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arXiv 2023年

作者： Tian, Chungeng Hao, Ning He, Fenghua Yao, Haodi National Key Laboratory of Modeling and Simulation for Complex Systems School of Astronautics Harbin Institute of Technology Harbin150001 China

This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea involves a linear time-varying coordinated transformation to render the propagation Jacobian independent of the state and make it suitable for a distributed manner. This transformation is seamlessly integrated into a server-based distributed cooperative localization framework, in which each robot estimates its own state while the server maintains the cross-correlations. The transformation ensures the correct observability property of the entire framework. Moreover, the algorithm accommodates various types of robot-to-robot relative measurements, broadening its applicability. Through simulations and real-world dataset experiments, the proposed algorithm has demonstrated better performance in terms of both consistency and accuracy compared to existing algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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A Fast Algorithm for Solving a Class of the Linear Complementarity Problem in a Finite Number of Steps

Abstract and Applied Analysis

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Abstract and Applied Analysis 2020年第none期2020卷 1-8页

作者： Achik, Yamna Idmbarek, Asmaa Nafia, Hajar Agmour, Imane El Foutayeni, Youssef Analysis Modeling and Simulation Laboratory Hassan II University Morocco Unit for Mathematical and Computer Modeling of Complex Systems IRD France

The linear complementarity problem is receiving a lot of attention and has been studied extensively. Recently, El foutayeni et al. have contributed many works that aim to solve this mysterious problem. However, many results exist and give good approximations of the linear complementarity problem solutions. The major drawback of many existing methods resides in the fact that, for large systems, they require a large number of operations during each iteration;also, they consume large amounts of memory and computation time. This is the reason which drives us to create an algorithm with a finite number of steps to solve this kind of problem with a reduced number of iterations compared to existing methods. In addition, we consider a new class of matrices called the E-matrix. © 2020 Yamna Achik et al.

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DMGA: A Directional-Mutation Genetic Algorithm for CDMS Problem of Kafka

DMGA: A Directional-Mutation Genetic Algorithm for CDMS Prob...

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IEEE International Conference on Networking, Sensing and Control

作者： Hanbo Ma Yaofei Ma Haitao Yuan Meijia Wang Jingwei Hu Yihuan Wang Hanbo Yang School of Automation Science and Electrical Engineering Beihang University Beijing China Beijing Simulation Center National Key Laboratory of Modeling and Simulation for Complex Systems Beijing China

ISBN: (数字)9798350365221

ISBN: (纸本)9798350365238

With the increasing role of distributed message systems (DMS) represented by Kafka in handling large-scale data streams, it is critical to improve system performance by optimizing configuration parameters in different production environments. Due to the target system possessing numerous configuration parameters and the complex interactions between them, parameter optimization becomes a complex and time-consuming process that relies heavily on human effort and an iterative trial-and-error approach. At present, this type of configuration parameter problem has been classified as the Configuration of Distributed Message Systems (CDMS) problem, for which the goal is to obtain the optimal set of parameters for achieving the best performance. In order to deal with this complex problem, an automatic optimization method is proposed in this paper, which combines an automatic script-based deployment and running framework with an improved Genetic Algorithm (GA) in cooperation with the Random Forest (RF) and statistical methods, named the Directional-Mutation Genetic Algorithm (DMGA). The framework and algorithm are designed to find the best configuration efficiently, obtaining optimal parameters accurately without human supervision. Actual results of comparison experiments based on the Kafka system show that the DMGA algorithm significantly improves the data throughput performance of Kafka, and its optimization speed is more efficient than the basic GA, highlighting its potential to quickly optimize Kafka's operational efficiency in different scenarios.

关键词： Statistical analysis System performance Production Throughput Sensors Tuning Streams Genetic algorithms Message systems Convergence

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Autonomous Decision Making with Reinforcement Learning in Multi-UAV Air Combat

Autonomous Decision Making with Reinforcement Learning in Mu...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Xutao Feng Yaofei Ma Liping Zhao Hanbo Yang Beihang University School of Automation Science and Electrical Engineering Beijing China National Key Laboratory of Modeling and Simulation for Complex Systems Beijing Simulation Center Beijing China

A multi-agent decision network based on QMIX is proposed in this paper to cope with the coordination decision problem of multiple UAV air combat missions. To speed up the training process, three improvements are introduced: 1) An improved $\epsilon$ -decaying method that enable some tutor to help in action selection at the early stage of the training. This measure greatly improves the exploring efficiency when the network are far from being fully trained; 2) State pruning and action mask measures are applied during the training. The former improves the effectiveness of the input state information, and the latter reduces unnecessary action exploring. 3) A gradually training configuration is used to make the training process more robust, where the combat adversaries are configured as the static targets, the randomly maneuver vehicles, and the Min-Max strategy vehicles respectively. The multi-UAV air combat scenarios are built up and the experiments are conducted. The results shows that these improvements have significantly improved training efficiency.

