Pub Date : 2024-11-13DOI: 10.1016/j.jfranklin.2024.107391
Hao Zhang , Zhenyu Li , Yongle Chen , Chenchen Lu , Pengfei Yan
The Radial Harmonic Fourier Moments(RHFMs) is a kind of continuous orthogonal moments with good performance of image representation and reconstruction. Most of existing methods focused on improving the computation of RHFMs, and ignored the research about the reconstruction. Therefore, a fast reconstruction method based on RHFMs by using inverse fast Fourier transform(IFFT) is proposed in this paper. The time cost of reconstruction is greatly decreased. Then, the fast computation method is extend to the quaternion radial harmonic Fourier moments(QRHFMs) by using quaternion theory, which is suitable for the color image representation. Finally, a color image watermarking scheme based on the QRHFMs is conducted. During the embedding process, considering the association between QRHFMs and quaternion discrete Fourier transform(QDFT), the watermark is embedded in the magnitude of QRHFMs symmetrically. The center area of cover image is ignored in order to improve the quality of watermarked image. Experiments denote that proposed watermarking algorithm has low computation complexity and good robust against geometric attacks and common attacks.
{"title":"Fast image reconstruction method using radial harmonic Fourier moments and its application in digital watermarking","authors":"Hao Zhang , Zhenyu Li , Yongle Chen , Chenchen Lu , Pengfei Yan","doi":"10.1016/j.jfranklin.2024.107391","DOIUrl":"10.1016/j.jfranklin.2024.107391","url":null,"abstract":"<div><div>The Radial Harmonic Fourier Moments(RHFMs) is a kind of continuous orthogonal moments with good performance of image representation and reconstruction. Most of existing methods focused on improving the computation of RHFMs, and ignored the research about the reconstruction. Therefore, a fast reconstruction method based on RHFMs by using inverse fast Fourier transform(IFFT) is proposed in this paper. The time cost of reconstruction is greatly decreased. Then, the fast computation method is extend to the quaternion radial harmonic Fourier moments(QRHFMs) by using quaternion theory, which is suitable for the color image representation. Finally, a color image watermarking scheme based on the QRHFMs is conducted. During the embedding process, considering the association between QRHFMs and quaternion discrete Fourier transform(QDFT), the watermark is embedded in the magnitude of QRHFMs symmetrically. The center area of cover image is ignored in order to improve the quality of watermarked image. Experiments denote that proposed watermarking algorithm has low computation complexity and good robust against geometric attacks and common attacks.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107391"},"PeriodicalIF":3.7,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662796","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-13DOI: 10.1016/j.jfranklin.2024.107395
Qingxian Jia , Rui Shu , Dan Yu , Chengxi Zhang , Lining Tan
This article investigates neural network (NN)-based prescribed performance control with collision avoidance for spacecraft formation systems in the presence of space perturbations and thruster faults. First, an artificial potential function is constructed to maintain spacecraft within communication range and avoid collisions. A prescribed performance function is then employed to constrain position errors within a preset boundary. Furthermore, a learning non-singular terminal sliding mode control (LNTSMC) law is developed to ensure that both the steady-state and transient performance of position tracking errors meet the prescribed performance constraints. A novel learning NN model is incorporated to estimate and compensate for the synthesized perturbations, utilizing an iterative learning algorithm to update the weights of the NN, thereby reducing computational complexity. The proposed LNTSMC scheme effectively addresses issues of inter-spacecraft collision avoidance, prescribed dynamic and steady-state control performance, and robust fault tolerance without imposing additional constraints on thruster faults. A rigorous stability analysis is provided, and the effectiveness and applicability of the proposed method are validated through simulation comparisons.
