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Acta Mathematica Sinica,English Series 2011年第4期27卷 671-684页

作者： Neven ELEZOVIC Kristina KRULIC Josip PECARIC Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 10000 Zagreb Croatia Faculty of Textile Technology University of Zagreb Prilaz baruna Filipovica 28a 10000 Zagreb Croatia

Let Ak be an integral operator defined by Akf（x）：=1K（x）∫Ω2k（x,y）f（y）dμ2（y）where k：Ω1× Ω2 →Ris a general nonnegative kernel, （Ω1,∑1,μ1）, （Ω2,∑2,μ2） are measure spaces with a-finite measures and K（x）：=∫Ω2k（x,y）dμ2（y）,x∈Ω*** this paper improvements and reverses of new weighted Hardy type inequalities with integral operators of such type are stated and proved. New Cauchy type mean is introduced and monotonicity property of this mean is proved.

关键词： Inequalities Hardy inequality Hilbert inequality Hardy type inequalities

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Real-time model predictive line following control for underactuated marine vehicles

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IFAC-PapersOnLine 2017年第1期50卷 12374-12379页

作者： Kapetanovi, Nadir Bibuli, Marco Mikovi, Nikola Caccia, Massimo Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Consiglio Nazionale delle Ricerche Genoa Italy

A linear model predictive control (LMPC) based framework is developed for underactuated marine vehicles’ kinematic line following while moving at a constant depth in the presence of disturbance. LMPC is used as a high level controller which sets the reference surge and yaw velocities for the low level PID tracking controllers. Used ACADO optimization toolbox solves the optimal problem at hand in real-time. This framework has shown good results both in simulation environment and in on-sea experiments. © 2017

关键词： Marine navigation Control engineering Controllers Disturbance rejection Electronic guidance systems Model predictive control Vehicles High level controllers Line following control Marine systems Marine vehicles Optimization toolbox Real time modeling Simulation environment Tracking controller

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Dense Disparity Estimation in Ego-motion Reduced Search Space

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IFAC-PapersOnLine 2017年第1期50卷 10122-10127页

作者： Fućek L. Marković I. Cvišić I. Petrović I. University of Zagreb Faculty of Electrical Engineering and Computing Croatia

Depth estimation from stereo images remains a challenge even though studied for decades. The KITTI benchmark shows that the state-of-the-art solutions offer accurate depth estimation, but are still computationally complex and often require a GPU or FPGA implementation. In this paper we aim at increasing the accuracy of depth map estimation and reducing the computational complexity by using information from previous frames. We propose to transform the disparity map of the previous frame into the current frame, relying on the estimated ego-motion, and use this map as the prediction for the Kalman filter in the disparity space. Then, we update the predicted disparity map using the newly matched one. This way we reduce disparity search space and flickering between consecutive frames, thus increasing the computational efficiency of the algorithm. In the end, we validate the proposed approach on real-world data from the KITTI benchmark suite and show that the proposed algorithm yields more accurate results, while at the same time reducing the disparity search space. © 2017

关键词： disparity estimation stereo vision visual odometry

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m-NewsBoard: A news dissemination service for mobile users 7

m-NewsBoard: A news dissemination service for mobile users

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7th International Conference on Telecommunications, ConTEL 2003

作者： Podnar, Ivana Pripužić, Krešimir Department of Telecommunications Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (纸本)9531840520

The limitations of traditional pull-based Web services become significant to users who depend on timely and up-to-date information. Users are forced to frequently check the data of interest, or use clients which pull for data at regular intervals in search of changes. Such solutions can consume resources extensively: They are inadequate for environments with wireless bandwidth limitations. Push-based active dissemination of published content to interested users has recently been proposed as a viable alternative. This approach is based on the publish/subscribe (P/S) interaction model. In this paper we present the architecture and discuss the initial prototype implementation of m-NewsBoard, a P/S-based news dissemination service for mobile users. This service enables mobile users to browse the repository of current news, to publish additional news, and to receive notifications with news of their interest. The service architecture comprises loosely coupled components: a WAP-enabled Web interface, and a dissemination component providing different transportation mechanisms for content publishing, such as mail, SMS, or P/S-based content dissemination. The paper presents the initial m-NewsBoard's implementation and discusses our experiences related to the development of services for mobile users. © 2003, Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Web services

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Spatio-Temporal Data Streams 1st ed. 2016

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丛书名： SpringerBriefs in Computer Science

2016年

作者： Zdravko Galić

ISBN: (数字)9781493965755

ISBN: (纸本)9781493965731

This SpringerBrief presents the fundamental concepts of a specialized class of data stream, spatio-temporal data streams, and demonstrates their distributed processing using Big Data frameworks and platforms. It explores a consistent framework which facilitates a thorough understanding of all different facets of the technology, from basic definitions to state-of-the-art techniques. Key topics include spatio-temporal continuous queries, distributed stream processing, SQL-like language embedding, and trajectory stream clustering. Over the course of the book, the reader will become familiar with spatio-temporal data streams management and data flow processing, which enables the analysis of huge volumes of location-aware continuous data streams. Applications range from mobile object tracking and real-time intelligent transportation systems to traffic monitoring and complex event processing. Spatio-Temporal Data Streams is a valuable resource for researchers studying spatio-temporal data streams and Big Data analytics, as well as data engineers and data scientists solving data management and analytics problems associated with this class of data.

