Computer Engineering Commons^™

An Improved Path Planning Algorithm For Mobile Robots, Haijie Sun, Hongjun San, Le Xiao, Dexin Yao, Jiupeng Chen, Xiaoyuan Yang

Journal of System Simulation

Abstract: To solve the problems of invalid sampling and non-optimal paths of the RRT, the quasi-stream avoidance algorithm is proposed. The RRT algorithm is introduced to specify the sampling interval to limit the sampling points and enhance the goal-oriented nature of sampling. The quasi-stream avoidance algorithm incorporating the A* algorithm (QSA*) is used to quickly bypass the obstacle when it is encountered. A path optimization algorithm is used to smooth the searched path. The simulation results show that compared with the RRT algorithm, the computation time of the RRT-QSA* algorithm is reduced by 96.83%~99.88%, the number of search nodes is …

Research On System-Of-Systems Confrontation Simulation Method Based On Operation Loops, Shan Zhong, Yesheng Zhu, Menglu Zhou

Journal of System Simulation

Abstract: In the field of modeling and analyzing capabilities for operation system-of-systems (SoS), traditional structured capability assessment models lack the analysis of the interaction between both rivals and armies in different roles. The system model based on operation loop theory can be combined with the relationship between sensor, decision-making, influence, and target nodes for system capability calculation, but the existing model is usually only suitable for static analysis and cannot be used for dynamic simulation of SoS confrontation. In order to solve the problems above, a SoS confrontation simulation method based on operation loops is proposed. It abstracts both rivals’ …

Ai Bioelectricity Management System, Fungai Jacqueline Kiwa, Tawanda Bundukutu, Thoko Matnell Mawoyo, Batsiranai Linda Chiduku, Martin Muduva, Belinda Ndlovu

African Conference on Information Systems and Technology

This document emphasizes on the generation of electricity from trees and its usability in all the sectors of Zimbabwe. The research focused on positively changing the lives of citizens through the provision of uninterrupted and reliable bioelectricity. The literature review was completely and accurately performed through finding out the current news associated with the use of trees in producing electricity and the use of AI to manage the flow. The Scrum’s development model was adopted and followed during the research project to address issues like transparency, early mitigation of risks and constant feedback. The Scrum-model is one of the best …

Self-Replication Via Tile Self-Assembly, Andrew Alseth, Daniel Hader, Matthew J. Patitz

Computer Science and Computer Engineering Faculty Publications and Presentations

In this paper we present a model containing modifications to the Signal-passing Tile Assembly Model (STAM), a tile-based self-assembly model whose tiles are capable of activating and deactivating glues based on the binding of other glues. These modifications consist of an extension to 3D, the ability of tiles to form “flexible” bonds that allow bound tiles to rotate relative to each other, and allowing tiles of multiple shapes within the same system. We call this new model the STAM*, and we present a series of constructions within it that are capable of self-replicating behavior. Namely, the input seed assemblies to …

Paper-Recorded Ecg Digitization Method With Automatic Reference Voltage Selection For Telemonitoring And Diagnosis, Liang Hung Wang, Chao Xin Xie, Tao Yang, Hong Xin Tan, Ming Hui Fan, I. Chun Kuo, Zne Jung Lee, Tsung Yi Chen, Pao Cheng Huang, Shih Lun Chen, Patricia Angela R. Abu

Department of Information Systems & Computer Science Faculty Publications

In electrocardiograms (ECGs), multiple forms of encryption and preservation formats create difficulties for data sharing and retrospective disease analysis. Additionally, photography and storage using mobile devices are convenient, but the images acquired contain different noise interferences. To address this problem, a suite of novel methodologies was proposed for converting paper-recorded ECGs into digital data. Firstly, this study ingeniously removed gridlines by utilizing the Hue Saturation Value (HSV) spatial properties of ECGs. Moreover, this study introduced an innovative adaptive local thresholding method with high robustness for foreground–background separation. Subsequently, an algorithm for the automatic recognition of calibration square waves was proposed …

Enhancing Multi-Agent System Testing With Diversity-Guided Exploration And Adaptive Critical State Exploitation, Xuyan Ma, Yawen Wang, Junjie Wang, Xiaofei Xie

