Due to their strong risk tolerance, low manufacturing cost and good maneuverability, unmanned aerial vehicles (UAVs) have been widely used in various fields. Among related challenges, coordinated task assignment is a key scientific issue for autonomous control of UAVs. In this paper, based on the idea fuzzy C-means (FCM) clustering ant colony optimization (ACO) algorithm, cooperative multiple reallocation problem with target precedence constraints heterogeneous UAVs proposed. The...

With the development of Unmanned Aerial Vehicle (UAV) technology towards multi-UAV and UAV swarm, cooperative task allocation has more influence on success or failure missions. From operational research point view, such problems belong to high-dimensional combinatorial optimization problems, which makes solving process face many challenges. One is that discrete decision variables make quality solution obtained with acceptable time not guaranteed. Second, desired real missions often needs...

In this paper, we present a multi-sensory terrain classification algorithm with generalized representation using semantic and geometric features. We compute features from lidar point clouds extract pixel-wise labels fully convolutional network that is trained dataset strong focus on urban navigation. use data augmentation to overcome the biases of original apply transfer learning adapt model new in off-road environments. Finally, fuse visual random forest classify traversability into three...

Geocast, delivering a message to nodes within geographical region, is an important issue in VANETs. In this article, we address the geocast problem Given piece of message, must find minimal cost relay specific vehicle given area. To solve problem, propose RSU RAG approach for We use quadtree model that represents hierarchical decomposition global region. Then tree trimming search intersection between destination area and quadtree. Based on model, election selects optimal forward Theoretical...

An accurate creeping ray-tracing algorithm is presented in this paper to determine the tracks of waves (or rays) on arbitrarily shaped free-form parametric surfaces [nonuniform rational B-splines (NURBS) surfaces]. The main challenge calculating surface diffracted fields NURBS due difficulty determining geodesic paths along which rays propagate. On one single patch, need be computed by solving equations numerically. Furthermore, realistic objects are generally modeled as union several...

Sometimes user has the requirement to run a high bandwidth application over low network. But its implementation is not easy as traditional network transmits data with only one path where lower than demand. Although current technology like SDN ability precisely control transmission in network, but till now standard open-flow protocol does support splitting flow multiple flows. In this paper, algorithm proposed. The splits sub-flows by extending openflow protocol. A paths routing also proposed...

In cloud, data access control is a crucial way to ensure security. Functional encryption (FE) novel cryptographic primitive supporting fine-grained of encrypted in cloud. FE, every ciphertext specified with an policy, decryptor can the if and only his secret key matches policy. However, FE cannot be directly applied construct scheme due exposure policy which may contain sensitive information. this paper, we deal privacy issue present mechanism named multi-authority vector (MAVP) provides...

Hydroelectricity is a major source of renewable electricity originating from turbine driven by dammed large-volume water via penstock or drop shaft. Shafts suffer risks collapse due to the pressure exterior structures and erosion inner flow. Vertical shafts are an important part hydroelectric power generation systems, detecting defects in guarantees stable operation hydropower stations. However, shaft defect detection great challenge poor conditions, large height, limited entrance size, lack...

SUMMARY A novel 1.57 GHz complementary metal–oxide semiconductor inductor–capacitor voltage‐controlled oscillator with the common‐mode replica compensation is introduced for mixed‐signal system‐on‐chip applications. In order to alleviate power line disturbances, center tap node of differential symmetric inductor and biasing circuit are adopted in voltage regulating unit reduce supply sensitivity. addition, this proposed design also leads low tuning gain dissipation. The post‐layout...

The estimation of a target aspect angle is an important research problem in synthetic aperture radar (SAR) recognition. Thus, this paper undertaken to study the algorithm for based on Moving and Stationary Target Acquisition Recognition (MSTAR) data set. employs segmentation Markov Random Field (MRF) separate target, shadow, background. It then proposes two divergence indices, index (TDI) joint (JDI) describe distribution pixels shadow. content as follows. first part presents analysis...

The far-infrared (FIR) opacity of dust in dark clouds within the Ophiuchus molecular cloud is investigated through multi-wavelength infrared observations from UKIDSS, Spitzer and Herschel. Employing color excess technique with both near-infrared (NIR) mid-infrared (MIR) photometric data, a high-resolution extinction map $K$ band ($A_K$) constructed for three clouds: L1689, L1709, L1712. derived has resolution $1'$ reaches depth $A_K\sim3$ mag. FIR optical depths $\tau_{250}$ at reference...

In this paper, a novel sweep coverage task is constructed considering the valid time. The main goal to continuously optimize poses of multiple field sensors maintain performance defined area, under premise that area will turn invalid after A general sensor model introduced, and sensing strength representing with help homeomorphic transformation techniques. invalidation property target described, for maximizing formulated as cost function, which also considers collision avoidance between...

Facing the problem of rapid mobility low Earth orbit (LEO) satellite, frequent handover process will occur while UE User Equipment (UE) is receiving service from satellite-based core network. The Quality Service (QoS) for accessing network cannot be ensured due to interruptions and signaling storm caused by handover. To solve this problem, we proposed a live migration scheme based on cooperation ephemeris request. In scheme, introduced method transfer user function contexts in advance before...

Parameter measurement of 3D soft tissue model is great theoretical significance and application value in virtual surgery training simulation system. To solve the problems existing parameter methods with high complexity, we propose a fast effective method. We adopt pillow as test material exert pressure on it to simulate warping simulation. During experiment, construct motion capture system 3 cameras obtain set carry out reconstruction by utilizing reverse engineering using miniature sensor...