本文研究了在存在空间扰动和推进器故障的情况下，基于神经网络（NN）的航天器编队系统避免碰撞的规定性能控制。首先，构建了一个人工势函数，以将航天器保持在通信范围内并避免碰撞。然后采用规定的性能函数，将位置误差限制在预设边界内。此外，还开发了一种学习型非矢量终端滑模控制（LNTSMC）法则，以确保位置跟踪误差的稳态和瞬态性能都符合规定的性能约束。利用迭代学习算法来更新 NN 的权重，从而降低了计算复杂度。所提出的 LNTSMC 方案有效地解决了避免航天器间碰撞、规定的动态和稳态控制性能以及鲁棒容错等问题，而不会对推进器故障施加额外的约束。本文提供了严格的稳定性分析，并通过仿真比较验证了所提方法的有效性和适用性。
{"title":"Neural network-based prescribed performance control for spacecraft formation reconfiguration with collision avoidance","authors":"Qingxian Jia , Rui Shu , Dan Yu , Chengxi Zhang , Lining Tan","doi":"10.1016/j.jfranklin.2024.107395","DOIUrl":"10.1016/j.jfranklin.2024.107395","url":null,"abstract":"<div><div>This article investigates neural network (NN)-based prescribed performance control with collision avoidance for spacecraft formation systems in the presence of space perturbations and thruster faults. First, an artificial potential function is constructed to maintain spacecraft within communication range and avoid collisions. A prescribed performance function is then employed to constrain position errors within a preset boundary. Furthermore, a learning non-singular terminal sliding mode control (LNTSMC) law is developed to ensure that both the steady-state and transient performance of position tracking errors meet the prescribed performance constraints. A novel learning NN model is incorporated to estimate and compensate for the synthesized perturbations, utilizing an iterative learning algorithm to update the weights of the NN, thereby reducing computational complexity. The proposed LNTSMC scheme effectively addresses issues of inter-spacecraft collision avoidance, prescribed dynamic and steady-state control performance, and robust fault tolerance without imposing additional constraints on thruster faults. A rigorous stability analysis is provided, and the effectiveness and applicability of the proposed method are validated through simulation comparisons.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107395"},"PeriodicalIF":3.7,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662795","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-12DOI: 10.1016/j.jfranklin.2024.107392
Hao Wang , Jingyi Wang , Zou Fan
Dictionary learning is a usual method in the field of machinery fault diagnosis, but it requires that the rotating speed conditions of training set and test set are the same and constant. When the speed condition of test set is different from that of training set or one of them is time-vary, normal dictionary learning is difficult to get a precise sparse representation. A special dictionary model named convolutional sparse dictionary (CSD) can overcome the influence from variable speed conditions by atoms locally shifting in the sample's dimension, which is beneficial to capture the local fault features in the signal no matter how the speed changes. However, there are both large features and small features in the mechanical vibration signal, and several continuous small features can also form a large feature. The problem is that CSD can only locally optimize the signal at a fixed scale, so the features of other scales cannot be optimized. To solve this problem, this paper proposes a model named deep convolutional sparse dictionary (DCSD) to extract bearing fault features under variable speed conditions, which is improved from CSD. DCSD has multiple dictionary layers, where each layer is a CSD, but the atom's dimensions are different in each layer. The larger the number of layer is, the larger the atom's dimension is, and the sparse representation result of each layer is used to train the next dictionary layer. Through simulations cases and experimental cases under variable speed conditions, it is proved that DCSD has better performances than CSD in the fault diagnosis.
{"title":"Deep convolutional sparse dictionary learning for bearing fault diagnosis under variable speed condition","authors":"Hao Wang , Jingyi Wang , Zou Fan","doi":"10.1016/j.jfranklin.2024.107392","DOIUrl":"10.1016/j.jfranklin.2024.107392","url":null,"abstract":"<div><div>Dictionary learning is a usual method in the field of machinery fault diagnosis, but it requires that the rotating speed conditions of training set and test set are the same and constant. When the speed condition of test set is different from that of training set or one of them is time-vary, normal dictionary learning is difficult to get a precise sparse representation. A special dictionary model named convolutional sparse dictionary (CSD) can overcome the influence from variable speed conditions by atoms locally shifting in the sample's dimension, which is beneficial to capture the local fault features in the signal no matter how the speed changes. However, there are both large features and small features in the mechanical vibration signal, and several continuous small features can also form a large feature. The problem is that CSD can only locally optimize the signal at a fixed scale, so the features of other scales cannot be optimized. To solve this problem, this paper proposes a model named deep convolutional sparse dictionary (DCSD) to extract bearing fault features under variable speed conditions, which is improved from CSD. DCSD has multiple dictionary layers, where each layer is a CSD, but the atom's dimensions are different in each layer. The larger the number of layer is, the larger the atom's dimension is, and the sparse representation result of each layer is used to train the next dictionary layer. Through simulations cases and experimental cases under variable speed conditions, it is proved that DCSD has better performances than CSD in the fault diagnosis.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107392"},"PeriodicalIF":3.7,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-09DOI: 10.1016/j.jfranklin.2024.107384
Ha Duc Thai, Hoang The Tuan
This paper studies the asymptotic stability of non-commensurate fractional-order neutral differential systems with constant delays. To do this, we propose a modified Mikhailov stability criterion. Our work not only generalizes the existing results in the literature but also provides a rigorous mathematical basis for the frequency domain analysis method concerning fractional-order systems with delays. Specific examples and numerical illustrations are also provided to demonstrate the validity of the obtained result.
