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Full-Text Articles in Physical Sciences and Mathematics

Data Engineering: Building Software Efficiency In Medium To Large Organizations, Alessandro De La Torre Apr 2024

Data Engineering: Building Software Efficiency In Medium To Large Organizations, Alessandro De La Torre

Whittier Scholars Program

The introduction of PoetHQ, a mobile application, offers an economical strategy for colleges, potentially ushering in significant cost savings. These savings could be redirected towards enhancing academic programs and services, enriching the educational landscape for students. PoetHQ aims to democratize access to crucial software, effectively removing financial barriers and facilitating a richer educational experience. By providing an efficient software solution that reduces organizational overhead while maximizing accessibility for students, the project highlights the essential role of equitable education and resource optimization within academic institutions.


A Design Science Approach To Investigating Decentralized Identity Technology, Janelle Krupicka Apr 2024

A Design Science Approach To Investigating Decentralized Identity Technology, Janelle Krupicka

Cybersecurity Undergraduate Research Showcase

The internet needs secure forms of identity authentication to function properly, but identity authentication is not a core part of the internet’s architecture. Instead, approaches to identity verification vary, often using centralized stores of identity information that are targets of cyber attacks. Decentralized identity is a secure way to manage identity online that puts users’ identities in their own hands and that has the potential to become a core part of cybersecurity. However, decentralized identity technology is new and continually evolving, which makes implementing this technology in an organizational setting challenging. This paper suggests that, in the future, decentralized identity …


Optimization Of Memory Management Using Machine Learning, Luke Bartholomew Apr 2024

Optimization Of Memory Management Using Machine Learning, Luke Bartholomew

Campus Research Day

This paper is a proposed solution to the problem of memory safety using machine learning. Memory overload and corruption cause undesirable behaviors in a system that are addressed by memory safety implementations. This project uses machine learning models to classify different states of system memory from a dataset collected from a Raspberry Pi System. These models can then be used to classify real run time memory data and increase memory safety overall in a system.


Artificial Sociality, Simone Natale, Iliana Depounti Apr 2024

Artificial Sociality, Simone Natale, Iliana Depounti

Human-Machine Communication

This article proposes the notion of Artificial Sociality to describe communicative AI technologies that create the impression of social behavior. Existing tools that activate Artificial Sociality include, among others, Large Language Models (LLMs) such as ChatGPT, voice assistants, virtual influencers, socialbots and companion chatbots such as Replika. The article highlights three key issues that are likely to shape present and future debates about these technologies, as well as design practices and regulation efforts: the modelling of human sociality that foregrounds it, the problem of deception and the issue of control from the part of the users. Ethical, social and cultural …


Exploring Human Aging Proteins Based On Deep Autoencoders And K-Means Clustering, Sondos M. Hammad, Mohamed Talaat Saidahmed, Elsayed A. Sallam, Reda Elbasiony Mar 2024

Exploring Human Aging Proteins Based On Deep Autoencoders And K-Means Clustering, Sondos M. Hammad, Mohamed Talaat Saidahmed, Elsayed A. Sallam, Reda Elbasiony

Journal of Engineering Research

Aging significantly affects human health and the overall economy, yet understanding of the underlying molecular mechanisms remains limited. Among all human genes, almost three hundred and five have been linked to human aging. While certain subsets of these genes or specific aging-related genes have been extensively studied. There has been a lack of comprehensive examination encompassing the entire set of aging-related genes. Here, the main objective is to overcome understanding based on an innovative approach that combines the capabilities of deep learning. Particularly using One-Dimensional Deep AutoEncoder (1D-DAE). Followed by the K-means clustering technique as a means of unsupervised learning. …


Extracting Dnn Architectures Via Runtime Profiling On Mobile Gpus, Dong Hyub Kim Mar 2024

Extracting Dnn Architectures Via Runtime Profiling On Mobile Gpus, Dong Hyub Kim

Masters Theses

Due to significant investment, research, and development efforts over the past decade, deep neural networks (DNNs) have achieved notable advancements in classification and regression domains. As a result, DNNs are considered valuable intellectual property for artificial intelligence providers. Prior work has demonstrated highly effective model extraction attacks which steal a DNN, dismantling the provider’s business model and paving the way for unethical or malicious activities, such as misuse of personal data, safety risks in critical systems, or spreading misinformation. This thesis explores the feasibility of model extraction attacks on mobile devices using aggregated runtime profiles as a side-channel to leak …


