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arXiv 2024年

作者： Zhang, Shuai Xiao, Guanping Wang, Jun Lei, Huashan He, Gangqiang Liu, Yepang Zheng, Zheng The College of Computer Science and Technology The Key Laboratory for Safety-critical Software Development and Verification Nanjing University of Aeronautics and Astronautics Nanjing China The Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China The School of Automation Science and Electrical Engineering Beihang University Beijing China

In modern software development, Python third-party libraries play a critical role, especially in fields like deep learning and scientific computing. However, API parameters in these libraries often change during evolution, leading to compatibility issues for client applications reliant on specific versions. Python’s flexible parameter-passing mechanism further complicates this, as different passing methods can result in different API compatibility. Currently, no tool can automatically detect and repair Python API parameter compatibility issues. To fill this gap, we introduce PCART, the first solution to fully automate the process of API extraction, code instrumentation, API mapping establishment, compatibility assessment, repair, and validation. PCART handles various types of Python API parameter compatibility issues, including parameter addition, removal, renaming, reordering, and the conversion of positional to keyword parameters. To evaluate PCART, we construct PCBENCH, a large-scale benchmark comprising 47,478 test cases mutated from 844 parameter-changed APIs across 33 popular Python libraries. Evaluation results demonstrate that PCART is both effective and efficient, significantly outperforming existing tools (MLCatchUp and Relancer) and the large language model ChatGPT (GPT-4o), achieving an F1-score of 96.49% in detecting API parameter compatibility issues and a repair precision of 92.26%. Further evaluation on 30 real-world Python projects from GitHub confirms PCART’s practicality. We believe PCART can significantly reduce the time programmers spend maintaining Python API updates and advance the automation of Python API compatibility issue repair. Copyright © 2024, The Authors. All rights reserved.

关键词： Python

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Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach

arXiv

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arXiv 2024年

作者： Tang, Jiawei Zhong, Yuxing Wang, Pengyu Chen, Xingzhou Wu, Shuang Shi, Ling The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Hong Kong Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Noah’s Ark Lab Huawei Canada

Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programming solvers. However, conventional direct shooting raises a contradictory dynamics issue when using an augmented state to handle high-order systems. This paper fills the research gap by considering the direct shooting method for high-order systems. We derive the modified Euler and Runge-Kutta-4 methods to transcribe the system dynamics constraint directly. Additionally, we provide the global error upper bounds of our proposed methods. A set of benchmark optimal control problems shows that our methods provide more accurate solutions than existing approaches. © 2024, CC BY.

关键词： Nonlinear programming

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A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

A Multi-Layer Software Architecture for Aerial Cognitive Mul...

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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

作者： Silano, Giuseppe Bednar, Jan Nascimento, Tiago Capitan, Jesus Saska, Martin Ollero, Anibal Czech Technical University Faculty of Electrical Engineering Prague Czech Republic Universidade Federal da Paraiba Department of Computer Systems Brazil Grvc Robotics Laboratory University of Seville Spain

ISBN: (纸本)9780738131153

This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quad-rotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations. © 2021 IEEE.

关键词： Inspection

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SubPipe: A Submarine Pipeline Inspection Dataset for Segmentation and Visual-inertial Localization

SubPipe: A Submarine Pipeline Inspection Dataset for Segment...

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OCEANS

作者： Olaya Álvarez-Tuñón Luiza Ribeiro Marnet Martin Aubard László Antal Maria Costa Yury Brodskiy Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR-Lab) Aarhus University Aarhus C Denmark EIVA a/s Skanderborg Denmark OceanScan Marine Systems & Technology Matosinhos Portugal RWTH Aachen University Aachen Germany

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. SubPipe has been recorded using a lightweight autonomous underwater vehicle (LAUV), operated by OceanScan MST, and carrying a sensor suite including two cameras, a side-scan sonar, and an inertial navigation system, among other sensors. The AUV has been deployed in a pipeline inspection environment with a submarine pipe partially covered by sand. The AUV's pose ground truth is estimated from the navigation sensors. The side-scan sonar and RGB images include object detection and segmentation annotations, respectively. State-of-the-art segmentation, object detection, and SLAM methods are benchmarked on SubPipe to demonstrate the dataset's challenges and opportunities for leveraging computer vision algorithms. To the authors' knowledge, this is the first anno-tated underwater dataset providing a real pipeline inspection scenario. The dataset and experiments are publicly avail-able online at https://***/remaro-network/SubPipe-dataset.