Research Collection School Of Computing and Information Systems

Multi-agent systems (MASs) have achieved remarkable success in multi-robot control, intelligent transportation, and multiplayer games, etc. Thorough testing for MAS is urgently needed to ensure its robustness in the face of constantly changing and unexpected scenarios. Existing methods mainly focus on single-agent system testing and cannot be directly applied to MAS testing due to the complexity of MAS. To our best knowledge, there are fewer studies on MAS testing. While several studies have focused on adversarial attacks on MASs, they primarily target failure detection from an attack perspective, i.e., discovering failure scenarios, while ignoring the diversity of scenarios. In this …

Bugs In Pods: Understanding Bugs In Container Runtime Systems, Jiongchi Yu, Xiaofei Xie, Ceng Zhang, Sen Chen

Research Collection School Of Computing and Information Systems

Container Runtime Systems (CRSs), which form the foundational infrastructure of container clouds, are critically important due to their impact on the quality of container cloud implementations. However, a comprehensive understanding of the quality issues present in CRS implementations remains lacking. To bridge this gap, we conduct the first comprehensive empirical study of CRS bugs. Specifically, we gather 429 bugs from 8,271 commits across dominant CRS projects, including runc, gvisor, containerd, and cri-o. Through manual analysis, we develop taxonomies of CRS bug symptoms and root causes, comprising 16 and 13 categories, respectively. Furthermore, we evaluate the capability of popular testing approaches, …

Federated Learning Systems For Mobile Sensing Data, Xiaopeng Jiang

Dissertations

Federated Learning (FL) has emerged as a new distributed Deep Learning (DL) paradigm that enables privacy-aware training and inference on mobile devices with help from the cloud. This dissertation presents a comprehensive exploration of FL with mobile sensing data, covering systems, applications, and optimizations.

First, a mobile-cloud FL system, FLSys, is designed to balance model performance with resource consumption, tolerate communication failures, and achieve scalability. In FLSys, different DL models with different FL aggregation methods can be trained and accessed concurrently by different apps. In addition, FLSys provides advanced privacy-preserving mechanisms and a common API for third-party app developers to …

Real Time Pii Scanning, John David

Electronic Theses and Dissertations

The increased amount of web applications and internet software solutions utilizing cloud frameworks has contributed to large data sets of system log messages being generated constantly. These messages may contain sensitive data, creating an additional security risk for the systems and contributing to the need for analysis of such large volumes of data in real time. Large commercial data monitoring systems can solve for these analysis requirements, but they can be costly. We present a solution to analyzing web application log data which ingests it, processes it and visualizes sensitive data found within in real time. Our solution utilizes an …

Heterogeneous Multi-Robot Person-Following In Constrained Environments, Ori A. Miller

Electronic Theses and Dissertations

Maintaining visibility of a person requires effective systems. Security cameras or ground robots might be ideal, but they often fail in uncontrolled or unknown environments. A single ground robot struggles to navigate and track an agent at the same time. This work addresses the challenge by developing a multi-robot system with a slow ground robot and an agile aerial robot. Three methods are evaluated: FORWARD-PF, RL-Person Following (RL), and a baseline closed-loop method. FORWARD-PF proved the most reliable, completing all nine paths and reaching targets nearly twice as fast as RL. Despite completing seven paths, RL faltered on complex tasks. …

Integrating Authentication Schemes In Augmented And Virtual Reality Classrooms, Naheem Noah

Electronic Theses and Dissertations

Augmented Reality and Virtual Reality (AR/VR) technologies are revolutionizing educational experiences, but their widespread adoption hinges on addressing critical security and usability challenges, particularly in the domain of user authentication. This research presents an investigation into the security landscape of AR/VR and explores a graphical authentication scheme called “Things” that enhances both security and usability in immersive learning environments. Through a systematic evaluation of popular AR/VR devices and applications, potential vulnerabilities and limitations were identified, such as high usage of pin/passwords which are susceptible to shoulder-surfing attacks, lack of multi-factor authentication, and unclear data-sharing practices. A review of existing knowledge-based …

Robotic Odor Source Localization Using Vision And Olfaction Sensing, Sunzid Hassan

Master's Theses

Robotic Odor Source Localization (ROSL) technology allows autonomous agents like robots to find an odor source in unknown environments. A successful odor source location depends crucially on an effective navigation algorithm that directs the robot towards the odor source. This thesis is a combination of three projects. First, we detail development of a versatile multi-modal robotic platform for ROSL real-world ROSL experimentation and discussed real-world validation of a traditional olfactionbased ROSL algorithm. Secondly, we introduced vision in ROSL by proposing a fusion navigation algorithm that integrates deep-learning enabled vision and olfaction-based navigation. This hybrid approach tackles challenges such as turbulent …