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Ontology-based design pattern recognition

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12th International Conference on Knowledge-Based Intelligent Information and engineering Systems

作者： Kirasic, Damir Basch, Danko Information Support Center University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Faculty of Electrical Engineering and Computing

ISBN: (纸本)9783540855620

This paper presents ontlology-based architecture for pattern recognition in the context of static source code analysis. The proposed system has three subsystems: parser, OWL ontologies and analyser. The parser subsystem translates the input coded to AST that is constructed as an XML tree. The OWL ontologies define code patterns and general programming concepts. The analyser subsystem constructs instances of the input code as ontology individuals and asks the reasoner to classify them. The experience gained in the implementation of the proposed system and some practical issues are discussed. The recognition system successfully integrates the knowledge representation field and static code analysis. resulting in greater flexibility of the recognition system.

关键词： knowledge-based system ontology-based system static code analysis description logics OWL application formal pattern definition

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Energy-efficient environmentally adaptive consensus-based formation control with collision avoidance for multi-vehicle systems

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IFAC-PapersOnLine 2016年第23期49卷 361-366页

作者： Babi, Anja Lonar, Ivan Mikovi, Nikola Vuki, Zoran Faculty of Electrical Engineering and Computing LABUST - Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia

Technological advances over the past several decades have made it possible to develop increasingly cheap but also increasingly capable and autonomous unmanned marine vehicles. Additionally, this makes cooperative approaches to problem-solving a viable strategy in marine applications. This paper takes a look at a control scenario featuring a system consisting of a number of floating robotic platforms designed with long-term functioning in a challenging environment in mind. Decentralised consensus strategies for formation generation and formation keeping are described, with an introduction of modifications such as virtual forces that ensure collision avoidance. The group of vehicles is then placed in a simulated environment and subjected to environmental disturbances in the form of water current. An additional adaptive algorithm is proposed and implemented in the simulation, allowing the vehicles to assume a formation relative to the measured water current that ensures greater energy efficiency by having the vehicles physically shield each other from the current's detrimental effects. Finally, the simulation results are discussed and some directions for further work are suggested. © 2016

关键词： Energy efficiency Adaptive algorithms Adaptive control systems Collision avoidance Marine applications Problem solving Vehicles Co operative control Consensus Consensus strategy Environmental disturbances Formation keeping Multi vehicle systems Simulated environment Technological advances

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Tracking underwater target using extremum seeking

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IFAC-PapersOnLine 2015年第2期28卷 149-154页

作者： Mandi, Filip Mikovi, Nikola University of Zagreb Faculty of Electrical Engineering and Computing LABUST - Laboratory for Underwater Systems and Technologies Unska 3 Zagreb Croatia

In this paper problem of source-seeking and tracking underwater target by surface vehicle using range measurements with low sampling rate is addressed. Paper compares three extremum seeking schemes: classical extremum seeking, EKF based gradient estimation extremum seeking and EKF based gradient estimation extremum seeking enhanced with static function model data. It is shown that using additional model information can improve gradient estimation when dealing with intermittent range measurements. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Control theory Target tracking Vehicles Autonomous Vehicles Extremum seeking Gradients Marine systems Sampled data

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Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots

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IFAC-PapersOnLine 2018年第29期51卷 412-417页

作者： Babi, Anja Mikovi, Nikola Vuki, Zoran Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia

For the purpose of enabling long-term autonomy of a heterogeneous swarm of marine robots, task allocation and sequencing are introduced into the system's energy management procedures. In a scenario where the system needs to autonomously go about its monitoring mission and survive long- term, the available maximum capacity of 5 USVs - aPad platforms which represent the charging hubs of the system - is usually outnumbered by the number of active charging requests, leading to a need for careful planning and optimisation of robot activities. A two-layered system of decision-making algorithms is developed: a low-level specific solution-focused set of algorithms based on various machine learning paradigms, and a high-level hyper-heuristic which selects between them. This paper focuses on the lower level of this decision-making system, and details some of the approaches to task sequencing to be offered for selection, primarily based on differential evolution and k-means clustering, along with factoring in the effects of water currents and wind. Achieved simulation results are discussed and some directions for further work are suggested. © 2018

关键词： Swarm intelligence Decision making Evolutionary algorithms Heuristic algorithms Heuristic methods Learning systems Optimization Robot programming Robots Vehicle routing clustering Co operative control Differential Evolution Hyperheuristic Multi vehicle systems Vehicle Routing Problems

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Bidding Strategy of a Virtual Power Plant Considering Carbon-electricity Trading

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CSEE Journal of Power and Energy Systems 2019年第3期5卷 306-314页

作者： Dechang Yang Shaowen He Qiuyue Chen Dingqian Li Hrvoje Pandzic China Agricultural University BeijingChina Faculty of Electrical Engineering and Computing University of ZagrebCroatia

Virtual power plant(VPP)aggregates large amounts of distributed energy and controllable *** comprehensive consideration of carbon emissions and electricity transactions has great significance in improving the VPP operation’s economic *** this paper,the bidding strategy of the VPP by considering the carbon-electricity integration trading in an auxiliary service(AS)market is *** of all,the basic structure and operating features of the VPP are briefly ***,the bidding strategy model of carbon-electricity integration trading in an auxiliary service market is proposed and the corresponding objective function and the constraint conditions are also ***,the GAMS solver is utilized to give the optimal solution of the bidding strategy ***,the effectiveness of the bidding strategy of a VPP based on the consideration of carbon-electricity integration trading is verified through simulation cases.

关键词： Bidding strategy carbon-electricity distribution energy resource integration trading virtual power plant

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