Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles

This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.

A Class of Fast Algorithms in Real-Time Simulation

A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are given. Using the class of algorithms, evaluation for the right-hand side function is needed once in every integration-step. Moreover, comparing with the other methods with the same amount of work, their numerical stability regions are larger and the method errors are smaller, and the numerical experiments show that the algorithms are very effective.

An improving energy efficiency cooperation algorithm based on Nash bargaining solution in selfish user cooperative networks

A bandwidth-exchange cooperation algorithm based on the Nash bargaining solution （NBS） is proposed to encourage the selfish users to participate with more cooperation so as to improve the users＇ energy efficiency. As a result, two key problems, i.e. , when to cooperate and how to cooperate, are solved. For the first problem, a proposed cooperation condition that can decide when to cooperate and guarantee users＇ energy efficiency achieved through cooperation is not lower than that achieved without cooperation. For the second problem, the cooperation bandwidth allocations （CBAs） based on the NBS solve the problem how to cooperate when cooperation takes place. Simulation results show that, as the modulation order of quadrature amplitude modulation （QAM） increases, the cooperation between both users only occurs with a large signal-to-noise ratio （SNR）. Meanwhile, the energy efficiency decreases as the modulation order increases. Despite all this, the proposed algorithm can obviously improve the energy efficiency measured in bits-per-Joule compared with non-cooperation.

Application of the asynchronous advantage actor–critic machine learning algorithm to real-time accelerator tuning

This paper describes a real-time beam tuning method with an improved asynchronous advantage actor–critic(A3C)algorithm for accelerator systems.The operating parameters of devices are usually inconsistent with the predictions of physical designs because of errors in mechanical matching and installation.Therefore,parameter optimization methods such as pointwise scanning,evolutionary algorithms(EAs),and robust conjugate direction search are widely used in beam tuning to compensate for this inconsistency.However,it is difficult for them to deal with a large number of discrete local optima.The A3C algorithm,which has been applied in the automated control field,provides an approach for improving multi-dimensional optimization.The A3C algorithm is introduced and improved for the real-time beam tuning code for accelerators.Experiments in which optimization is achieved by using pointwise scanning,the genetic algorithm(one kind of EAs),and the A3C-algorithm are conducted and compared to optimize the currents of four steering magnets and two solenoids in the low-energy beam transport section(LEBT)of the Xi’an Proton Application Facility.Optimal currents are determined when the highest transmission of a radio frequency quadrupole(RFQ)accelerator downstream of the LEBT is achieved.The optimal work points of the tuned accelerator were obtained with currents of 0 A,0 A,0 A,and 0.1 A,for the four steering magnets,and 107 A and 96 A for the two solenoids.Furthermore,the highest transmission of the RFQ was 91.2%.Meanwhile,the lower time required for the optimization with the A3C algorithm was successfully verified.Optimization with the A3C algorithm consumed 42%and 78%less time than pointwise scanning with random initialization and pre-trained initialization of weights,respectively.

A Real-time Lithological Identification Method based on SMOTE-Tomek and ICSA Optimization

In petroleum engineering,real-time lithology identification is very important for reservoir evaluation,drilling decisions and petroleum geological exploration.A lithology identification method while drilling based on machine learning and mud logging data is studied in this paper.This method can effectively utilize downhole parameters collected in real-time during drilling,to identify lithology in real-time and provide a reference for optimization of drilling parameters.Given the imbalance of lithology samples,the synthetic minority over-sampling technique(SMOTE)and Tomek link were used to balance the sample number of five lithologies.Meanwhile,this paper introduces Tent map,random opposition-based learning and dynamic perceived probability to the original crow search algorithm(CSA),and establishes an improved crow search algorithm(ICSA).In this paper,ICSA is used to optimize the hyperparameter combination of random forest(RF),extremely random trees(ET),extreme gradient boosting(XGB),and light gradient boosting machine(LGBM)models.In addition,this study combines the recognition advantages of the four models.The accuracy of lithology identification by the weighted average probability model reaches 0.877.The study of this paper realizes high-precision real-time lithology identification method,which can provide lithology reference for the drilling process.