An Efficient Privacy-Preserving Framework For Video Analytics, Tian Zhou Mar 2024

An Efficient Privacy-Preserving Framework For Video Analytics, Tian Zhou

Doctoral Dissertations

With the proliferation of video content from surveillance cameras, social media, and live streaming services, the need for efficient video analytics has grown immensely. In recent years, machine learning based computer vision algorithms have shown great success in various video analytic tasks. Specifically, neural network models have dominated in visual tasks such as image and video classification, object recognition, object detection, and object tracking. However, compared with classic computer vision algorithms, machine learning based methods are usually much more compute-intensive. Powerful servers are required by many state-of-the-art machine learning models. With the development of cloud computing infrastructures, people are able …


Intelligent Protection Scheme Using Combined Stockwell-Transform And Deep Learning-Based Fault Diagnosis For The Active Distribution System, Latha Maheswari Kandasamy, Kanakaraj Jaganathan Mar 2024

Intelligent Protection Scheme Using Combined Stockwell-Transform And Deep Learning-Based Fault Diagnosis For The Active Distribution System, Latha Maheswari Kandasamy, Kanakaraj Jaganathan

Turkish Journal of Electrical Engineering and Computer Sciences

This study aims to perform fast fault diagnosis and intelligent protection in an active distribution network (ADN) with high renewable energy penetration. Several time-domain simulations are carried out in EMTP-RV to extract time-synchronized current and voltage data. The Stockwell transform (ST) was used in MATLAB/SIMULINK to preprocess these input datasets to train the adaptive fault diagnosis deep convolutional neural network (AFDDCNN) for fault location identification, fault type identification, and fault phase-detection for different penetration levels. Based on the AFDDCNN output, the intelligent protection scheme (IDOCPS) generates the signal for isolating a faulty section of the ADN. An intelligent fault diagnosis …


Consensus-Based Virtual Leader Tracking Algorithm For Flight Formation Control Of Swarm Uavs, Berat Yıldız, Akif Durdu, Ahmet Kayabaşi Mar 2024

Consensus-Based Virtual Leader Tracking Algorithm For Flight Formation Control Of Swarm Uavs, Berat Yıldız, Akif Durdu, Ahmet Kayabaşi

Turkish Journal of Electrical Engineering and Computer Sciences

Technological developments in industrial areas also impact unmanned aerial vehicles (UAVs). Recent improvements in both software and hardware have significantly increased the use of many UAVs in social and military fields. In particular, the widespread use of these vehicles in social areas such as entertainment, shipping, transportation, and delivery and military areas such as surveillance, tracking, and offensive measures has accelerated the research on swarm systems. This study examined the previous investigations on swarm UAVs and aimed to create a more efficient algorithm. The effectiveness of the proposed algorithm was compared with other leader-based applications. A swarm consisting of 5 …


Lower Data Attacks On Advanced Encryption Standard, Orhun Kara Mar 2024

Lower Data Attacks On Advanced Encryption Standard, Orhun Kara

Turkish Journal of Electrical Engineering and Computer Sciences

The Advanced Encryption Standard (AES) is one of the most commonly used and analyzed encryption algorithms. In this work, we present new combinations of some prominent attacks on AES, achieving new records in data requirements among attacks, utilizing only 2 4 and 2 16 chosen plaintexts (CP) for 6-round and 7-round AES 192/256, respectively. One of our attacks is a combination of a meet-in-the-middle (MiTM) attack with a square attack mounted on 6-round AES-192/256 while another attack combines an MiTM attack and an integral attack, utilizing key space partitioning technique, on 7-round AES-192/256. Moreover, we illustrate that impossible differential (ID) …


Cascade Controller Design Via Controller Synthesis For Load Frequency Control Of Electrical Power Systems, Yavuz Güler, Mustafa Nalbantoğlu, Ibrahim Kaya Mar 2024

Cascade Controller Design Via Controller Synthesis For Load Frequency Control Of Electrical Power Systems, Yavuz Güler, Mustafa Nalbantoğlu, Ibrahim Kaya

Turkish Journal of Electrical Engineering and Computer Sciences

The regulation of tie-line electricity flow and frequency of electrical power systems (EPS) is crucial for ensuring their robustness to parameter changes and efficient management of disturbances. To this end, a novel cascade control design approach utilizing a serial Proportional-Integral-Derivative controller with a filter (PIDF) is proposed in this paper. The parameters of the controllers are derived analytically, and it is employed in both loops of the cascade control system to regulate the Load Frequency Control (LFC) of EPS. The implementation of PIDF controllers in both loops is utilized in the cascade control scheme for various power systems featuring different …