关键词： Location awareness Image segmentation Simultaneous localization and mapping Oceans Pipelines Object detection Inertial navigation

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Microengineered platforms for characterizing the contractile function of in vitro cardiac models

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Microsystems & Nanoengineering 2022年第1期8卷 29-50页

作者： Wenkun Dou Manpreet Malhi Qili Zhao Li Wang Zongjie Huang Junhui Law Na Liu Craig A.Simmons Jason T.Maynes Yu Sun Department of Mechanical and Industrial Engineering University of TorontoTorontoON M5S 3G8Canada Program in Molecular Medicine The Hospital for Sick ChildrenTorontoON M5G 1X8Canada Department of Biochemistry University of TorontoTorontoON M5S 1A8Canada Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China School of Mechanical&Automotive Engineering Qilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Mechatronics Engineering and Automation Shanghai UniversityShanghai 200444China Institute of Biomedical Engineering University of TorontoTorontoON M5S 3G9Canada Translational Biology&Engineering Program Ted Rogers Centre for Heart ResearchTorontoON M5G 1M1Canada Department of Anesthesiology and Pain Medicine University of TorontoTorontoON M5S 1A8Canada Department of Anesthesia and Pain Medicine The Hospital for Sick ChildrenTorontoON M5G 1X8Canada Department of Electrical and Computer Engineering University of TorontoTorontoON M5S 3G4Canada Department of Computer Science University of TorontoTorontoON M5T 3A1Canada

Emerging heart-on-a-chip platforms are promising approaches to establish cardiac cell/tissue models in vitro for research on cardiac physiology,disease modeling and drug cardiotoxicity as well as for therapeutic *** still exist in obtaining the complete capability of in situ sensing to fully evaluate the complex functional properties of cardiac cell/tissue *** to contractile strength(contractility)and beating regularity(rhythm)are particularly important to generate accurate,predictive *** new platforms and technologies to assess the contractile functions of in vitro cardiac models is essential to provide information on cell/tissue physiologies,drug-induced inotropic responses,and the mechanisms of cardiac *** this review,we discuss recent advances in biosensing platforms for the measurement of contractile functions of in vitro cardiac models,including single cardiomyocytes,2D monolayers of cardiomyocytes,and 3D cardiac *** characteristics and performance of current platforms are reviewed in terms of sensing principles,measured parameters,performance,cell sources,cell/tissue model configurations,advantages,and *** addition,we highlight applications of these platforms and relevant discoveries in fundamental investigations,drug testing,and disease ***,challenges and future outlooks of heart-on-a-chip platforms for in vitro measurement of cardiac functional properties are discussed.

关键词： cardiac contractile regularity

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Addressing Intermediate Verification Latency in Online Learning Through Immediate Pseudo-labeling and Oriented Synthetic Correction

Addressing Intermediate Verification Latency in Online Learn...

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International Joint Conference on Neural Networks (IJCNN)

作者： Zixin Zhong Liyan Song Fengzhen Tang Bo Yuan Department of Computer Science and Engineering Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Southern University of Science and Technology Shenzhen China Faculty of Computing Harbin Institute of Technology Harbin China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

In non-stationary data streams, the challenges of concept drift are further compounded by the issue of Intermediate Verification Latency (IVL), which can impede timely model adaptation. IVL refers to the finite delay between the arrival of data features and their corresponding labels. This delay could pose a significant challenge in adapting models to new concepts, ultimately hindering predictive performance. However, existing IVL approaches exhibit certain limitations. Some approaches passively wait for delayed labels, thereby overlooking temporarily unlabeled data. Other approaches employ pseudo-labeling for immediate model updates, but may risk losing valuable information when reverting model states to rectify previous pseudo-labeling mistakes. To overcome these limitations, we propose a novel approach called Micro-cluster based Immediate Pseudo-Labeling with Oriented Synthetic Correction (MIPLOSC). MIPLOSC leverages micro-cluster systems to effectively capture data distributions, thus facilitating its two core components: immediate pseudo-labeling and oriented synthetic correction. The immediate pseudo-labeling mechanism facilitates immediate utilization of temporarily unlabeled data, and the oriented synthetic correction mechanism enables finergrained rectification from previous erroneous pseudo-labels and concept drift, minimizing the loss of learned information. Experimental studies validated the effectiveness of MIPLOSC in addressing IVL, demonstrating its superiority over competing methods in both space consumption and predictive performance across varying degrees of label delay.

关键词： Adaptation models Costs Concept drift Noise Neural networks Predictive models Robustness

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Study of Helicopter Optimal Autorotation Landing Procedure in Tail Rotor Drive Failure

Study of Helicopter Optimal Autorotation Landing Procedure i...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First, a helicopter flight dynamics model with TRDF was developed. Then, the autorotation in TRDF was converted to be a nonlinear optimal control problem, solved by direct node collocation method and sequential quadratic programming algorithm. Finally, a model helicopter (Z11) with single main rotor and tail rotor was used to demonstrate the proposed approach. An optimal autorotation landing procedure in TRDF was determined accordingly. Results indicate that the airframe will immediately respond to the excess torque generated by the main rotor via yawing, sideslip and rolling when TRDF occurs. The pilot is recommended to shut down the engine and perform a series of critical operations to stabilize the violent yaw and roll movements. In addition, flight test data were used to validate the numerical simulations of autorotation landing. The proposed optimal control approach provides a useful tool to investigate helicopter TRDF autorotation landing procedure. © 2022 IEEE.

