Adaptive Self-Tuning PIDD2 Algorithm

Deceptive path planning (DPP) aims to find a path that minimizes the probability of the observer identifying the real goal of the observed before it reaches. It is important for addressing issues such as public safety, strategic path planning, and logistics route privacy protection. Existing traditional methods often rely on “dissimulation”—hiding the truth—to obscure paths while ignoring the time constraints. Building upon the theory of probabilistic goal recognition based on cost difference, we proposed a DPP method, DPP_Q, based on count-based Q-learning for solving the DPP problems in discrete path-planning domains under specific time constraints. Furthermore, to extend this method to continuous domains, we proposed a new model of probabilistic goal recognition called the Approximate Goal Recognition Model (AGRM) and verified its feasibility in discrete path-planning domains. Finally, we also proposed a DPP method based on proximal policy optimization for continuous path-planning domains under specific time constraints called DPP_PPO. DPP methods like DPP_Q and DPP_PPO are types of research that have not yet been explored in the field of path planning. Experimental results show that, in discrete domains, compared to traditional methods, DPP_Q exhibits better effectiveness in enhancing the average deceptiveness of paths. (Improved on average by 12.53% compared to traditional methods). In continuous domains, DPP_PPO shows significant advantages over random walk methods. Both DPP_Q and DPP_PPO demonstrate good applicability in path-planning domains with uncomplicated obstacles.

This paper studies two cutting edge technologies applied to the power system: FACTS devices and real time (RT) simulation tools. On the one hand, the complexity of the power system and its components, makes power system simulators very useful and even necessary. Amongst all the existing simulators, real time digital simulators permit the test of power system components in conditions that are quite close to reality. On the other hand power electronic devices such as FACTS, are becoming more and more frequent on the power system, and it is necessary to evaluate their impact on the performance of the system. For all these reasons it is very important to develop FACTS models which can be suitable for real time simulation in order to test their interaction with other power system components. This paper presents the generalized average model of two FACTS devices the static VAr compensator (SVC) and the static VAr generator, which have been then introduced in ARENE for the realization of real time simulations.

Ligand protein docking simulations play a fundamental role in understanding molecular recognition. Herein we introduce the NRGsuite, a PyMOL plugin that permits the detection of surface cavities in proteins, their refinements, calculation of volume and use, individually or jointly, as target binding-sites for docking simulations with FlexAID. The NRGsuite offers the users control over a large number of important parameters in docking simulations including the assignment of flexible side-chains and definition of geometric constraints. Furthermore, the NRGsuite permits the visualization of the docking simulation in real time. The NRGsuite give access to powerful docking simulations that can be used in structure-guided drug design as well as an educational tool. The NRGsuite is implemented in Python and C/C++ with an easy to use package installer. The NRGsuite is available for Windows, Linux and MacOS.Availability and implementation: http://bcb.med.usherbrooke.ca/flexaid.Contact: rafael.najmanovich@usherbroke.caSupplementary information: Supplementary data are available at Bioinformatics online.

The hybrid simulation method for earthquake engineering, which combines numerical simulation and physical experimentation, was developed to evaluate the seismic performance of civil structural systems. While significant improvement has been made in hybrid simulation techniques, there remain great challenges in computational algorithms and control compensations for real-time operation. Recently a versatile hybrid testing system was built at Western Michigan University consisting of a shake table, an actuator/reaction system and an advanced hybrid testing controller. Such testing system is capable of conducting various real-time hybrid simulation experiments such as displacement-based pseudodynamic substructure testing as well as force-based real-time dynamic hybrid testing. Due to its versatility and easy operation at the benchmark scale, the testing system is particularly suitable for the development of advanced hybrid simulation techniques and earthquake engineering education/outreach activities. The development of this testing system including both hardware and software integration is described. A three story shake table substructure test and several slow and real-time pseudodynamic tests are presented as examples to demonstrate the system’s capability and feasibility.