{"title":"Modified Mikhailov stability criterion for non-commensurate fractional-order neutral differential systems with delays","authors":"Ha Duc Thai, Hoang The Tuan","doi":"10.1016/j.jfranklin.2024.107384","DOIUrl":"10.1016/j.jfranklin.2024.107384","url":null,"abstract":"<div><div>This paper studies the asymptotic stability of non-commensurate fractional-order neutral differential systems with constant delays. To do this, we propose a modified Mikhailov stability criterion. Our work not only generalizes the existing results in the literature but also provides a rigorous mathematical basis for the frequency domain analysis method concerning fractional-order systems with delays. Specific examples and numerical illustrations are also provided to demonstrate the validity of the obtained result.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107384"},"PeriodicalIF":3.7,"publicationDate":"2024-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662792","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-07DOI: 10.1016/j.jfranklin.2024.107355
Pengyuan Shao , Xiao Ma , Bing Yan , Yanfei Dong , Chengfu Wu , Gaomin Qu , Jian Tan
Stabilization and control in the morphing process is critical for the safety of morphing wing unmanned aerial vehicles (MWUAVs). In this paper, a Linear Parameter Varying (LPV)-based structural state feedback gain-scheduled control design method is proposed and applied to longitudinal tracking control of a bio-inspired MWUAVs in the morphing process. Firstly, the LPV model for longitudinal dynamics of MWUAVs is developed, after that the flight envelopes and dynamical stability are analyzed based on the model, in which an unstable region is found. According to the analysis results, the mission profile is designed, and the tracking control problem is formulated as an optimization problem with input constraints. Then, a structural matrix is proposed which makes the states to feedback can be specified according to the signals to be tracked. Compared to the traditional all-state feedback control method, the proposed method has a simpler structure and is more applicable in real-world applications, especially when all states are not fully available. To avoid the numerical problems in the Bilinear Matrix Inequalities(BMIs) which are arisen from the solving process of the proposed control design method, we propose a solution approach that combines Linear Matrix Inequalities (LMIs) with the Non-dominated Sorting Genetic Algorithm II (NSGA-II) for control design based on the structural matrix. Finally, we apply the proposed method to the MWUAVs for its longitudinal tracking controller design and comparative simulation with existing methods are performed. The simulation results verify the effectiveness of the proposed method and its advantages over existing methods.