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Energy aware edge computing: a survey 2nd

Energy aware edge computing: a survey

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2nd International Workshop on High Performance Computing for Advanced modeling and simulation in Nuclear Energy and Environmental Science, HPCMS 2018, and 1st International Workshop on HPC Supported Data Analytics for Edge Computing, HiDEC 2018 held at the 32nd ACM International Conference on Supercomputing, ACM ICS 2018

作者： Fan, Tiantian Qiu, Yeliang Jiang, Congfeng Wan, Jian Key Laboratory of Complex Systems Modeling and Simulation Hangzhou Dianzi University Hangzhou310018 China School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China School of Information and Electronic Engineering Zhejiang University of Science and Technology Hangzhou310023 China

ISBN: (纸本)9789813299863

Edge computing is an emerging paradigm to meet the ever-increasing computation demands from pervasive devices such as sensors, actuators, and smart things. Though the edge devices can execute complex applications, it is necessary for some applications to migrate to centralized servers. By offloading the computation from the edge nodes to the edge servers or cloud servers, the quality of computation experience could be greatly improved. However, it may cause delay and increase network overheads, and energy consumption eventually. Therefore, an optimal offloading strategy should take into account what task should be offloaded, when to offload and where to offload to avoid the overheads. Thus, it is important to tradeoff between energy consumption, computation delay and throughput when the system makes the computation offloading to achieve high energy efficiency. In this paper, we conduct a survey of energy aware edge computing, including the existing work on computation offloading frameworks and strategies in edge computing. Specifically, we describe the strategies from the perspective of energy aware offloading, energy optimization offloading and offloading algorithms. © Springer Nature Singapore Pte Ltd 2019.

关键词： Energy efficiency

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Development of database of real-world diesel vehicle emission factors for China

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Journal of Environmental Sciences 2015年第5期27卷 209-220页

作者： Xianbao Shen Zhiliang Yao Qiang Zhang David Vance Wagner Hong Huo Yingzhi Zhang Bo Zheng Kebin He State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University School of Food and Chemical Engineering Beijing Technology and Business University Ministry of Education Key Laboratory for Earth System Modeling Center for Earth System Science Tsinghua University International Council on Clean Transportation (ICCT) Institute of Energy Environment and Economy Tsinghua University State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Tsinghua University

A database of real-world diesel vehicle emission factors, based on type and technology, has been developed following tests on more than 300 diesel vehicles in China using a portable emission measurement system. The database provides better understanding of diesel vehicle emissions under actual driving conditions. We found that although new regulations have reduced real-world emission levels of diesel trucks and buses significantly for most pollutants in China, NOx emissions have been inadequately controlled by the current standards, especially for diesel buses, because of bad driving conditions in the real world. We also compared the emission factors in the database with those calculated by emission factor models and used in inventory studies. The emission factors derived from COPERT（Computer Programmer to calculate Emissions from Road Transport） and MOBILE may both underestimate real emission factors, whereas the updated COPERT and PART5（Highway Vehicle Particulate Emission modeling Software） models may overestimate emission factors in China. Real-world measurement results and emission factors used in recent emission inventory studies are inconsistent,which has led to inaccurate estimates of emissions from diesel trucks and buses over recent years. This suggests that emission factors derived from European or US-based models will not truly represent real-world emissions in China. Therefore, it is useful and necessary to conduct systematic real-world measurements of vehicle emissions in China in order to obtain the optimum inputs for emission inventory models.