Describes the comparative results obtained from digital and hybrid simulation studies on a variable speed wind generator interconnected to the utility grid. The wind generator is a vertical-axis Darrieus type coupled to a synchronous machine by a gear-box; the synchronous machine is connected to the AC utility grid through a static frequency converter. Digital simulation results have been obtained using CSMP software; these results are compared with those obtained from a real-time hybrid simulator that in turn uses a part of the IREQ HVDC simulator. The agreement between hybrid and digital simulation results is generally good. The results demonstrate that the digital simulation reproduces the dynamic behaviour of the system in a satisfactory manner and thus constitutes a valid tool for the design of the control systems of the wind generator.

This paper presents a new method to implement real time digital simulation based on a PC. This method uses the MATLAB as the whole simulation start point. First, SIMULINK and Power System Blockset is used to build up system models or controller blocks, then Real time Workshop is employed to build up the C/C++ program from the SIMULINK/PSB models. Finally, by integrating the data through the D/A and A/D conversion interfaces, the real-time simulation or closed-loop testing can be done. In this paper, the model and method of closed-loop testing of real PSS device have been described. Issues involved in the real-time simulation and closed-loop testing were discussed.

Discrete domain swarm robotics is an emerging and challenging field of research. Unlike continuous domain where working place of the robots is a two-dimensional plane, in the discrete domain their working place is modelled by a graph. Robots are deployed on the nodes of a given graph, and they are allowed to move only along the edges of that graph. Consequently, the models used in the continuous domain are not always applicable in the discrete domain. Exemplified by the gathering problem, this article critically reviews models, assumptions, and approaches that have been proposed in solving the problems in the discrete domain.

Adaptive model reference control method for real-time hybrid simulation

In a competitive world, using real-time simulation rather than off-line simulation provides significant advantage for imitating system dynamics in a real world. Real-time simulation could minimize decision risks for real implementation, shorten design cycle, enhance reliability of research results, and, last but not least, save research and development cost. Moreover, real-time simulation could be also implemented to include real hardware into the loop while is kept as flexible as an off-line numerical simulation. In this paper, a real time simulation mechanism is presented for studying switch reluctance motor (SRM) drive control powered by a fuel cell. The fuel cell stack model is simulated by a software package developed by Emmeskay, Inc., which can be operated in real time. The whole real time simulation is conducted on a two-node platform hosted by RT-Lab, a software product of Opal-RT Technologies, Inc. and engineered by fixed-step real time operating system. In particular, as an illustrating example, an SRM drive control model is first built and then connected with fuel cell stack model. The whole system model is then compiled and operated in real-time on the two-node platform. The real-time simulation result is validated by its off-line simulation counterpart. It is pointed out that this real-time simulation set-up could be easily converted into a hardware-in-the-loop (HIL) simulation carrying real hardware such as microcontroller, real motor, etc., when deemed as necessary. The simulation methodology presented in this paper also indicates a potential low cost approach to support experimentally real-time research and development activities for fuel cell related systems. Considering the high cost to build a real fuel cell system, the set-up described in this paper is extremely meaningful for research and development communities.

Rigid body simulations are used often in games. Because of the computational cost, a large scale simulation is not feasible in real time. However, with the increased performance of GPUs, achieving a larger-scale simulation in real time becomes more realistic. A rigid body simulation is too complicated to implement on the GPU in a straightforward manner. One of the challenges is implementing an efficient constraint solver. A projected Gauss-Seidel method is often used to solve constraints [Catto 2005]. The input and output of the solver are the velocity of rigid bodies. However, constraints sharing a body cannot be solved in parallel because of this data dependency. This is a challenge when a GPU is used for a rigid body simulation. A solution to solve constraints in parallel is to split them into groups of constraints called batches. In a batch, no body is shared among constraints, so they can be solved in parallel. An introduction of batch solves the problem of constraint solving, but batch creation itself is a serial process. To complete a rigid body simulation pipeline on the GPU, batch creation on the GPU is also necessary.