Parallax-Tolerant Image Stitching With Geometric Structure Protection For Unmanned Ship Visual Perception, Zhilin Yang, Yong Yin, Rukai Zhang, Qianfeng Jing, Sen Jiang, Wenfeng Zhu

Journal of System Simulation

Abstract: In order to address the artifacts caused by misalignment in maritime image stitch with low texture and large parallax, a geometric structure parallax-tolerant image stitch algorithm based on point-line feature registration and optimal seam fusion is proposed. Line segment features are introduced into the traditional homography transformation based on point features, and potential coplanar local line segments are merged into global line segments to provide accurate alignment conditions for seam line fusion. In the image fusion stage, the energy function of seam cutting method is designed by using the color difference and gradient difference of tanh measure and introducing …

An Improved Cat Swarm Optimization For Heterogeneous Multiple Mobile Robots, Liang Kang, Yi Du, Lihua Yin

Journal of System Simulation

Abstract: At present, it is difficult to achieve the real homogeneity of the members of the multiple mobile robots. The existing swarm intelligence algorithm is also difficult to accommodate the heterogeneity of the team. Focusing on the heterogeneous cooperation of multiple mobile robots, the concept of mother and child robots is proposed. In order to realize the application of swarm intelligence algorithm in heterogeneous multiple mobile robots, the basic cat swarm algorithm is improved. The subdomain and neighborhood of cat swarm are defined, and eight improvements of cat swarm algorithm are proposed, including priority of search direction, extended trajectory tracking …

Research On Path Optimization Algorithm In Dynamic Routing Environment, Xin Xie, Xiaobing Hu, Hang Zhou

Journal of System Simulation

Abstract: In a real dynamic routing environment, static path optimization (SPO) and traditional dynamic path optimization (DPO) tend to encounter issues such as detours, reversals and high computational complexity due to frequent real-time optimization calculation. To address these problems, a novel restart co-evolutionary path optimization (RCEPO) method based on the ripple-spreading algorithm (RSA) is proposed. This method integrates the path optimization process with the dynamic changes of the routing network environment to enhance the effectiveness of path optimization. Moreover, the path reoptimization calculation is performed only when the dynamic changes in the routing environment exceed the predicted range, thereby reducing …

Hybrid Evolutionary Multi-Objective Optimization Algorithm For Vehicle Routing Problem With Simultaneous Delivery And Pickup, Wenqiang Zhang, Xiaomeng Wang, Xiaoxiao Zhang, Guohui Zhang

Journal of System Simulation

Abstract: In order to provide reasonable and effective decision support for logistics enterprises in vehicle distribution route planning, a hybrid evolutionary multi-objective optimization algorithm combining a multi-region mixed-sampling strategy for global search and a local search based on individual route sequence differences is proposed for the problem. A reasonable mathematical model is constructed and the global search strategy is used to make the population individuals to converge quickly to the Pareto front from multiple directions, and the local search strategy is employed to guide the poorly performing individuals in the population to evolve towards the direction of better performing individuals, …

Parametric Identification Of Ship Maneuvering Motion Response Model Based On Square Root Cubature Kalman Filtering, Qinghao Li, Junsheng Ren, Yan Hua

Journal of System Simulation

Abstract: The system identification algorithm, based on the square root cubature Kalman filter (SRCKF) is proposed to address issues such as low accuracy, poor robustness, and weak generalization ability encountered by the extended Kalman filter (EKF) algorithm in parameters identification of ship maneuvering motion models. This algorithm, within the framework of CKF, replaces the original covariance matrix with its root mean square and utilizes triangular decomposition for prediction and update to enhance identification stability. The EKF is used as a comparison algorithm to identify the parameters of the second-order nonlinear response model of a ship with rudder angles that comply …

A Method Based On Deep Learning For Assisting Sins/Dvl Integrated Navigation, Xinghong Kuang, Aowei Huang

Journal of System Simulation

Abstract: The navigation and positioning accuracy of an Autonomous Underwater Vehicle (AUV) affects the efficiency of the AUV to a certain extent, and since GNSS cannot be used underwater, the integrated navigation system of Strapdown Inertial Navigation System/ Doppler Velocity Log (SINS/DVL) has been widely favored. However, DVL will fail in some cases, and if DVL is isolated directly, the system will become a pure inertial navigation system, which seriously affects the accuracy of navigation and positioning. In order to cope with the situation that DVL is missing in some beams, a DLinear-Informer assisted integrated navigation algorithm is proposed. Through …