{"title":"Structural state feedback gain-scheduled tracking control based on linear parameter varying system of morphing wing UAV","authors":"Pengyuan Shao , Xiao Ma , Bing Yan , Yanfei Dong , Chengfu Wu , Gaomin Qu , Jian Tan","doi":"10.1016/j.jfranklin.2024.107355","DOIUrl":"10.1016/j.jfranklin.2024.107355","url":null,"abstract":"<div><div>Stabilization and control in the morphing process is critical for the safety of morphing wing unmanned aerial vehicles (MWUAVs). In this paper, a Linear Parameter Varying (LPV)-based structural state feedback gain-scheduled control design method is proposed and applied to longitudinal tracking control of a bio-inspired MWUAVs in the morphing process. Firstly, the LPV model for longitudinal dynamics of MWUAVs is developed, after that the flight envelopes and dynamical stability are analyzed based on the model, in which an unstable region is found. According to the analysis results, the mission profile is designed, and the tracking control problem is formulated as an optimization problem with input constraints. Then, a structural matrix is proposed which makes the states to feedback can be specified according to the signals to be tracked. Compared to the traditional all-state feedback control method, the proposed method has a simpler structure and is more applicable in real-world applications, especially when all states are not fully available. To avoid the numerical problems in the Bilinear Matrix Inequalities(BMIs) which are arisen from the solving process of the proposed control design method, we propose a solution approach that combines Linear Matrix Inequalities (LMIs) with the Non-dominated Sorting Genetic Algorithm II (NSGA-II) for control design based on the structural matrix. Finally, we apply the proposed method to the MWUAVs for its longitudinal tracking controller design and comparative simulation with existing methods are performed. The simulation results verify the effectiveness of the proposed method and its advantages over existing methods.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107355"},"PeriodicalIF":3.7,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-07DOI: 10.1016/j.jfranklin.2024.107363
Semih Akkoç , Ayberk Çınar , Berkehan Ercan , Mert Kalfa, Orhan Arikan
Recent advancements in machine learning, particularly real-time extraction of rich semantic information, reshape signal processing techniques and related hardware architectures. To address the highly challenging requirements of next-generation signal processing applications in networked platforms, we investigate low-power hardware implementation alternatives for a multi-sensor, goal-oriented semantic communications network. Specifically, we focus on cost-effective Raspberry Pis in a multi-sensor semantic video communication application, showcasing adaptability from traditional CPU/GPU configurations. Additionally, we provide a preliminary investigation on implementing semantic extraction tasks through in-memory computation using memristor arrays to further emphasize the potential future of low-power low-cost semantic signal processing. Hardware demonstrations using Raspberry Pi 4Bs and simulations with in-memory computation architectures offer promising hardware architectures with cost-effective and low-power sensor alternatives to the next-generation semantic signal processing applications and semantic communication systems.
机器学习的最新进展，尤其是丰富语义信息的实时提取，重塑了信号处理技术和相关硬件架构。为了满足网络平台中下一代信号处理应用的高难度要求，我们研究了多传感器、面向目标的语义通信网络的低功耗硬件实现替代方案。具体而言，我们将重点放在多传感器语义视频通信应用中的高性价比树莓派（Raspberry Pis）上，展示传统 CPU/GPU 配置的适应性。此外，我们还对利用忆阻器阵列通过内存计算实现语义提取任务进行了初步研究，以进一步强调低功耗、低成本语义信号处理的潜在前景。使用 Raspberry Pi 4B 进行的硬件演示和使用内存计算架构进行的模拟，为下一代语义信号处理应用和语义通信系统提供了具有成本效益和低功耗传感器替代方案的有前途的硬件架构。
{"title":"Practical hardware demonstration of a multi-sensor goal-oriented semantic signal processing and communications network","authors":"Semih Akkoç , Ayberk Çınar , Berkehan Ercan , Mert Kalfa, Orhan Arikan","doi":"10.1016/j.jfranklin.2024.107363","DOIUrl":"10.1016/j.jfranklin.2024.107363","url":null,"abstract":"<div><div>Recent advancements in machine learning, particularly real-time extraction of rich semantic information, reshape signal processing techniques and related hardware architectures. To address the highly challenging requirements of next-generation signal processing applications in networked platforms, we investigate low-power hardware implementation alternatives for a multi-sensor, goal-oriented semantic communications network. Specifically, we focus on cost-effective Raspberry Pis in a multi-sensor semantic video communication application, showcasing adaptability from traditional CPU/GPU configurations. Additionally, we provide a preliminary investigation on implementing semantic extraction tasks through in-memory computation using memristor arrays to further emphasize the potential future of low-power low-cost semantic signal processing. Hardware demonstrations using Raspberry Pi 4Bs and simulations with in-memory computation architectures offer promising hardware architectures with cost-effective and low-power sensor alternatives to the next-generation semantic signal processing applications and semantic communication systems.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107363"},"PeriodicalIF":3.7,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-05DOI: 10.1016/j.jfranklin.2024.107347
Vasileios E. Papageorgiou , Georgios Vasiliadis