Topological transitions at finite temperatures: A real time numerical approach

This paper concerns the dynamic simulation of an articulated structure, modelling the human upper limb. Our aim is to carry out a highly realistic simulation of the anthropomorphic model of the hand and forearm system. In order to establish the equations of motion of the studied anthropomorphic mechanism, we introduce an uncommon formulation in the mechanics of multibody system: the Korenev's formalism. The use of such formalism allows us to realize this simulation in real time. By real time simulation, we mean that simulated movement has to done at the same rates those of the human. Indeed, the computation time for solving the dynamic forward and inverse models takes less than 0.1 ms for each step. The paper presents this formalism and the model, which structural and functional properties permit the simulation of free movements. The proposed model has 27 degrees of freedom (dofs), which are split into 23 dofs for the hand, 2 dofs for the flexion-extension, and the abduction-adduction of the wrist and 2 dofs for the pronation-supination and the flexion-extension of the forearm. This model is based on bio-mimetic approach, which attempts to simulate the most realistic behavior, with a long term aim of designing an anthropomorphic manipulator robot. Another aim concerns the development of highly realistic simulation platform of virtual manikin animation including not only kinematics aspect but also the dynamic ones.

This paper describes Converter Firing Control Module for Line commutated converter based High Voltage Direct Current converter which is the integral part of overall controls used by the HVDC control system. In this case initially Converter firing control model is designed in Simulink in order verify the logic first in Simulink. Verilog code has been obtained for the above verified module using MATLAB HDL coder tool box which will automate the Verilog/VHDL code generation for Very High Speed Integrated Circuit (VHSIC) Hardware. Then the VHDL design is verified using MATLAB HDL verifier toolbox and Xilinx-SP605 Development board proving the model through FPGA-in-the-Loop (FIL) co-simulation approach. The final verified Verilog module is then downloaded in to the target hardware to validate the logic through real time simulation in the form of Hardware-In-Loop. This new method of rapid prototyping based implementation of algorithms in verilog/VHDL will provide us an effective and fast method of FPGA based target hardware implementation to perform rapid prototyping and complex hardware simulations in real time compared with Manual HDL design. The final design ported in to the actual target controller hardware is tested using Real Time Digital Simulator on a +/- 500 kV 2500 Mw Bi-pole LCC based HVDC system developed on it. The studies performed with this firing control logic included in the target Hardware has met the firing angle accuracy of 0.02 degree which is very much less than the required accuracy of 0.1 degree and frequency accuracy of 0.02 Hz of the final controller hardware.

Substructure hybrid simulation is a powerful, cost-effective alternative for testing structural systems, closely coupling numerical simulation and experimental testing to obtain the complete response of a structure. In this approach, well-understood components of the structure are modeled numerically, while the components of interest are tested physically. Generally, an arbitrary amount of time may be used to calculate and apply displacements at each step of the hybrid simulation. However, when the rate-dependent behavior of the physical specimen is important, real-time hybrid simulation (RTHS) must be used. Computation, communication, and servohydraulic actuator limitations cause delays and lags that lead to inaccuracies and potential instabilities in RTHS. This paper proposes a new model-based servohydraulic tracking control method including feedforward-feedback links to achieve accurate tracking of a desired displacement in real time. The efficacy of the proposed approach is demonstrated through RTHS for a single-degree-of-freedom system and a 9-story steel building, each using a 200-kN large-scale magnetorheological damper as the rate-dependent physical specimen.

Ultrasound imaging is used within numerous medical disciplines. Extensive and repeated training is needed for efficient use of the technology. Simulator training has been proposed as a complement to other training methods. Advantages of simulator training include access to a large number of normal and rare cases without the need for suitable volunteers and available ultrasound equipment. The imaging of soft tissue can be simulated by considering the interaction between the tissue and the ultrasound field. The objective of this study is to include these effects in real-time simulators. One previous approach has been to simulate a three-dimensional (3D) ultrasound volume off line, and then cross-section the volume in real time. This approach, however, does not take into account the anisotropic resolution of ultrasound imaging. If we assume that the average acoustical properties of tissues are slowly varying and that the speckle pattern is independent of the tissue, we show that ultrasound images can be simulated by multiplying a pre-simulated speckle image by an any-plane cross section of a 3D representation of an anatomy. Thus anisotropic resolution can be simulated in real time. The simulated images were compared to true ultrasound images of soft tissue. Since the speckle was simulated independently of the tissue, the most realistic results were obtained for still images, but the method was also satisfactory for moving images when speckle tracking between views was not important. The method is well applicable to ultrasound training simulators on low cost platforms.