Advanced Hyperthermia Treatment: Optimizing Microwave Energy Focus For Breast Cancer Therapy, Burak Acar, Tuba Yilmaz Abdolsaheb, Ali Yapar Mar 2024

Advanced Hyperthermia Treatment: Optimizing Microwave Energy Focus For Breast Cancer Therapy, Burak Acar, Tuba Yilmaz Abdolsaheb, Ali Yapar

Turkish Journal of Electrical Engineering and Computer Sciences

This paper presents a fast antenna phase optimization scheme to enable microwave power focusing for breast cancer hyperthermia. The power focusing is achieved through the maximization of the deposited electric field on the target malignant tumor tissue. To do so, a malignant breast tumor, the surrounding breast medium, and the skin of the breast are modeled as a cylindrical structure composed of eccentric cylinders, and electric field distribution is computed analytically in terms of cylindrical harmonics. This approach minimized the computational cost and simplified the breast medium model. To ensure applicability across various breast types, the dielectric properties (DPs) of …


Atomic Comagnetometer Gyroscopes For Inertial Navigation Systems: A Review, Murat Salim Karabinaoglu, Bekir Çakir, Mustafa Engin Başoğlu Mar 2024

Atomic Comagnetometer Gyroscopes For Inertial Navigation Systems: A Review, Murat Salim Karabinaoglu, Bekir Çakir, Mustafa Engin Başoğlu

Turkish Journal of Electrical Engineering and Computer Sciences

In recent years, developments in quantum sensing, laser, and atomic sensor technologies have also enabled advancement in the field of quantum navigation. Atomic-based gyroscopes have emerged as one of the most critical atomic sensors in this respect. In this review, a brief technology statement of spin exchange relaxation free (SERF) and nuclear magnetic resonance (NMR) type atomic comagnetometer gyroscope (CG) is presented. Related studies in the literature have been gathered, and the fundamental compositions of CGs with technical basics are presented. A comparison of SERF and NMR CGs is provided. A basic simulation of SERF CG was carried out because …


Uncovering And Mitigating Spurious Features In Domain Generalization, Saeed Karimi, Hamdi̇ Di̇bekli̇oğlu Mar 2024

Uncovering And Mitigating Spurious Features In Domain Generalization, Saeed Karimi, Hamdi̇ Di̇bekli̇oğlu

Turkish Journal of Electrical Engineering and Computer Sciences

Domain generalization (DG) techniques strive to attain the ability to generalize to an unfamiliar target domain solely based on training data originating from the source domains. Despite the increasing attention given to learning from multiple training domains through the application of various forms of invariance across those domains, the enhancements observed in comparison to ERM are nearly insignificant under specified evaluation rules. In this paper, we demonstrate that the disentanglement of spurious and invariant features is a challenging task in conventional training since ERM simply minimizes the loss and does not exploit invariance among domains. To address this issue, we …


Preprocessing Of Astronomical Images From The Neowise Survey For Near-Earth Asteroid Detection With Machine Learning, Rachel Meyer Mar 2024

Preprocessing Of Astronomical Images From The Neowise Survey For Near-Earth Asteroid Detection With Machine Learning, Rachel Meyer

ELAIA

Asteroid detection is a common field in astronomy for planetary defense, requiring observations from survey telescopes to detect and classify different objects. The amount of data collected each night is continually increasing as new and better-designed telescopes begin collecting information each year. This amount of data is quickly becoming unmanageable, and researchers are looking for ways to better process this data. The most feasible current solution is to implement computer algorithms to automatically detect these sources and then use machine learning to create a more efficient and accurate method of classification. Implementation of such methods has previously focused on larger …


Attribution Robustness Of Neural Networks, Sunanda Gamage Feb 2024

Attribution Robustness Of Neural Networks, Sunanda Gamage

Electronic Thesis and Dissertation Repository

While deep neural networks have demonstrated excellent learning capabilities, explainability of model predictions remains a challenge due to their black box nature. Attributions or feature significance methods are tools for explaining model predictions, facilitating model debugging, human-machine collaborative decision making, and establishing trust and compliance in critical applications. Recent work has shown that attributions of neural networks can be distorted by imperceptible adversarial input perturbations, which makes attributions unreliable as an explainability method. This thesis addresses the research problem of attribution robustness of neural networks and introduces novel techniques that enable robust training at scale.

