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Distributed control of mobile robots in an environment with static obstacles

IET Cyber-Systems and Robotics 2021年第2期3卷 128-139页

作者： Konstantinos Giannousakis Anthony Tzes Electrical&Computer Engineering Department University of PatrasRioGreece Electrical&Computer Engineering Program New York University Abu DhabiAbu DhabiUnited Arab Emirates

This study addresses the problem of deploying a group of mobile robots over a nonconvex region with *** that the robots are equipped with omnidirectional range sensors of common radius,disjoint subsets of the sensed area are assigned to the *** proximity-based subsets are calculated using the visibility notion,where the cell of each robot is treated as an opaque obstacle for the other *** on that,optimal spatially distributed coordination algorithms are derived for the area coverage problem and for the homing problem,where the swarm needs to move to specific *** studies demonstrate the results.

关键词： robot mobile visibility

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Time Series Forecasting of Natural Inflow in Hydroelectric Power Plants Using Hyper-Tuned Temporal Fusion Transformer With Hodrick–Prescott Filter

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IET Generation, Transmission & Distribution 2025年第1期19卷

作者： Rafael Ninno Muniz William Gouvêa Buratto Ademir Nied Rodolfo Cardoso Erlon Cristian Finardi Gabriel Villarrubia Gonzalez Production Engineering Graduate Program Department of Science and Technology Federal Fluminense University (UFF) Rio das Ostras Brazil Electrical Engineering Graduate Program Department of Electrical Engineering Santa Catarina State University (UDESC) Joinville Brazil Electrical Engineering Graduate Program Department of Electrical and Electronic Engineering Federal University of Santa Catarina (UFSC) Florianópolis Brazil Institute of Systems and Computer Engineering INESC R&D Brazil Santos Brazil Expert Systems and Applications Lab Faculty of Science University of Salamanca Salamanca Spain

The scheduling of the operation of the electricity system in Brazil is based on multi-criteria optimization that takes into account the forecast of the level of the dams of the hydroelectric plants, this variation is evaluated by the soil moisture active passive model. Considering the advances in using deep learning to forecast time series variations, this paper proposes a hybrid method for forecasting dam level variations. In particular, the temporal fusion transformer (TFT) is used for prediction with the Hodrick–Prescott filter for denoising. To enhance the model's performance, its hyperparameters are optimized by the Optuna framework based on the tree-structured Parzen estimator. For benchmarking, the multilayer perceptron, long short-term memory, recurrent neural network (RNN), Dilated RNN, temporal convolutional neural, neural hierarchical interpolation for time series forecasting, deep non-parametric time series forecaster, and the standard TFT are considered. The results show that the proposed model can make predictions with high performance compared to other methods, being 29.12% better than the second-best model, and 59.22% better than the original TFT model for very short-term forecasting, making it a promising alternative to be used as additional information for planning the operation of the electrical power system.

关键词： electric power generation power generation planning weather forecasting

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On Bandwidth Efficiency of Massive MIMO Two-Way Relay Systems in IoT Networks

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The Journal of engineering 2025年第1期2025卷

作者： Zain ul Abidin Jaffri Talha Younas Muhammad Faheem Sohaib Tahir School of International Education International Scholarly Exchange Curriculum Program (Electrical Engineering) Xiamen University of Technology Xiamen P.R. China Department of Electrical and Computer Engineering COMSATS University Islamabad Sahiwal Campus Islamabad Pakistan VTT Technical Research Centre of Finland Espoo Finland Department of Electrical and Computer Engineering College of Engineering Dhofar University Salalah Oman

In modern age wireless communication networks, higher data rates and ultra-improved quality of service is necessary for massive connectivity in Internet of things (IoT) networks. In addition to that the reliability and energy conservation is also required to improve the overall efficiency of the system. The battery lifetime of the communication system can be enhanced by applying simultaneous wireless information and power transfer (SWIPT) technology because it increases the reliability by harvesting the energy from the received signals. The communication range of the IoT sensors can be enhanced by integrating the relay nodes in the system. In this paper, we have considered a two-way relaying system where the relaying node is comprised of large number of antennas and it divides the incoming signals into information decoding (ID) and energy harvesting (EHS) streams. The high rates in this communication system are supported by employing three precoding schemes, that is, maximum ratio transmission (MRT), zero-forcing (ZF) and regularised zero-forcing (RZF). We have considered large-scale fading for massive MIMO channels and SWIPT technique is used for driving the bandwidth efficiency expressions. Furthermore, we have evaluated the analytical through MATLAB simulations.