Dynamic Data Driven Simulation: An Overview, Xu Xie, Xiaogang Qiu, Yizheng Bao, Kai Xu

Journal of System Simulation

Abstract: Dynamic data driven simulation is a simulation paradigm which integrates simulation and data together. This paradigm continuously feeds real-time data into the simulation, enabling the simulation be dynamically adjusted by the data, which thus improves the simulation-based estimation and prediction capability. Due to this integration, the dynamic data driven simulation can estimate system states and predict future state evolution more accurately. This paper reviews the origins and basic concept of dynamic data driven simulation, and introduces several simulation paradigms originated from the idea of "integrating models with data", and identifies the linkages and differences among them. The particle filterbased …

Study On Robust Chance Constrained Optimization Of Multi-Energy Supply System Based On Wind And Solar Power Combined Output Simulation, Zhe Bao, Wei Li, Xiaofang Zhang, Zongyuan An, Ye Xu

Journal of System Simulation

Abstract: In order to effectively avoid potential imbalance between supply and demand caused by the uncertainty of wind and solar power outputs, and promote the sustained development of the multi-energy supply system, a robust chance-constrained optimization model is developed for identifying optimal operation strategies under complexities and uncertainties through incorporating Copula theory, chance-constrained programming, and robust programming within a general framework. The results show that this model can not only accurately characterize the distribution probability of combined outputs of wind and solar power and formulate the operational strategies under low default risk conditions, but also reduce the proportion of highrisk …

Research On Digital Twins Technology In Cyberspace Security, Qiankun Ren, Xinli Xiong, Jingju Liu, Qian Yao

Journal of System Simulation

Abstract: Combined with digital twins and cyber-space modeling and simulation, the network digital twins (NDT) technology with in-deep research can enable the development of diverse techniques of cyber security. The basic concept and research history of NDT are summarized, and a taxonomy is proposed to survey applications of NDT. A cyber security-oriented network digital twin model (CyS-NDT) is concluded through the literature. The relationship between the internal security problem of NDT and the method of enabling network security technology is discussed to prospect further challenges and opportunities.

Estimation Of The Berthing Parameter Of Unmanned Surface Vessels Based On 3d Lidar, Haichao Wang, Yong Yin, Qianfeng Jing, Lin Cong

Journal of System Simulation

Abstract: Accurate estimation of berthing parameters is a prerequisite for unmanned surface vessel autonomous berthing. A method for berthing parameter estimation is proposed based on shipborne 3D LiDAR. The method consists of two main modules: ship pose estimation and berthing state estimation. In the berthing position estimation module, raw point cloud data undergoes preprocessing algorithms aims at downsampling and removing outliers. Point cloud registration algorithms are employed to determine the vessel's position during the berthing process. The berthing state estimation module extracts berth boundary information by using the MSAC algorithm, and on the basis of this information, calculates the berthing …

Research On Virtual Simulation Testing Technology For Intelligent Navigation Collision Avoidance Decision-Making And Planning, Jialun Liu, Fan Yang, Lingli Xie, Shijie Li, Tengfei Wang

Journal of System Simulation

Abstract: This paper studies virtual simulation testing technology for intelligent navigation collision avoidance decision-making and planning. The application requirements of intelligent navigation in cargo ships are introduced, and the current research status of collision avoidance decision-making strategies, path planning algorithms and decision-making planning testing technology are analyzed. For the intelligent navigation collision avoidance decision-making and planning capabilities of cargo ships, an intelligent navigation collision avoidance decision-making and planning algorithm is proposed based on the encounter situation division in the collision avoidance rules, combined with the quaternary ship field and Bezier curve interpolation theory. A simulation testing method for decision-making planning …

Digital Twin Method Of Stress Field Of Deep Submersible Spherical Shell Based On Simulation Database, Yu Cao, Jie Li, Fang Wang, Zhixiang Liu, Xueliang Wang

Journal of System Simulation

Abstract: This paper presents a method for predicting the stress field of deep diving spherical shells based on simulation databases and digital twin technology. By establishing simulation databases of stress field distribution of pressure-resistant spherical shells under different scales and loads, virtual sensing monitoring of stress states in other parts of the vessel is realized through finite sensor layout of pressureresistant shells on the submersible. Based on the DT(digital twin) technology, a three-level virtual structure layer is constructed. The Level-1 DT layer realizes the spatial mapping and cloud image display from the finite element simulation model to the digital model. …