In this paper, a novel stochastic model is proposed to model the spread of a virus in epidemic phenomena. The model is based on a discrete-time non-homogeneous Markov system with state capacities. In order to study the distributions of the state sizes, recursive formulae for their factorial and mixed factorial moments were derived in matrix form. As a consequence, the probability mass function of each state size can be evaluated in the transient period. To avoid the computational complexity of the proposed algorithm, an alternative method for the computation of the state size distributions was recommended. The proposed Markovian approach was then tailored to the characteristics of a SIQS (susceptible-infected-quarantined-susceptible) epidemic scheme, which took into account external infections and the potential for secondary infections. This epidemic model is well-suited for describing infections in computer networks, where the quarantine capacity can be likened to the number of working people (IT professionals) available to restore an infected computer. We presented numerical examples and sensitivity analysis to illustrate the behavior and performance of the system under different scenarios and parameter values. We show that the state capacities and the infection rates have significant effects on the evolution and extinction of the epidemic. We note that the optimal number of employed technicians can be identified, aiming to keep the computer network functional. Higher internal infection rates significantly affect the sustainability of the computer network, while controlling external infections is not always feasible. On the other hand, faster detection rates and higher malware elimination rates will considerably increase the number of computers that remain operational in the long term. Consequently, the quality of services provided by IT technicians plays a crucial role in the system’s viability.
{"title":"Transient analysis of a SIQS model with state capacities using a non-homogeneous Markov system","authors":"Vasileios E. Papageorgiou , Georgios Vasiliadis","doi":"10.1016/j.jfranklin.2024.107347","DOIUrl":"10.1016/j.jfranklin.2024.107347","url":null,"abstract":"<div><div>In this paper, a novel stochastic model is proposed to model the spread of a virus in epidemic phenomena. The model is based on a discrete-time non-homogeneous Markov system with state capacities. In order to study the distributions of the state sizes, recursive formulae for their factorial and mixed factorial moments were derived in matrix form. As a consequence, the probability mass function of each state size can be evaluated in the transient period. To avoid the computational complexity of the proposed algorithm, an alternative method for the computation of the state size distributions was recommended. The proposed Markovian approach was then tailored to the characteristics of a SIQS (susceptible-infected-quarantined-susceptible) epidemic scheme, which took into account external infections and the potential for secondary infections. This epidemic model is well-suited for describing infections in computer networks, where the quarantine capacity can be likened to the number of working people (IT professionals) available to restore an infected computer. We presented numerical examples and sensitivity analysis to illustrate the behavior and performance of the system under different scenarios and parameter values. We show that the state capacities and the infection rates have significant effects on the evolution and extinction of the epidemic. We note that the optimal number of employed technicians can be identified, aiming to keep the computer network functional. Higher internal infection rates significantly affect the sustainability of the computer network, while controlling external infections is not always feasible. On the other hand, faster detection rates and higher malware elimination rates will considerably increase the number of computers that remain operational in the long term. Consequently, the quality of services provided by IT technicians plays a crucial role in the system’s viability.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107347"},"PeriodicalIF":3.7,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-04DOI: 10.1016/j.jfranklin.2024.107337
Mustafa Cihan Taştan , Haci Ilhan
This study proposes a method to reduce the bit error rate (BER) in communications by unmanned aerial vehicles (UAVs). The method involves using specific active antennas that transmit at precise times with a particular mapping, ensuring orthogonality among transmitting antennas. This technique can accommodate numerous transmit antennas and amplitude-phase modulation orders. When applied to spatial modulation (SM) and generalized spatial modulation (GSM), it demonstrates clear superiority and significantly improved results compared to traditional SM and GSM methods, especially at high altitudes where conventional methods result in high BER. Introducing a new modulation method called magic square (MS) further enhances the results. The MS method provides a unique orthogonality pattern for the transmitting antenna sets. Additionally, the study introduces the utilization of magic squares in the modulation field. The MS-based SM model shows a BER rate almost 103 times lower than traditional SM at the 25 dB signal-to-noise ratio (SNR) level for various fly altitudes. Similarly, the MS-based GSM model demonstrates a BER rate almost 100 times lower than traditional GSM. The proposed method yields better results as the altitude increases, making it suitable for UAV communication at various altitudes.