关键词： 5G 5G mobile communication wireless power transfer energy harvesting MIMO internet of things

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Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments

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IFAC-PapersOnLine 2017年第1期50卷 12710-12714页

作者： Arvanitakis, Ioannis Tzes, Anthony Giannousakis, Konstantinos Department of Electrical & Computer Engineering University of Patras Rio26500 Greece Electrical & Computer Engineering Program New York University Abu Dhabi Abu Dhabi United Arab Emirates

The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented. © 2017

关键词： Mobile robots Control engineering Intelligent robots Measurement errors Navigation Range finders Robotics Uncertainty analysis Autonomous robotic systems Intelligent robotics Mobile Robot Navigation Objective functions Pose information Pose sensing Safe navigations Unknown environments

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High endurance, micro aerial surveillance and reconnaisance robot

High endurance, micro aerial surveillance and reconnaisance ...

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2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011

作者： Ratti, Jayant Vachtsevanos, George Robotics Program School of Electrical and Computer Engineering United States School of Electrical and Computer Engineering United States

ISBN: (纸本)9781612844824

Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in flapping wing MAVs till date has not shown performance improvements over their VTOL, rotary-wing counterparts. Research and development over the years has shown that insects and birds have unmatched flying capabilities in the Low Reynolds Number Regime. Their phenomenal flight performance is attributed to among others the highly energy efficient actuation systems & their power to weight ratios, efficient aerodynamics & wing configurations, novel & high-speed flight-control and processing. The paper proposes and illustrates the developments thus far towards the design of a novel, high endurance, flapping wing micro aerial robot for surveillance and reconnaissance. The entire design and development efforts, including aerodynamics, actuation-mechanisms, flight controls, embedded controls & processing and finally flight testing is abridged and presented herein. © 2011 IEEE.

关键词： Aerodynamics

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Design and analysis of an adaptive, global strategy for detecting and mitigating distributed DoS attacks in GRID environments

Design and analysis of an adaptive, global strategy for dete...

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39th Annual Simulation Symposium, 2006

作者： Znati, Taieb Amadei, James Pazehoski, Daniel R. Sweeny, Scott Department of Computer Science Telecommunication Program Department of Electrical and Computer Engineering

ISBN: (纸本)0769525598

Basic protection schemes against Denial-of-Service (DoS) are based on a perimeter-based model, where attacks are dealt with after they occur. This is quite often too late to prevent damage or loss of resources and service. The focus of this paper is to investigate a distributed defense method that can neutralize the attack before it reaches the potential target in mass. In order to effectively implement this method, this paper proposes a progressive, globally deployable sentinel scheme for data sampling, packet inspection, and DoS attack detection and recovery. A simulation framework is developed to study the performance of the proposed scheme. The results show a significant improvement in how the network deals with DoS attacks, in comparison to local DoS detection and prevention schemes. © 2006 IEEE.

关键词： computer crime

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HARMONIC CHARACTERISTICS AND IMPACT OF UTILITY-INTERACTIVE PHOTOVOLTAIC PROTOTYPES ON THE NUSU DISTRIBUTION FEEDER

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IEEE TRANSACTIONS ON POWER DELIVERY 1986年第2期1卷 121-128页

作者： RANADE, SJ Electric Utility Management Program Department of Electrical and Computer Engineering New Mexico State University Las Cruces NM USA

Nonsimultaneous measurements of voltage and current harmonics associated with the distribution and utility-interactive photovoltaic systems at the Southwest Residential Experiment Station are summarized in this paper. A qualitative analysis of the data is presented. The harmonic impacts of the prototypes-on the distribution system appear to be minimal. Needs in the area of measurement and analysis of harmonic propagation in general systems are identified.

关键词： Photovoltaic systems Solar power generation Prototypes Power harmonic filters Power system harmonics Voltage Data analysis Harmonic analysis Large-scale systems Economies of scale

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electrically reconfigurable intelligent optoelectronics in 2-D van der Waals materials

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Progress in Quantum Electronics 2025年 100-101卷

作者： Wang, Yu Zhang, Dehui Song, Yihao Lee, Jea Jung Tian, Meng Biswas, Souvik Xia, Fengnian Guo, Qiushi Photonics Initiative Advanced Science Research Center City University of New York 85 St Nicholas Terrace New YorkNY10031 United States Physics Program Graduate Center City University of New York 365 5th Ave New YorkNY10016 United States Department of Electrical Engineering and Computer Sciences University of California Berkeley 566 Cory Hall BerkeleyCA94720 United States Department of Electrical Engineering Yale University 15 Prospect St New HavenCT06511 United States E. L. Ginzton Laboratory Stanford University 348 Via Pueblo Mall StanfordCA94305 United States

