13 Results Found

The convergence rate of the augmented Lagrangian method (ALM) for solving the nonlinear semidefinite optimization problem is studied. Under the Jacobian uniqueness conditions, when a multiplier vector $(\pi ,Y)$ and the penalty parameter $\sigma$ are ch...

Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators. An important question, with high pra...

The generalized convex nearly isotonic regression problem addresses a least squares regression model that incorporates both sparsity and monotonicity constraints on the regression coefficients. In this paper, we introduce an efficient semismooth Newt...

Simultaneous localization and mapping (SLAM) are fundamental elements for many emerging technologies, such as autonomous driving and augmented reality. For this paper, to get more information, we developed an improved monocular visual SLAM system by...

These years, Deep Neural Networks (DNNs) have shown unprecedented performance in many areas. However, some recent studies revealed their vulnerability to small perturbations added on source inputs. Furthermore, we call the ways to generate these pert...

Fully implicit simulation of multiphase flow in porous media requires repeated solution of large, sparse, nonsymmetric Jacobian systems, where linear solvers and preconditioners often dominate the computational cost. In field-scale models with strong...

AC–DC power-flow calculation is the basis for studying HVDC systems. Since traditional iterative methods need many alternative iterations and have convergence problems, this paper proposes an alternating iterative power-flow algorithm for hybri...

Advanced as they are, DL models in cyber-physical systems remain vulnerable to attacks like the Fast Gradient Sign Method, DeepFool, and Jacobian-Based Saliency Map Attacks, rendering system trustworthiness impeccable in applications with high stakes...

This paper presents an augmented computed—torque control (A-CTC) scheme for 6-DoF industrial manipulators operating under model uncertainty and external disturbances. The proposed controller combines a nominal computed torque law with an additi...

Load flow analysis is an essential tool for the reliable planning and operation of interconnected power systems. The constant increase in power demand, apart from the increased intermittency in power generation due to renewable energy sources without...

This paper presents a novel approach to address the challenges associated with the trajectory tracking control of wheeled mobile robots (WMRs). The proposed control approach is based on an indirect adaptive control PID using a neural network and disc...

Against the backdrop of the transition toward power systems with high shares of renewable energy and power electronics and the rapid growth of urban load, large receiving-end urban grids are fed by multiple line-commutated-converter HVDC (LCC-HVDC) l...

In scrubbing tower (ST) systems, outlet vapor temperature regulation is subject to strict thermal constraints, requiring the bottom temperature to remain below a critical safety threshold. Transient overshoots can rapidly trigger pyrolytic coking, fo...