Real-Time Spreading Thickness Monitoring of High-core Rockfill Dam Based on K-nearest Neighbor Algorithm

During the storehouse surface rolling construction of a core rockfilldam, the spreading thickness of dam face is an important factor that affects the construction quality of the dam storehouse' rolling surface and the overallquality of the entire dam. Currently, the method used to monitor and controlspreading thickness during the dam construction process is artificialsampling check after spreading, which makes it difficult to monitor the entire dam storehouse surface. In this paper, we present an in-depth study based on real-time monitoring and controltheory of storehouse surface rolling construction and obtain the rolling compaction thickness by analyzing the construction track of the rolling machine. Comparatively, the traditionalmethod can only analyze the rolling thickness of the dam storehouse surface after it has been compacted and cannot determine the thickness of the dam storehouse surface in realtime. To solve these problems, our system monitors the construction progress of the leveling machine and employs a real-time spreading thickness monitoring modelbased on the K-nearest neighbor algorithm. Taking the LHK core rockfilldam in Southwest China as an example, we performed real-time monitoring for the spreading thickness and conducted real-time interactive queries regarding the spreading thickness. This approach provides a new method for controlling the spreading thickness of the core rockfilldam storehouse surface.

A Class of Parallel Algorithms of Real-TimeNumerical Simulation for Stiff Dynamic System

In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these methods are discussed. A-stable real-time parallel formula of two-stage third-order and A(α)-stable real-time parallel formula with o ≈ 89.96° of three-stage fourth-order are particularly given. The numerical simulation experiments in parallel environment show that the class of algorithms is efficient and applicable, with greater speedup.

An Algorithm for Solutions of Nonlinear Difference-differential Equations

In this paper,an algorithm is developed for using the G' /G-expansion method to obtain exact solutions for discrete nonlinear systems.Applying this method,some kinds of travelling wave solutions for AL system and Toda lattice system are derived.These solutions are expressed by hyperbolic function,trigonometric function and rational function with parameters.When the parameters are taken as special values,some known solutions including kink-type solitary wave solution and singular travelling wave solution are recovered. It is shown that the developed algorithm is effective and direct.It also can be used for many other nonlinear differential-difference equations in mathematical physics.

Enhancing Cybersecurity through Cloud Computing Solutions in the United States

This study investigates how cybersecurity can be enhanced through cloud computing solutions in the United States. The motive for this study is due to the rampant loss of data, breaches, and unauthorized access of internet criminals in the United States. The study adopted a survey research design, collecting data from 890 cloud professionals with relevant knowledge of cybersecurity and cloud computing. A machine learning approach was adopted, specifically a random forest classifier, an ensemble, and a decision tree model. Out of the features in the data, ten important features were selected using random forest feature importance, which helps to achieve the objective of the study. The study’s purpose is to enable organizations to develop suitable techniques to prevent cybercrime using random forest predictions as they relate to cloud services in the United States. The effectiveness of the models used is evaluated by utilizing validation matrices that include recall values, accuracy, and precision, in addition to F1 scores and confusion matrices. Based on evaluation scores (accuracy, precision, recall, and F1 scores) of 81.9%, 82.6%, and 82.1%, the results demonstrated the effectiveness of the random forest model. It showed the importance of machine learning algorithms in preventing cybercrime and boosting security in the cloud environment. It recommends that other machine learning models be adopted to see how to improve cybersecurity through cloud computing.

Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method

Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.

A Mathematical Model of Real-Time Simulation and the Convergence Analysis on Real-Time Runge-Kutta Algorithms

In this paper, a mathematical model of real-time simulation is given, and the problem of convergence on real-time Runge-Kutta algorithms is analysed. At last a theorem on the relation between the order of compensation and the convergent order of real-time algorithm is proved.

Real-time Design Constraints in Implementing Active Vibration Control Algorithms

Although computer architectures incorporate fast processing hardware resources, high performance real-time implementation of a complex control algorithm requires an efficient design and software coding of the algorithm so as to exploit special features of the hardware and avoid associated architecture shortcomings. This paper presents an investigation into the analysis and design mechanisms that will lead to reduction in the execution time in implementing real-time control algorithms. The proposed mechanisms are exemplified by means of one algorithm, which demonstrates their applicability to real-time applications. An active vibration control （AVC） algorithm for a flexible beam system simulated using the finite difference （FD） method is considered to demonstrate the effectiveness of the proposed methods. A comparative performance evaluation of the proposed design mechanisms is presented and discussed through a set of experiments.

Real-Time Front Vehicle Detection Algorithm Based on Local Feature Tracking Method

This paper proposes an algorithm that extracts features of back side of the vehicle and detects the front vehicle in real-time by local feature tracking of vehicle in the continuous images.The features in back side of the vehicle are vertical and horizontal edges,shadow and symmetry.By comparing local features using the fixed window size,the features in the continuous images are tracked.A robust and fast Haarlike mask is used for detecting vertical and horizontal edges,and shadow is extracted by histogram equalization,and the sliding window method is used to compare both side templates of the detected candidates for extracting symmetry.The features for tracking are vertical edges,and histogram is used to compare location of the peak and magnitude of the edges.The method using local feature tracking in the continuous images is more robust for detecting vehicle than the method using single image,and the proposed algorithm is evaluated by continuous images obtained on the expressway and downtown.And it can be performed on real-time through applying it to the embedded system.