Firstly, a novel generic framework …


Optimal Scheduling Strategy Of Virtual Power Plant With Carbon Emission And Carbon Penalty Considering Uncertainty Of Wind Power And Photovoltaic Power, Jijun Shui, Daogang Peng, Yankan Song, Qiang Zhou Feb 2024

Optimal Scheduling Strategy Of Virtual Power Plant With Carbon Emission And Carbon Penalty Considering Uncertainty Of Wind Power And Photovoltaic Power, Jijun Shui, Daogang Peng, Yankan Song, Qiang Zhou

Journal of System Simulation

Abstract: To better meet the development needs of China's new power system, an optimal scheduling strategy of virtual power plant(VPP) with carbon emission and carbon penalty considering the uncertainty of wind power and photovoltaic power is proposed. The mathematical description of photovoltaic(PV), wind turbine(WT), combined heat and power(CHP) unit and energy storage system (ESS) is carried out, and a wind-solar output model considering the uncertainty is established. The scenario generation and reduction method is used to generate the typical scenario. To maximize the overall operation benefit of VPP, considering carbon emission cost and carbon penalty, an optimal scheduling model of …


Research Advances On Electric Vehicle Routing Problem Models And Algorithms, Helin Zhuang, Xiaoyun Xia, Kangshun Li, Zefeng Chen, Xianchao Zhang Feb 2024

Research Advances On Electric Vehicle Routing Problem Models And Algorithms, Helin Zhuang, Xiaoyun Xia, Kangshun Li, Zefeng Chen, Xianchao Zhang

Journal of System Simulation

Abstract: The development of electric vehicle provides an alternative to conventional fuel vehicles for logistics companies. Using electric vehicles has the merits of less pollution and low noise, but the characteristics of limited cruising range and limited number of charging stations are new challenges. Electric vehicle routing problems(EVRPs) have been widely used in transportation, logistics and other fields, and have received much attention. A comprehensive survey of EVRP and its many variants are presented and the respective backgrounds and applicable conditions are analyzed. The solving approaches of EVRPs are categorized, the strengths and weaknesses of each algorithm are analyzed, and …


Optimal Dispatch Of Microgrid Clusters Considering Energy Storage Life And Communication Failures, Jianfang Jiao, Anjie Wang, Guang Wang, Jiale Xie Feb 2024

Optimal Dispatch Of Microgrid Clusters Considering Energy Storage Life And Communication Failures, Jianfang Jiao, Anjie Wang, Guang Wang, Jiale Xie

Journal of System Simulation

Abstract: To ensure the economy and stability of microgrid operation, the power fluctuations of renewable energy source (RES) and the lifetime characteristics of battery energy storage system (BESS) should be considered. The influence of charging and discharging depth and rate on the lifetime of BESS is researched, a model of battery energy storage system for real-time optimal scheduling is established, and the alternating direction method of multipliers is adopted for the distributed optimal scheduling of microgrid clusters. The distributed optimization method does not require any global information and can protect the privacy of microgrid in the maximum extent. Simulation results …


Runoff Intelligent Prediction Method Based On Broad-Deep Fusion Time-Frequency Analysis, Ying Han, Lehao Wang, Shumei Wang, Xiang Zhang, Xingxing Luo Feb 2024

Runoff Intelligent Prediction Method Based On Broad-Deep Fusion Time-Frequency Analysis, Ying Han, Lehao Wang, Shumei Wang, Xiang Zhang, Xingxing Luo

Journal of System Simulation

Abstract: Broad learning system(BLS) is introduced to tackle the existed disadvantage that LSTM-based runoff prediction model is easy to fall into local optimization. To reduce the influence of noise on the prediction results, the variational mode decomposition (VMD) is adopted to transform the onedimensional time-domain runoff signal to the two-dimensional time-frequency plane. The runoff prediction model based on VMD-LSTM-BLS is proposed. The simulation results demonstrate that the prediction accuracy of the new model is more significantly improved compared with the baseline model and the existing LSTM-based runoff prediction model.