关键词： Diesel vehicle Emission factor Portable emission measurement system Database China

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Clustering the Stations of Bicycle Sharing System

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Journal of Donghua University(English Edition) 2016年第6期33卷 968-972页

作者： SHI Xiao-ying YU Zhen-hai XU Hai-tao HUANG Bin-bin Key Laboratory of Complex Systems Modeling and Simulation School of Computer Science and Technology Hangzhou Dianzi University Hang zhou 310018 China

Bicycle sharing system has emerged as a new mode of transportation in many big cities over the past *** the large number of bicycle stations distribute widely in the city,it is difficult to identify their unique attributes and characteristics *** to the real bicycle hire dataset in Hangzhou,China,the clustering analysis for the bicycle stations based on the temporal flow data was carried out ***,based on the spatial distribution and temporal attributes of calculated clusters,visual diagram and map were used to vividly analyze the bicycle hire behavior related to station category and study the travel rules of *** experimental results demonstrate the relation between human mobility,the time of day,day of week and the station location.

关键词： urban mining human mobility analysis visual analytics bicycle sharing system

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An efficient storage technology for object-based distributed storage system

International Journal of Control and Automation

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International Journal of Control and Automation 2015年第11期8卷 337-348页

作者： Zhang, Jilin Su, Yucheng Wan, Jian Zhou, Li Wang, Jue Zhang, Lei College of Electrical Engineering Zhejiang University Hangzhou China School of Computer Science and Technology Hangzhou Dianzi University Hangzhou China Key Laboratory of Complex Systems Modeling and Simulation Ministry of Education China Supercomputing Center of Computer Network Information Center Chinese Academy of Sciences Beijing China Computer Science Department Beijing University of Civil Engineering and Architecture Beijing China

There have two effective ways to improve the overall efficiency of the object-based distributed storage system, one is network caching technology and the other is metadata server cluster load balancing strategy. Under the heterogeneous storage environments, object-based distributed file system face the key challenge of lacking caching mechanism for the high-frequency access files, metadata server load imbalance also reduce the overall efficiency. To address these challenges, we discuss the design and implementation of an object-based distributed file storage caching system, and propose a weight-based metadata server cluster load balancing strategy. It effectively improve the metadata processing capacity. Based on the results, it demonstrated the feasibility and the efficiency of our methods. © 2015 SERSC.

关键词： Metadata

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Research and implementation of CDP disaster recovery system based on oracle

International Journal of Control and Automation

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International Journal of Control and Automation 2015年第11期8卷 325-336页

作者： Ren, Yongjian Ye, Jiaolong Zhang, Jilin Zhou, Li Wang, Jue Zhang, Lei School of Computer Science and Technology Hangzhou Dianzi University Hangzhou China Key Laboratory of Complex Systems Modeling and Simulation Ministry of Education China College of Electrical Engineering Zhejiang University Hangzhou China Supercomputing Center of Computer Network Information Center Chinese Academy of Sciences Beijing China Computer Science Department Beijing University of Civil Engineering and Architecture Beijing China

The OraCDP disaster recovery system uses CDP disaster recovery technology based on the combination of block level, combining with the communication coupling between the underlying I/O and Oracle database. The experimental results show that the OraCDP system can not only maintain the normal operation of the original system without any negative influence, but also guarantee the recovery of data and service at specific time quickly, fully and accurately. © 2015 SERSC.

关键词： Recovery

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Towards computation offloading in edge computing: A survey 2nd

Towards computation offloading in edge computing: A survey

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作者： Cheng, Xiaolan Zhou, Xin Jiang, Congfeng Wan, Jian Key Laboratory of Complex Systems Modeling and Simulation Hangzhou Dianzi University Hangzhou310018 China School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China School of Information and Electronic Engineering Zhejiang University of Science and Technology Hangzhou310023 China

ISBN: (纸本)9789813299863

The explosive growth of massive data generation from Internet of Things in industrial, agricultural and scientific communities has led to a rapid increase in cloud data centers for data analytics. The ubiquitous and pervasive demand for near-data processing urges the edge computing paradigm in recent years. Edge computing is promising for less network backbone bandwidth usage and thus less data center side processing, as well as enhanced service responsiveness and data privacy protection. Computation offloading plays a crucial role in network packets transmission and system responsiveness through dynamic task partitioning between cloud data centers and edge servers and edge devices. In this paper a thorough literature review is conduct to reveal the state-of-the-art of computation offloading in edge computing. Various aspects of computation offloading, including energy consumption minimization, Quality of Services (QoS), and Quality of Experiences (QoE) are surveyed. Resource scheduling approaches, gaming and tradeoffing among system performance and system overheads for offloading decision making are also reviewed. © Springer Nature Singapore Pte Ltd 2019.

关键词： computation offloading

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