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Guidance, Navigation, and Control of an Unmanned Hovercraft

Guidance, Navigation, and Control of an Unmanned Hovercraft

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Mediterranean Conference on Control & Automation

作者： Kilsoo Kim Young-Ki Lee Sehwan Oh David Moroniti Dimitri Mavris George J. Vachtsevanos Nikos Papamarkos George Georgoulas School of Aerospace Engineering Georgia Institute of Technology School of Electrical and Computer Engineering Georgia Institute of Technology Democritus University of Thrace KIC Laboratory Department of Informatics and Telecommunications Technology Technological Educational Institute of Epirus

ISBN: (纸本)9781479909964

This paper introduces a simulation and evaluation of guidance, navigation, and control algorithms applied to an autonomous hovercraft. A line-of-sight guidance law is adopted in conjunction with a neural network based adaptive dynamic inversion control scheme for the underactuated hovercraft following a prescribed path. The simulation result demonstrates that the guidance and control scheme can be effective in waypoint following of the underactuated hovercraft, especially, when external disturbances exist. It is also shown that the error signals are bounded using Lyapunov's direct method.

关键词： ERROR SIGNAL hovercraft Guidance Navigation and Control Standing Orders external disturbance Simulation results Guidance Neural network computer algorithms

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Suppress of Substrate-assisted Depletion Effects in Super Junction LDMOS on Thin Film SOI

Suppress of Substrate-assisted Depletion Effects in Super Ju...

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The 2nd International Conference on Materials Science and Manufacturing（ICMSM2013）

作者： Chao Xia Xinhong Cheng Zhongjian Wang Dawei He Duo Cao Tingting Jia Yuehui Yu Dashen Shen National State Key Laboratory of Functional Materials for Informatics Shanghai Institute of Micro-system & Information TechnologyChinese Academy of Sciences Electrical Department of Electrical and Computer Engineering University of Alabama in Huntsville

Conventional super-junction lateral double diffused MOSFET （SJ-LDMOS） fabricated on Silicon on Insulator （SOI） substrate suffers from low breakdown voltage under the same on-resistance due to substrate-assisted depletion effect. To suppress this effect, it is important to find the charge density in the inversion layer under buried oxide. In this paper, we propose a charge density equation and its formulation. The results were used in a 3D device simulator to optimize the device structure. The experimental results confirm that the equation is useful to optimize device performance. The breakdown voltage of structure increased 54% and on-state-resistance decreased 58% compared to conventional SJ device. The device fabrication procedure is fully compatible with mainstream SOI CMOS process.

关键词： super-junction LDMOS SOI substrate-assisted depletion effect

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Importance of Stable Velocity in Agile Maintenance

Importance of Stable Velocity in Agile Maintenance

引用

International Conference on Information, Communication and Automation Technologies

作者： Samir Omanovic Emir Buza Department for Computer Science and Informatics Faculty of Electrical Engineering

ISBN: (纸本)9781479904297

Agile maintenance is the best choice if you want to keep step with your customer needs. It is a result of trying to respond to customer change requests with the high efficiency. High involvement of the customer in the maintenance process is good but also can have negative effects. Change in the behavior of the customer can influence the execution of the change management process or cause the change of the release plan, etc. All that can destabilize normal maintenance velocity and lead to a chaotic relationship with the customer, if not controlled or prevented. This paper describes problems in agile maintenance caused mostly by the change of the customer behavior at the beginning of the economic crisis. It also presents results of the analysis of these problems and recommendations how to identify them and how to prevent them.

关键词： Agile maintenance Development velocity Software engineering Agile software development

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Semiglobal Stabilization of Nonlinear Uncertain Systems via a Lyapunov-based Switching Logic

Semiglobal Stabilization of Nonlinear Uncertain Systems via ...

引用

IEEE Annual Conference on Decision and Control

作者： Simone Baldi Elias B. Kosmatopoulos Petros A. Ioannou Informatics & Telematics Institute Center for Research and Technology Hellas (ITI-CERTH) Thessaloniki Greece Dept. of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Electrical Engineering University of Southern California Los Angeles CA USA

ISBN: (纸本)9781467357159

An adaptive supervisory switching control scheme for nonlinear uncertain systems is developed. Such a scheme comprises: a family of nonlinear candidate controllers, designed using a convex control design methodology;and a Lyapunovbased switching criterion that orchestrates which of the candidate controllers should be put in feedback with the uncertain plant. The family of candidate controllers is designed in such a way that, for every portion of the uncertainty set there is one Lyapunov function whose derivative is decreasing with a prescribed rate. Such Lyapunov functions are used by the switching logic to assess which is the most suitable controller to be put in feedback. The resulting scheme guarantees semi-global stability with desired transient performance, in terms of decaying rate of the derivative of the Lyapunov function.