Simulation Platform Of Agv System Scheduling Algorithms In Uncertain Environment, Zhihao Shi, Haihui Shen Feb 2024

Simulation Platform Of Agv System Scheduling Algorithms In Uncertain Environment, Zhihao Shi, Haihui Shen

Journal of System Simulation

Abstract: As a complete automated guided vehicle(AGV) system scheduling algorithm, it must include conflict-handling strategy, together with common dispatching strategy and routing algorithm. However, due to the uncertainty, characteristics of such scheduling algorithm are difficult to be analyzed theoretically, and the relevant study is lacking. An AGV system simulation platform based on the discreteevent simulation technique is designed and developed, which can flexibly set the scheduling problem, choose the dispatching strategy, routing algorithm, and conflict-handling strategy for the scheduling algorithm, to run the simulation. The platform has a visual interface, from which the running status of AGVs and the performance …


Robust Predictive Control Of Nonplanar Fully-Actuated Uavs, Yun Ma, Yuan Wang, Meng Li, Peng Wang, Yanling Tang Feb 2024

Robust Predictive Control Of Nonplanar Fully-Actuated Uavs, Yun Ma, Yuan Wang, Meng Li, Peng Wang, Yanling Tang

Journal of System Simulation

Abstract: Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles (UAVs) are susceptible to external winds and unmodeled dynamics, the predictive control system with good robustness is designed. A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach. A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances. A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to …


Fault Detection Based On Sliding Window And Multiblock Convolutional Autoencoders, Jianpeng Mou, Weili Xiong Feb 2024

Fault Detection Based On Sliding Window And Multiblock Convolutional Autoencoders, Jianpeng Mou, Weili Xiong

Journal of System Simulation

Abstract: In order to further improve the fault detection performance and fully mine the timing and hidden feature information, a fault detection method based on convolutional auto encoder is proposed. On the basis of modeling the original information set, the modeling of cumulative information and rate of change information is added to enhance the mining of implicit information; The three reconstructed information sets are sampled by sliding windows, and time series feature extraction and modeling are performed based on convolutional auto encoders. Bayesian fusion of the decision results of the convolutional auto encoder is performed to obtain the statistics, and …


Short-Term Bus Passenger Flow Prediction Based On Convolutional Long-Short-Term Memory Network, Jing Chen, Zhaochong Zhang, Linkai Wang, Mai An, Wei Wang Feb 2024

Short-Term Bus Passenger Flow Prediction Based On Convolutional Long-Short-Term Memory Network, Jing Chen, Zhaochong Zhang, Linkai Wang, Mai An, Wei Wang

Journal of System Simulation

Abstract: To address the problem that the traditional short-time passenger flow prediction method does not consider the temporal characteristics similarity between the inter-temporal passenger flows, a shorttime passenger flow prediction model k-CNN-LSTM is proposed by combining the improved k-means clustering algorithm with the CNN and the LSTM. The k-means is used to cluster the intertemporal timeseries data, the k-value is determined by using the gap-statistic, and a traffic flow matrix model is constructed. A CNN-LSTM network is used to process the short-time passenger flows with spatial and temporal characteristics. The model is tested and parameter tuned by the real dataset. …


Design Of 3d Visualization Monitoring System For Oil Field Pumping Unit Based On Unity3d, Liqiang Liu, Wenlei Sun, Yi Wang, Bingkai Wang Feb 2024

Design Of 3d Visualization Monitoring System For Oil Field Pumping Unit Based On Unity3d, Liqiang Liu, Wenlei Sun, Yi Wang, Bingkai Wang

Journal of System Simulation

Abstract: Aiming at the defects of single monitoring form, low degree of 3D visualization and poor linkage of pumping unit, the information-physical real-time mapping is introduced to develop the 3D visualization monitoring system for oil field pumping unit. The digital space of pumping unit are designed and the design architecture of virtual-real interaction layer is built. The composition and relation framework of 3D visualization system are built. Combined with the inverse kinematics, the mathematical model is built, and the overall architecture of the pumping unit 3D visualization system is designed based on the five-dimensional model and Unity3D platform. The beam …


Ground Target Recognition And Damage Assessment Of Patrol Missiles Based On Multi-Source Information Fusion, Yibo Xu, Qinghua Yu, Yanjuan Wang, Ce Guo, Shiru Feng, Huimin Lu Feb 2024

Ground Target Recognition And Damage Assessment Of Patrol Missiles Based On Multi-Source Information Fusion, Yibo Xu, Qinghua Yu, Yanjuan Wang, Ce Guo, Shiru Feng, Huimin Lu