关键词： Helicopters

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Optimal Landing of Tilt-rotor Aircraft after Engine Failure Considering Pilot Inherent Limitations

Optimal Landing of Tilt-rotor Aircraft after Engine Failure ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China College of Aeronautics Nanjing University of Aeronautics and Astronautics National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics Jiangsu Nanjing China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

An augmented longitudinal rigid-body model is developed with a set of algebra equations describing the controls in the cockpit and the differential equations describing the pilot inherent limitations. The landing procedure after one engine failure is formulated into a nonlinear optimal control problem. XV-15 tilt-rotor aircraft is taken as the sample for the demonstration of landing in one engine failure during short takeoff. The results show that the total power required, thrust coefficient, longitudinal flapping angle and optimal controls are more relatively gentle than the solutions without considering the pilot inherent limitations. Compared with the basic longitudinal rigid-body model, the optimal solutions involve more control information. © 2022 IEEE.

关键词： Differential equations

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2D multiple waves scattering for active detection of a dummy human body in a low frequency range and for various boundary conditions 12

2D multiple waves scattering for active detection of a dummy...

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12th International Conference on Mathematical Modeling in Physical Sciences, IC-MSQUARE 2023

作者： Bibcu, Dorin Florescu Culea, Anisia Moldovanu, Simona Moraru, Luminita The Modelling & Simulation Laboratory University "Dunǎrea de Jos" of Galati 47 Domneasca Street Galati800008 Romania University "Dunǎrea de Jos" of Galati Business Administration Department 59-61 N. Balcescu St. Galati800001 Romania Department of Electronics and Telecommunications Faculty of Automation Computers Electrical Engineering and Electronics Galati University "Dunǎrea de Jos" of Galati 47 Domneasca Str. Galati800008 Romania Department of Computer Science and Information Technology Faculty of Automation Computers Electrical Engineering and Electronics University 'Dunǎrea de Jos' of Galati 47 Domneasca Street Galati800008 Romania Department of Chemistry Physics & Environment Faculty of Sciences and Environment University "Dunǎrea de Jos" of Galati 47 Domneasca Street Galati800008 Romania

This paper investigates the results of simulations devoted to the acoustic field variation caused by different boundary conditions applied to the backscattering of the acoustic wave in both low and moderately low frequency ranges. The goal is to analyse the object behaviour and the detection ability of the 2D acoustic field approximations when the simulation data of the scattered sound field is available. The plane waves are backscattered by a dummy human body, positioned in a cabin which has a defined size. The dummy human body is created by using clusters of finite and disjointed but tangent circular cylinders. Each cylinder is a scatterer that emulates various boundary conditions i.e., the scatterers can be sound-soft (Dirichlet boundary condition) and sound-hard scatterers (Neumann boundary condition). The cylinders are filled with biological tissue (i.e., fat). The exterior scattering problem is solved using the preconditioned Krylov subspace iterative solvers (GMRES), as a computationally cheaper alternative. We use the hypothesis that the mass density of the obstacle and wave speed in the obstacle are both constant. During the simulation experiments, we neglected the interactions among scatterers. A frequency range from 100 Hz to 1000 Hz is analysed. Both the Sound Pressure Level (SPL) and Radar Cross Section (RCS) are used to analyse the numerical simulation of the sound field. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Acoustic fields

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Mutual Impacts of Different Dead-times and Control Sample Times on SiC Inverter Loss in Experimental Motor Drive at High Carrier Frequencies

Mutual Impacts of Different Dead-times and Control Sample Ti...

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International Conference on Communications and Electronics, ICCE

作者： Nguyen Gia Minh Thao Van-Long Pham Kutsukake Asuka Keisuke Fujisaki Ton Duc Do Department of Mechanical Electrical and Electronic Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Matsue Japan Department of Automation School of Electrical and Electronic Engineering Hanoi University of Science and Technology Hanoi Vietnam Next Generation Tatara Co-Creation Centre Shimane University Matsue Japan Electromagnetic Energy System Laboratory Toyota Technological Institute Nagoya Japan Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350379792

ISBN: (纸本)9798350379808

At high pulse-width modulation (PWM) carrier frequencies up to 200 kHz using silicon carbide (SiC) devices, the individual and mutual impacts of the sample time and dead-time on the SiC inverter loss in a motor drive system may become significantly. Thus, these issues under load condition are experimentally investigated and analyzed in the present study, where the dead-time is from 250 to 1000 ns and the control sample time is from 100 to 1000 μs. Furthermore, the measured results with the SiC metal–oxide-semiconductor field-effect transistor (MOSFET) inverter are briefly compared to that with the silicon (Si) insulated-gate bipolar transistor (IGBT) inverter for reference. Moreover, the total harmonics distortion (THD) of the measured voltage and current of the considered interior permanent magnet synchronous motor (IPMSM) is provided to explain the results. Finally, insights with theoretical analysis are shown as complementary explanations of the experimental findings. The outcome of this research can be treated as a reference in choosing the suitable value of the control sample time for IPMSM drive systems using SiC-MOSFET inverters.

关键词： Semiconductor device measurement Time-frequency analysis Motor drives Voltage measurement Magnetic field measurement Silicon carbide Current measurement

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