Section Point Cloud Denoising Method Based On Enhanced Dbscan And Distance Consensus Evaluation, Chengpeng Ge, Dong Zhao, Rui Wang, Qinghua Ma

Journal of System Simulation

Abstract: A denoising method based on the improved DBSCAN(density-based spatial clustering of applications with noise) algorithm is proposed to address the problem of removing noise points in point cloud data. The statistical filtering method is applied to pre-screen isolated outliers and remove largescale noise from the point cloud. The DBSCAN algorithm is optimized to reduce computational time complexity and achieve adaptive parameter adjustment, thereby dividing the point cloud into normal clusters, suspected clusters and abnormal clusters, and immediately removing abnormal clusters. Distance consensus assessment is applied, and suspect clusters are further evaluated. By calculating the distance between the suspected point …

High-Resolution Image Reconstruction Of Ect Region Of Interest Based On Finite Element Simulation, Lifeng Zhang, Da Chen

Journal of System Simulation

Abstract: High-resolution image reconstruction of interest region is one of the research hotspots of electrical capacitance tomography (ECT) technology. The ECT model with uniform electrode distribution only has a high sensitivity coefficient at the boundary position of the reconstructed field and is not suitable for imaging regions of interest. In order to improve the sensitivity distribution in the region of interest and improve image resolution, a high-resolution image reconstruction method of ECT region of interest based on finite element simulation is proposed, and the electrode distribution is optimized according to the conformal transformation theory. Simulation experiments are conducted, and the …

Uav Dynamic Path Planning Algorithm Combined With Dynamic Window Approach, Bin Liu, Ying Lan, Wentao Huang, Qinqin Fan

Journal of System Simulation

Abstract: To solve the problem of the poor search for optimal performance and obstacle avoidance ability of path planning algorithms in complex dynamic environments, a UAV dynamic path planning algorithm combined with dynamic window approach (UAV-DPPA-DWA) is proposed. In the UAVDPPA- DWA algorithm, a novel elliptic tangent graph algorithm based on the evaluation of offset degree and obstacle distance is proposed to obtain the optimal guidance path for the UAV in static environments. If the UAV detects moving obstacles, a localized obstacle avoidance trajectory will be generated using the dynamic window method with adaptive parameters. Otherwise, the UAV will continue …

Fusion Of Improved A* And Dynamic Window Approach For Mobile Robot Path Planning, Rongshen Lai, Lei Dou, Zhiyong Wu, Shuai Sun

Journal of System Simulation

Abstract: The traditional A* algorithm is computationally simple and has short planning paths, but it still suffers from redundancy of inflection points, low search efficiency and zigzagging planning paths. Aiming at the above problems, a fusion algorithm combining the improved A* algorithm and the improved dynamic window approach is proposed for the path planning of mobile robots. For the problem of redundant inflection points, the key nodes are extracted to effectively remove the useless inflection points; for the problem of low search efficiency, a dynamic weighting factor is introduced into the heuristic function of the evaluation function, which changes the …

A Highly Robust Target Tracking Algorithm Merging Cnn And Transformer, Peijin Liu, Xuefeng Fu, Haofeng Sun, Lin He, Shujie Liu

Journal of System Simulation

Abstract: To address the performance degradation of target tracking algorithms caused by target object deformation, scale variation, fast motion, and occlusion, a highly robust target tracking algorithm that Merging a CNN and Transformer is proposed based on siamese network architecture. In the feature extraction stage, standard convolutions are employed to extract shallow local feature information, while a convolution-like Transformer module is designed in the deep network to model global information. The pixel values in the Transformer are computed using a sliding window significantly reducing computational complexity. In the feature aggregation stage, a multi-head cross-attention module is utilized to construct a …

Gpu Parallel Acceleration Framework For Heuristic Optimization Algorithm, Dongjie Wang, Sixin Wen, Wanzhi Meng, Di Wu

Journal of System Simulation

Abstract: Heuristic optimization algorithm are a type of algorithm that uses large-scale populations for iterative calculations and are widely used to solve all kinds of complex optimization problems. However, such algorithm have the disadvantages of large calculation and long time consumption. To solve this problem, heuristic optimization algorithms are parallelized using GPU and compute unified device architecture (CUDA) to substantially improve computational efficiency. A GPU parallel framework for heuristic optimization algorithm is proposed, which designs an information interaction framework and algorithm parallel optimization strategy with a parallel logical structure, and solves the problem of the dissimilarity of the logical structure …