Journal of System Simulation

Abstract: For the multiple patrol missiles to attack the high defense capacity targets, a mobile ground target detection and damage assessment method based on multi-source information fusion is proposed. The multi-source information fusion of infrared images and RGB images is carried out by using IoU determination. A novel two-stage tightly coupled damage assessment method based on YOLO-VGGNet of patrol missiles to mobile ground targets is proposed. This method can fully use the advantage of deep semantic information extraction of CNNs and introduce the infrared damaging information simultaneously to achieve the online and real-time damage assessment of mobile ground targets. The …


Efficiency Optimization Method For Data Sampling In Power Grid Topology Scheduling Simulation, Yingying Zhao, Pusen Dong, Tianchen Zhu, Fan Li, Yun Su, Zhenying Tai, Qingyun Sun, Hang Fan Feb 2024

Efficiency Optimization Method For Data Sampling In Power Grid Topology Scheduling Simulation, Yingying Zhao, Pusen Dong, Tianchen Zhu, Fan Li, Yun Su, Zhenying Tai, Qingyun Sun, Hang Fan

Journal of System Simulation

Abstract: To address the large simulation computational workload and low simulation speed caused by the scale and complexity of the new power system, a simulation acceleration method for topology scheduling based on the distributed and quantization mechanisms is proposed. The parallelization of topology scheduling models is used to increase the scale of data simulation sampling in unit time. The introduced quantization operators accelerate the computation speed of the topology scheduling model operators, reduces the time cost of the every single simulation. Case studies confirm the effectiveness of the topology simulation acceleration, in which the available transfer capacity of the simulated …


A Simplification Method Of Large-Scale Unit Commitment Model Based On Boundary Method, Yanping Xu, Mingxin Zhao, Xiaohui Qin, Keyou He, Xiaohan Wu, Pei Zhang Feb 2024

A Simplification Method Of Large-Scale Unit Commitment Model Based On Boundary Method, Yanping Xu, Mingxin Zhao, Xiaohui Qin, Keyou He, Xiaohan Wu, Pei Zhang

Journal of System Simulation

Abstract: As the scale of power grid expands, in the market environment, the variables and constraints in the security-constrained unit commitment (SCUC) model considering power grid security constraints increase significantly and the solvability of the model reduces. When the model scale is too large, even the existing commercial solvers cannot solve it. Aiming at the model rapid solving, from the perspective of reducing the number of model constraints, a linear constraint simplification method based on the boundary method is proposed. The proposed method can effectively reduce the model's size by eliminating the redundant linear constraints. The IEEE-39, WECC 179 and …


Dynamic Spatio-Temporal Anomaly-Aware Correlation Filtering Object Tracking Algorithm, Yunfei Qiu, Xiangrui Bu, Boqiang Zhang Feb 2024

Dynamic Spatio-Temporal Anomaly-Aware Correlation Filtering Object Tracking Algorithm, Yunfei Qiu, Xiangrui Bu, Boqiang Zhang

Journal of System Simulation

Abstract: In view of the fact that the background perception algorithm does not establish a relationship with the spatio-temporal domain characteristics of the target, and cannot accurately deal with the occlusion, deformation and other abnormal tracking, a object tracking algorithm which can adaptively perceive the spatio-temporal anomalies is proposed. In the training stage of correlation filter, the adaptive spatial regularization term is introduced to establish a relationship with the spatio-temporal characteristics of sample. The abnormal perception method is proposed according to the peak value of response map. Taking advantage of the different confidence of historical filter and the continuity of …


Flipper Control Method For Tracked Robot Based On Deep Reinforcement Learning, Hainan Pan, Bailiang Chen, Kaihong Huang, Junkai Ren, Chuang Cheng, Huimin Lu, Hui Zhang Feb 2024

Flipper Control Method For Tracked Robot Based On Deep Reinforcement Learning, Hainan Pan, Bailiang Chen, Kaihong Huang, Junkai Ren, Chuang Cheng, Huimin Lu, Hui Zhang

Journal of System Simulation

Abstract: Tracked robots with flippers have certain terrain adaptation capabilities. To improve the intelligent operation level of robots in complex environments, it is significant to realize the flipper autonomously control. Combining the expert experience in obstacle crossing and optimization indicators, Markov decision process(MDP) modeling of the robot's flipper control problem is carried out and a simulation training environment based on physics simulation engine Pymunk is built. A deep reinforcement learning control algorithm based on dueling double DQN(D3QN) network is proposed for controlling the flippers. With terrain information and robot state as the input and the four flippers' angle as the …