Two Structure-Preserving-Doubling Like Algorithms to Solve the Positive Definite Solution of the Equation X-A^(H)X^(-1)A=Q

In this paper,we study the nonlinear matrix equation X-A^(H)X^(-1)A=Q,where A,Q∈C^(n×n),Q is a Hermitian positive definite matrix and X∈C^(n×n)is an unknown matrix.We prove that the equation always has a unique Hermitian positive definite solution.We present two structure-preserving-doubling like algorithms to find the Hermitian positive definite solution of the equation,and the convergence theories are established.Finally,we show the effectiveness of the algorithms by numerical experiments.

Optimized quantum random-walk search algorithm for multi-solution search

This study investigates the multi-solution search of the optimized quantum random-walk search algorithm on the hypercube. Through generalizing the abstract search algorithm which is a general tool for analyzing the search on the graph to the multi-solution case, it can be applied to analyze the multi-solution case of quantum random-walk search on the graph directly. Thus, the computational complexity of the optimized quantum random-walk search algorithm for the multi-solution search is obtained. Through numerical simulations and analysis, we obtain a critical value of the proportion of solutions q. For a given q, we derive the relationship between the success rate of the algorithm and the number of iterations when q is no longer than the critical value.

PCR ALGORITHM FOR PARALLEL COMPUTING MINIMUM-NORM LEAST-SQUARES SOLUTION OF INCONSISTENT LINEAR EQUATIONS

This paper presents a new highly parallel algorithm for computing the minimum-norm least-squares solution of inconsistent linear equations Ax = b(A∈Rm×n,b∈R (A)). By this algorithm the solution x = A + b is obtained in T = n(log2m + log2(n - r + 1) + 5) + log2m + 1 steps with P=mn processors when m × 2(n - 1) and with P = 2n(n - 1) processors otherwise.

TWO TYPES OF NEW ALGORITHMS FOR FINDING EXPLICIT ANALYTICAL SOLUTIONS OF NONLINEAR DIFFERENTIAL EQUATIONS

The idea of AC = BD was applied to solve the nonlinear differential equations. Suppose that Au = 0 is a given equation to he solved and Dv = 0 is an equation to be easily solved. If the transformation u = Cv is obtained so that v satisfies Dv = 0, then the solutions for Au = 0 can be found. In order to illustrate this approach, several examples about the transformation C are given.

Generating Epsilon-Efficient Solutions in Multiobjective Optimization by Genetic Algorithm

We develop a new evolutionary method of generating epsilon-efficient solutions of a continuous multiobjective programming problem. This is achieved by discretizing the problem and then using a genetic algorithm with some derived probabilistic stopping criteria to obtain all minimal solutions for the discretized problem. We prove that these minimal solutions are the epsilon-optimal solutions to the original problem. We also present some computational examples illustrating the efficiency of our method.

An Adaptive Genetic Algorithm for Multiprocessor Real-time Task Scheduling

Real-time task scheduling is of primary significance in multiprocessor systems.Meeting deadlines and achieving high system utilization are the two main objectives of task scheduling in such systems.In this paper,we represent those two goals as the minimization of the average response time and the average task laxity.To achieve this,we propose a genetic-based algorithm with problem-specific and efficient genetic operators.Adaptive control parameters are also employed in our work to improve the genetic algorithms' efficiency.The simulation results show that our proposed algorithm outperforms its counterpart considerably by up to 36% and 35% in terms of the average response time and the average task laxity,respectively.

Sniffer Technique for Numerical Solution of Korteweg-de Vries Equation Using Genetic Algorithm

A novel heuristic technique has been developed for solving Ordinary Differential Equation (ODE) numerically under the framework of Genetic Algorithm (GA). The method incorporates a sniffer procedure that helps carry out a memetic search within the solution domain in the vicinity of the currently found best chromosome. The technique has been successfully applied to the Korteweg- de Vries (KdV) equation, a well-known nonlinear Partial Differential Equation (PDE). In the present study we consider its solution in the regime of solitary waves, or solitons that is first used to convert the PDE into an ODE. It is then shown that using the sniffer technique assisted GA procedure, numerical solution has successfully been generated quite efficiently for the one-dimensional ODE version of the KdV equation in space variable (x). The technique is quite promising for its applications to systems involving ODE equations where analytical solutions are not directly available.