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Full-Text Articles in Computer Engineering
Parallel Real Time Rrt*: An Rrt* Based Path Planning Process, David Yackzan
Parallel Real Time Rrt*: An Rrt* Based Path Planning Process, David Yackzan
Theses and Dissertations--Mechanical Engineering
This thesis presents a new parallelized real-time path planning process. This process is an extension of the Real-Time Rapidly Exploring Random Trees* (RT-RRT*) algorithm developed by Naderi et al in 2015 [1]. The RT-RRT* algorithm was demonstrated on a simulated two-dimensional dynamic environment while finding paths to a varying target state. We demonstrate that the original algorithm is incapable of running at a sufficient rate for control of a 7-degree-of-freedom (7-DoF) robotic arm while maintaining a path planning tree in 7 dimensions. This limitation is due to the complexity of maintaining a tree in a high-dimensional space and the network …
Application Of Conventional Feedforward And Deep Neural Networks To Power Distribution System State Estimation And State Forecasting, James Paul Carmichael
Application Of Conventional Feedforward And Deep Neural Networks To Power Distribution System State Estimation And State Forecasting, James Paul Carmichael
Theses and Dissertations--Electrical and Computer Engineering
Classical neural networks such as feedforward multilayer perceptron models (MLPs) are well established as universal approximators and as such, show promise in applications such as static state estimation in power transmission systems. This research investigates the application of conventional neural networks (MLPs) and deep learning based models such as convolutional neural networks (CNNs) and long short-term memory networks (LSTMs) to mitigate challenges in power distribution system state estimation and forecasting based upon conventional analytic methods. The ability of MLPs to perform regression to perform power system state estimation will be investigated. MLPs are considered based upon their promise to learn …