本研究提出了一种降低无人飞行器（UAV）通信误码率（BER）的方法。该方法涉及使用特定的有源天线，在精确的时间以特定的映射进行发射，确保发射天线之间的正交性。这种技术可适应众多发射天线和幅相调制阶次。当应用于空间调制（SM）和广义空间调制（GSM）时，它显示出明显的优越性，与传统的 SM 和 GSM 方法相比，效果显著提高，特别是在高海拔地区，传统方法会导致高误码率。引入一种名为魔方（MS）的新调制方法可进一步提高效果。MS 方法为发射天线组提供了独特的正交模式。此外，研究还介绍了在调制领域对魔方的利用。在各种飞行高度下，基于 MS 的 SM 模型显示，在 25 dB 信噪比 (SNR) 水平下，误码率比传统 SM 低近 103 倍。同样，基于 MS 的 GSM 模型显示误码率比传统 GSM 低近 100 倍。随着飞行高度的增加，所提出的方法会产生更好的结果，因此适用于各种飞行高度下的无人机通信。
{"title":"Performance evaluation of magic square based spatial modulation in UAV communication","authors":"Mustafa Cihan Taştan , Haci Ilhan","doi":"10.1016/j.jfranklin.2024.107337","DOIUrl":"10.1016/j.jfranklin.2024.107337","url":null,"abstract":"<div><div>This study proposes a method to reduce the bit error rate (BER) in communications by unmanned aerial vehicles (UAVs). The method involves using specific active antennas that transmit at precise times with a particular mapping, ensuring orthogonality among transmitting antennas. This technique can accommodate numerous transmit antennas and amplitude-phase modulation orders. When applied to spatial modulation (SM) and generalized spatial modulation (GSM), it demonstrates clear superiority and significantly improved results compared to traditional SM and GSM methods, especially at high altitudes where conventional methods result in high BER. Introducing a new modulation method called magic square (MS) further enhances the results. The MS method provides a unique orthogonality pattern for the transmitting antenna sets. Additionally, the study introduces the utilization of magic squares in the modulation field. The MS-based SM model shows a BER rate almost 10<sup>3</sup> times lower than traditional SM at the 25 dB signal-to-noise ratio (SNR) level for various fly altitudes. Similarly, the MS-based GSM model demonstrates a BER rate almost 100 times lower than traditional GSM. The proposed method yields better results as the altitude increases, making it suitable for UAV communication at various altitudes.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107337"},"PeriodicalIF":3.7,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-04DOI: 10.1016/j.jfranklin.2024.107331
Tiantian Guo , Yungang Liu , Hong-Xiang Hu
Connectivity preservation for real-life multi-agent systems is key to designing an effective and reliable control algorithm to achieve desired objectives. But the coexistence of system nonlinearities and uncertainties makes it difficult for the algorithm design, and especially in the event-triggered setting, such difficulty becomes severer due to the demand for integration of multiple ingredients. This paper focuses on proposing an adaptive connectivity-preserving formation control strategy that incorporates a dynamic event-triggering mechanism, in the scenario of the unknown control directions and intrinsic nonlinearities coupling with parameter uncertainties. First, a cluster of potential functions serving as control barrier functions are given to maintain the prescribed connectivity of communication graph. Second, two types of dynamic gains (one type is based on a Nussbaum function) are introduced for agents to cope with the system nonlinearities, uncertainties and the adverse effect of the execution error. As such, an adaptive event-triggered formation protocol is constructed such that the desired formation with connectivity preservation is achieved while a positive minimum inter-execution interval is ensured for each agent to avoid Zeno behavior. Particularly, the threshold in the developed event-triggering mechanism is dynamically adjusted online, rather than static, which better improves resource efficiency. A simulation example is given to demonstrate the effectiveness and advantage of the proposed strategy.