关键词： Switches Lyapunov methods Telematics Robustness

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Dynamic synchronization of learning contents of distributed learning management systems over band limited network — Contents sharing between distributed Moodle 2.0 series

Dynamic synchronization of learning contents of distributed ...

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： Tsuyoshi Usagawa Masahiro Yamaguchi Yoshifumi Chisaki Royyana Muslim Ijtihadie Achmad Affandi Dept. of Computer Science and Electrical Engineering Kumamoto University Kumamoto Japan Dept. of Informatics Institut Teknologi Sepuluh Nopember (ITS) Surabaya Indonesia

Sharing learning contents over distributed learning management systems (LMSs) is an important issue in order to reduce the burden for building well-designed contents. As a lecturer, regular updates of contents for on-going courses are really important because contents should reflect the learners' attributes as well as for corrections and additions of contents. Although this kind of dynamics is preferred for actual situation, differential updates of contents suitable for distributed LMSs are not implemented on popular open source LMS, Moodle. This paper introduces the dynamic synchronization between distributed Moodle systems and reports the synchronization results between Moodle 2.0 series systems. The proposed method has been implemented on Moodle for versions 2.0 series up to 2.3 as the extension of the previously proposed method developed for Moodle 1.9.

关键词： Synchronization Educational institutions Least squares approximations Geometry Electronic learning Bandwidth Electronic mail

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Scalable and robust key group size estimation for reducer load balancing in MapReduce

Scalable and robust key group size estimation for reducer lo...

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IEEE International Conference on Big Data

作者： Wei Yan Yuan Xue Bradley Malin Dept. of Electrical Engineering and Computer Science Vanderbilt University Nashville TN USA Dept. of Biomedical Informatics Vanderbilt University Nashville TN USA

Modern parallel computing systems, such as MapReduce, often assume data values are uniformly distributed. However, in the real world, data is often highly skewed, which may cause workload imbalance among parallel running tasks. In this paper, we study the reduce-phase skew problem in MapReduce, where reduce tasks are often assgined imbalance load (in terms of key groups). We introduce a sketch-based data structure for capturing MapReduce key group size statistics and present an optimal packing algorithm which assigns the key groups to the reducers in a load balancing manner. We perform an empirical evaluation with several real and synthetic datasets over two distinct types of applications. The results show that our load balancing algorithm can strongly mitigate the reduce-phase skew. It can decrease the overall job completion time by 45.5% of the default settings in Hadoop and by 38.3% in comparison to the state-of-the-art solution.

关键词： Load management Estimation Partitioning algorithms Data structures Radiation detectors Algorithm design and analysis High definition video

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Scalable load balancing for mapreduce-based record linkage

Scalable load balancing for mapreduce-based record linkage

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IEEE International Conference on Performance, Computing and Communications (IPCCC)

ISBN: (纸本)9781479932153

Recent research has introduced load balancing schemes that are aware of the input data distribution (i.e., data profile) to mitigate data skew and fully exploit the parallel capability of the MapReduce framework to support record linkage. However, existing solutions face a significant scalability issue when applied to massive data sets with millions or billions of blocks (a basic unit in record linkage) because their data profiles can not be maintained precisely in an efficient manner. The goal of this paper is to introduce a profiling method based on the notion of a sketch, which allows for a compact scalable solution for maintaining block size statistics. In addition, we propose two load balancing algorithms to work over sketch-based profiles while solving the data skew problem associated with record linkage. We provide an analytical analysis and extensive experiments (using Hadoop), with real and controlled synthetic data sets, to illustrate the effectiveness of our solution. The experimental results show that our load balancing algorithms can decrease the overall job completion time by 71.56% and 70.73% of the default settings in Hadoop using a set of DBLP data sets, which have 2.5 to 50.4 million records.

关键词： Couplings Load management Indexes Radiation detectors Vectors Arrays Algorithm design and analysis

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Improved Cultural Immune Systems to solve the economic load dispatch problems

Improved Cultural Immune Systems to solve the economic load ...