In optoelectronics, achieving electrical reconfigurability is crucial as it enables the encoding, decoding, manipulating, and processing of information carried by light. In recent years, two-dimensional van der Waals (2-D vdW) materials have emerged as promising platforms for realizing reconfigurable optoelectronic devices. Compared to materials with bulk crystalline lattice, 2-D vdW materials offer superior electrical reconfigurability due to high surface-to-volume ratio, quantum confinement, reduced dielectric screening effect, and strong dipole resonances. Additionally, their unique band structures and associated topology and quantum geometry provide novel tuning capabilities. This review article seeks to establish a connection between the fundamental physics underlying reconfigurable optoelectronics in 2-D materials and their burgeoning applications in intelligent optoelectronics. We first survey various electrically reconfigurable properties of 2-D vdW materials and the underlying tuning mechanisms. Then we highlight the emerging applications of such devices, including dynamic intensity, phase and polarization control, and intelligent sensing. Finally, we discuss the opportunities for future advancements in this field. © 2025

关键词： Van der Waals forces

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Recent advances in tip-enhanced Raman spectroscopy probe designs

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Nano Research 2023年第4期16卷 5555-5571页

作者： Da Xu Boqun Liang Yaodong Xu Ming Liu Department of Electrical and Computer Engineering University of California-RiversideRiversideCalifornia 92521USA Materials Science and Engineering program University of California-RiversideRiversideCalifornia 92521USA

Tip-enhanced Raman spectroscopy(TERS)imaging is a super-resolution imaging technique that features the merits of both surface-enhanced Raman spectroscopy(SERS)and scanning probe microscopy(SPM),such as the high chemical sensitivity from the former and the nanoscale spatial resolution from the *** advantages make TERS an essential nanospectroscopic characterization technique for chemical analysis,materials science,bio-sensing,*** probes,the most critical factor determining the TERS imaging quality,are expected to provide a highly confined electromagnetic hotspot with a minimized scattering background for the generation of Raman signals with high spatial *** two decades of development,numerous probe design concepts have been proposed and *** review provides a comprehensive overview of the state-of-the-art TERS probe designs,from the working mechanism to the practical *** start with reviewing the recent development of TERS configurations and the corresponding working mechanisms,including the SPM platforms,optical excitation/collection techniques,and probe preparation *** then review the emerging novel TERS probe designs,including the remote-excitation probes,the waveguide-based nanofocusing probes,the metal-coated nanofocusing probes,the nanowire-assisted selective-coupling probes,and the tapered metal-insulator-metal *** discussion focuses on a few critical aspects,including the surface-plasmon-polariton(SPP)hotspot excitation technique,conversion efficiency,working frequency,and *** the end,we review the latest TERS applications and give a perspective on the future of TERS.

关键词： tip-enhanced Raman spectroscopy plasmonics scanning probe microscopy nanoscale imaging nanophotonics nanofocusing

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Fine Particulate Matter Emissions from Electric Vehicle Fast Charging Stations

SSRN

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SSRN 2025年

作者： Li, Liqiao Yao, Yuan Niu, Muchuan Chen, Haoxuan Yu, Qiao Wu, Qingyang Li, Yuhang Zhang, Yijie Ozcan, Aydogan Jerrett, Michael Zhu, Yifang Department of Environmental Health Sciences Jonathan and Karin Fielding School of Public Health University of California Los Angeles Los AngelesCA United States Institute of Environment and Sustainability University of California Los Angeles Los AngelesCA United States Electrical and Computer Engineering Department University of California Los Angeles Los AngelesCA United States RAND Health Sciences Program United States

The global shift to electric vehicles necessitates the expansion of Direct Current Fast Charging (DCFC) stations, yet the related environmental and public health impacts remain unclear. Here, we report that the power cabinet at DCFC stations emit fine particulate matter (PM2.5). We collected integrated filter samples from 50 DCFC stations across 47 cities in Los Angeles County, California. The daily PM2.5 concentrations were between 7.3 and 39.0 µg m-3, significantly higher than urban background sites (p = 0.02) and the nearest U.S. EPA monitoring stations (p © 2025, The Authors. All rights reserved.

关键词： Air quality

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