara, Rania Department of Electrical and Computer Engineering Lebanon

ISBN: (纸本)9798331519957

This paper considers a free space optical (FSO) cooperative network with an energy harvesting (EH) relay with no permanent power supply. The relay implements the harvest-store-use strategy and, in addition to the energy buffer, it is equipped with a data buffer where the incoming packets are queued pending more favorable transmission conditions or the accumulation of more energy. Through an elaborate numerical analysis, we highlight on the limitations of the basic form of the relevant relaying strategy and suggest potential improvements. Results demonstrate reduced outage probabilities and improved management of energy and data buffers. © 2025 IEEE.

关键词： buffer buffer-Aided relaying cooperative networks energy harvesting FSO outage probability relaying

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