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Congress on Evolutionary Computation

作者： Richard Gonçalves Carolina Almeida Marco Goldbarg Elizabeth Goldbarg Myriam Delgado Department of Computer Science Unicentro Guarapuava Brazil Department of Informatics and and Applied Mathematics UFRN Natal Brazil Graduate School on Electrical Engineering and Applied Computer Science UTFPR University Curitiba Brazil

ISBN: (纸本)9781479904532

This work considers Artificial Immune Systems to solve the economic load dispatch problem. The Immune Systems are based on the clonal selection principle. Cultural Algorithms using normative, situational, historical and topographical knowledge sources are used to improve the global optimization property of immune systems. A new main influence function is proposed which improves the results obtained by the cultural version. All the proposed approaches have several points of self-adaptation and use a local search operator that is based on a quasi-simplex technique. The Immune System and its cultural versions are validated in test problems that consider 13 and 40 thermal generators and take into account valve-point loading effects. They are also validated in a test problem with 20 thermal generators, valve-point loading effects and transmission losses. The proposed cultural method including the new influence function outperforms other modern metaheuristics reported in recent literature, finding the minimum fuel cost value for all test systems.

关键词： Sociology Statistics Immune system Cultural differences Cloning Propagation losses Equations

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Transfer Learning across Networks for Collective Classification

Transfer Learning across Networks for Collective Classificat...

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IEEE International Conference on Data Mining (ICDM)

作者： Meng Fang Jie Yin Xingquan Zhu Centre for Quantum Computation & Intelligent Systems University of Technology Sydney Australia Computational Informatics CSIRO Australia Dept. of Computer & Electrical Engineering and Computer Science Florida Atlantic University USA

ISBN: (纸本)9781479913282

This paper addresses the problem of transferring useful knowledge from a source network to predict node labels in a newly formed target network. While existing transfer learning research has primarily focused on vector-based data, in which the instances are assumed to be independent and identically distributed, how to effectively transfer knowledge across different information networks has not been well studied, mainly because networks may have their distinct node features and link relationships between nodes. In this paper, we propose a new transfer learning algorithm that attempts to transfer common latent structure features across the source and target networks. The proposed algorithm discovers these latent features by constructing label propagation matrices in the source and target networks, and mapping them into a shared latent feature space. The latent features capture common structure patterns shared by two networks, and serve as domain-independent features to be transferred between networks. Together with domain-dependent node features, we thereafter propose an iterative classification algorithm that leverages label correlations to predict node labels in the target network. Experiments on real-world networks demonstrate that our proposed algorithm can successfully achieve knowledge transfer between networks to help improve the accuracy of classifying nodes in the target network.

关键词： Subspace constraints Knowledge engineering Prediction algorithms Convergence Optimization Iterative methods Knowledge transfer

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A multi-criteria image quality evaluation scheme

A multi-criteria image quality evaluation scheme

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2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Chang, Yen-Ching Chang, Chun-Ming Chen, Liang-Hwa Chan, Tung-Jung School of Applied Information Sciences Chung Shan Medical University and Department of Medical Imaging Chung Shan Medical University Hospital Taichung 40201 Taiwan Department of Applied Informatics and Multimedia Asia University Taichung 41354 Taiwan Department of Computer Information and Network Engineering Lunghwa University of Science and Technology Taoyuan 33306 Taiwan Department of Electrical Engineering and Energy Technology Chung Chou University of Science and Technology Changhua 51003 Taiwan

ISBN: (纸本)9783037856123

It is difficult to objectively and quantitatively judge image quality by a single criterion, such as contrast. In general, excessive contrast enhancement easily leads to a loss of image quality. Thus, it easily gives a wrong evaluation to rank image quality according to contrast values. In order to achieve a consistent result with human vision perception, balancing multi-criteria will be a feasible approach. Therefore, we propose a multi-criteria image quality evaluation scheme for ranking seven existing contrast enhancement methods. The scheme applies four criteria to a newly proposed way of computing a grey relational grade (GRGd), called the consistent grey relational grade (CGRGd). Experimental results show that our proposed CGRGd do provides a very effective mechanism to choose the best method for a specific purpose. © (2013) Trans Tech Publications, Switzerland.

关键词： Image quality

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