Existing terramechanics-based dynamic models for tracked vehicles (TRVs) are widely used in dynamics analysis. However, these models are incompatible with model-based controller design due to their high complexity and...
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Existing terramechanics-based dynamic models for tracked vehicles (TRVs) are widely used in dynamics analysis. However, these models are incompatible with model-based controller design due to their high complexity and computational costs. This study presents a novel and simplified terramechanics-based dynamic model for TRVs that can be used in optimization-based real-time motion controller design. To this end, we approximated the track-ground interactions with an averaged term of the track-ground shear stresses to make the model computationally efficient and linearizable. By introducing the concepts of slip ratio and slip angle in the field of wheeled vehicles, the terramechanics-based dynamic model was finally simplified into a compact and practical single-track dynamic model reducing the demand for precise slip ratio measurements. The single-track model enables us to design an efficient motion control scheme by considering lateral and longitudinal dynamics separately. Finally, the proposed dynamic model was verified and validated under various road conditions using a real TRV. Additionally, the performance of different models was compared in simulation as an example to demonstrate that the proposed model outperforms the existing ones in TRV path-following tasks. IEEE
This paper presents a design method to implement an antenna array characterized by ultra-wide beam coverage,low profile,and low Sidelobe Level(SLL)for the application of Unmanned Aerial Vehicle(UAV)air-to-ground *** a...
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This paper presents a design method to implement an antenna array characterized by ultra-wide beam coverage,low profile,and low Sidelobe Level(SLL)for the application of Unmanned Aerial Vehicle(UAV)air-to-ground *** array consists of ten broadside-radiating,ultrawide-beamwidth elements that are cascaded by a central-symmetry series-fed network with tapered currents following Dolph-Chebyshev distribution to provide low ***,an innovative design of end-fire Huygens source antenna that is compatible with metal ground is presented.A low-profile,half-mode Microstrip Patch Antenna(MPA)is utilized to serve as the magnetic dipole and a monopole is utilized to serves as the electric dipole,constructing the compact,end-fire,grounded Huygens source ***,two opposite-oriented end-fire Huygens source antennas are seamlessly integrated into a single antenna element in the form of monopole-loaded MPA to accomplish the ultrawide,broadside-radiating *** consideration has been applied into the design of series-fed network as well as antenna element to compensate the adverse coupling effects between elements on the radiation *** indicates an ultrawide Half-Power Beamwidth(HPBW)of 161°and a low SLL of-25 dB with a high gain of 12 d Bi under a single-layer *** concurrent ultrawide beamwidth and low SLL make it particularly attractive for applications of UAV air-to-ground communication.
Trajectory contains spatial-data generated from traces of moving objects like people, animals, etc. Community generated from trajectories portrays common behaviour. Trajectory clustering based on community-detection i...
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In traditional digital twin communication system testing,we can apply test cases as completely as possible in order to ensure the correctness of the system implementation,and even then,there is no guarantee that the d...
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In traditional digital twin communication system testing,we can apply test cases as completely as possible in order to ensure the correctness of the system implementation,and even then,there is no guarantee that the digital twin communication system implementation is completely *** verification is currently recognized as a method to ensure the correctness of software system for communication in digital twins because it uses rigorous mathematical methods to verify the correctness of systems for communication in digital twins and can effectively help system designers determine whether the system is designed and implemented *** this paper,we use the interactive theorem proving tool Isabelle/HOL to construct the formal model of the X86 architecture,and to model the related assembly *** verification result shows that the system states obtained after the operations of relevant assembly instructions is consistent with the expected states,indicating that the system meets the design expectations.
Wireless Sensor Network(WSNs)consists of a group of nodes that analyze the information from surrounding *** sensor nodes are responsible for accumulating and exchanging ***,node local-ization is the process of identif...