{"title":"Adaptive connectivity-preserving formation control with a dynamic event-triggering mechanism","authors":"Tiantian Guo , Yungang Liu , Hong-Xiang Hu","doi":"10.1016/j.jfranklin.2024.107331","DOIUrl":"10.1016/j.jfranklin.2024.107331","url":null,"abstract":"<div><div>Connectivity preservation for real-life multi-agent systems is key to designing an effective and reliable control algorithm to achieve desired objectives. But the coexistence of system nonlinearities and uncertainties makes it difficult for the algorithm design, and especially in the event-triggered setting, such difficulty becomes severer due to the demand for integration of multiple ingredients. This paper focuses on proposing an adaptive connectivity-preserving formation control strategy that incorporates a dynamic event-triggering mechanism, in the scenario of the unknown control directions and intrinsic nonlinearities coupling with parameter uncertainties. First, a cluster of potential functions serving as control barrier functions are given to maintain the prescribed connectivity of communication graph. Second, two types of dynamic gains (one type is based on a Nussbaum function) are introduced for agents to cope with the system nonlinearities, uncertainties and the adverse effect of the execution error. As such, an adaptive event-triggered formation protocol is constructed such that the desired formation with connectivity preservation is achieved while a positive minimum inter-execution interval is ensured for each agent to avoid Zeno behavior. Particularly, the threshold in the developed event-triggering mechanism is dynamically adjusted online, rather than static, which better improves resource efficiency. A simulation example is given to demonstrate the effectiveness and advantage of the proposed strategy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107331"},"PeriodicalIF":3.7,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-02DOI: 10.1016/j.jfranklin.2024.107348
Vahid Bahrami, Ahmad Kalhor, Mehdi Tale Masouleh
This paper presents a novel approach using adaptive neuro-fuzzy techniques to design controllers for planar cable-driven serial chain robots with variable configurations. The approach consists of two key components: (1) deriving dynamic models for cable-driven serial chain robots which are independent of their structure, and (2) adaptively determining the optimal cable connection points. Traditional methods face challenges in obtaining accurate dynamic equations for cable-driven serial chain robots with high degrees-of-freedom, hence neural networks are employed to estimate the model. In order to handle the variability in cable connection points, adaptive fuzzy methods are utilized. The proposed adaptive neuro-fuzzy controller algorithm introduces two new indices, namely cost-of-redundancy and degree-of-redundancy, to effectively address redundancy concerns. Additionally, the algorithm efficiently reduces the search space for finding the optimal configuration. Simulation results for a planar 3 degrees-of-freedom cable-driven serial chain robot using this algorithm showcase a noteworthy 42% reduction in cost-of-redundancy and an impressive 53.125% reduction in search space.
{"title":"Redundancy resolution of a variable base frame of a 3-DoF cable-driven serial chain by using an adaptive neuro-fuzzy controller","authors":"Vahid Bahrami, Ahmad Kalhor, Mehdi Tale Masouleh","doi":"10.1016/j.jfranklin.2024.107348","DOIUrl":"10.1016/j.jfranklin.2024.107348","url":null,"abstract":"<div><div>This paper presents a novel approach using adaptive neuro-fuzzy techniques to design controllers for planar cable-driven serial chain robots with variable configurations. The approach consists of two key components: (1) deriving dynamic models for cable-driven serial chain robots which are independent of their structure, and (2) adaptively determining the optimal cable connection points. Traditional methods face challenges in obtaining accurate dynamic equations for cable-driven serial chain robots with high degrees-of-freedom, hence neural networks are employed to estimate the model. In order to handle the variability in cable connection points, adaptive fuzzy methods are utilized. The proposed adaptive neuro-fuzzy controller algorithm introduces two new indices, namely cost-of-redundancy and degree-of-redundancy, to effectively address redundancy concerns. Additionally, the algorithm efficiently reduces the search space for finding the optimal configuration. Simulation results for a planar 3 degrees-of-freedom cable-driven serial chain robot using this algorithm showcase a noteworthy 42% reduction in cost-of-redundancy and an impressive 53.125% reduction in search space.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107348"},"PeriodicalIF":3.7,"publicationDate":"2024-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142662789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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