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Wireless Sensor Network(WSNs)consists of a group of nodes that analyze the information from surrounding *** sensor nodes are responsible for accumulating and exchanging ***,node local-ization is the process of identifying the target node’s *** this research work,a Received Signal Strength Indicator(RSSI)-based optimal node localization approach is proposed to solve the complexities in the conventional node localization ***,the RSSI value is identified using the Deep Neural Network(DNN).The RSSI is conceded as the range-based method and it does not require special hardware for the node localization process,also it consumes a very minimal amount of cost for localizing the nodes in 3D *** position of the anchor nodes is fixed for detecting the location of the ***,the optimal position of the target node is identified using Hybrid T cell Immune with Lotus Effect Optimization algorithm(HTCI-LEO).During the node localization process,the average localization error is minimized,which is the objective of the optimal node *** the regular and irregular surfaces,this hybrid algorithm effectively performs the localization *** suggested hybrid algorithm converges very fast in the three-dimensional(3D)*** accuracy of the proposed node localization process is 94.25%.
Nowadays,cloud computing provides easy access to a set of variable and configurable computing resources based on user demand through the *** computing services are available through common internet protocols and netwo...
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Nowadays,cloud computing provides easy access to a set of variable and configurable computing resources based on user demand through the *** computing services are available through common internet protocols and network standards.n addition to the unique benefits of cloud computing,insecure communication and attacks on cloud networks cannot be *** are several techniques for dealing with network *** this end,network anomaly detection systems are widely used as an effective countermeasure against network *** anomaly-based approach generally learns normal traffic patterns in various ways and identifies patterns of *** anomaly detection systems have gained much attention in intelligently monitoring network traffic using machine learning *** paper presents an efficient model based on autoencoders for anomaly detection in cloud computing *** autoencoder learns a basic representation of the normal data and its reconstruction with minimum ***,the reconstruction error is used as an anomaly or classification *** addition,to detecting anomaly data from normal data,the classification of anomaly types has also been *** have proposed a new approach by examining an autoencoder's anomaly detection method based on data reconstruction *** the existing autoencoder-based anomaly detection techniques that consider the reconstruction error of all input features as a single value,we assume that the reconstruction error is a *** enables our model to use the reconstruction error of every input feature as an anomaly or classification *** further propose a multi-class classification structure to classify the *** use the CIDDS-001 dataset as a commonly accepted dataset in the *** evaluations show that the performance of the proposed method has improved considerably compared to the existing ones in terms of accuracy,recall,false-positive rate,and F1-score
Sign language recognition is vital for enhancing communication accessibility among the Deaf and hard-of-hearing *** Japan,approximately 360,000 individualswith hearing and speech disabilities rely on Japanese Sign Lan...
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Sign language recognition is vital for enhancing communication accessibility among the Deaf and hard-of-hearing *** Japan,approximately 360,000 individualswith hearing and speech disabilities rely on Japanese Sign Language(JSL)for ***,existing JSL recognition systems have faced significant performance limitations due to inherent *** response to these challenges,we present a novel JSL recognition system that employs a strategic fusion approach,combining joint skeleton-based handcrafted features and pixel-based deep learning *** system incorporates two distinct streams:the first stream extracts crucial handcrafted features,emphasizing the capture of hand and body movements within JSL ***,a deep learning-based transfer learning stream captures hierarchical representations of JSL gestures in the second ***,we concatenated the critical information of the first stream and the hierarchy of the second stream features to produce the multiple levels of the fusion features,aiming to create a comprehensive representation of the JSL *** reducing the dimensionality of the feature,a feature selection approach and a kernel-based support vector machine(SVM)were used for the *** assess the effectiveness of our approach,we conducted extensive experiments on our Lab JSL dataset and a publicly available Arabic sign language(ArSL)*** results unequivocally demonstrate that our fusion approach significantly enhances JSL recognition accuracy and robustness compared to individual feature sets or traditional recognition methods.
Artificial intelligence (AI) and machine learning (ML) are vastly becoming key parts of today's applications, supporting diverse human activities and decision making. New training models are used requiring an expl...
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This paper presents a comprehensive exploration of students' experiences with low-code platforms, which emphasize high-level logic and functionality over intricate coding. This is achieved by utilizing pre-test an...
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360∘ videos have become increasingly popular recently, but consume much more bandwidth than non-360∘ videos. Usually, 360∘ video streaming partitions the video surface into multiple tiles and encodes the tiles inde...
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