Recognizing a previously visited place, also known as place recognition (or loop closure detection) is the key towards fully autonomous mobile robots and self-driving vehicle navigation. Augmented with various Simultaneous Localization and Mapping techniques (SLAM), loop closure detection allows for incremental pose correction and can bolster efficient and accurate map creation. However, repeat...

It is known that if a 2-universal hash function H is applied to elements of a block source (X1, . . . , XT ), where each item Xi has enough min-entropy conditioned on the previous items, then the output distribution (H,H(X1), . . . , H(XT )) will be “close” to the uniform distribution. We provide improved bounds on how much min-entropy per item is required for this to hold, both when we ask tha...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

this study proposes a combination of a fuzzy sliding mode controller (fsmc) with integral-proportion-derivative switching surface based superconducting magnetic energy storage (smes) and pid tuned by a multi-objective optimization algorithm to solve the load frequency control in power systems. the goal of design is to improve the dynamic response of power systems after load demand changes. in t...

modeling of fermentation processes is so complicated and uncertain; therefore it is necessary to provide a robust and appropriate dynamic optimization method. in order to obtain the maximum amount of yeast (saccharomyces cerevisiae), the bioreactor must be operated under optimal conditions. to determine substrate feeding in a fed-batch bioreactor, a simulated annealing (sa) approach was examine...

The design of closed-loop logistics (forward and reverse logistics) has attracted growing attention with the stringent pressures of customer expectations, environmental concerns and economic factors. This paper considers a multi-product, multi-period and multi-objective closed-loop logistics network model with regard to facility expansion as a facility location–allocation problem, which more cl...

A question that often process control engineers face is for what class of processes one should use model predictive control that requires solving numerically a constrained optimization problem repeatedly on-line. The alternative is to use analytical control, such as P, PI, PID and differential geometric control, which do not require the on-line optimization. In other words, for what class of pr...

UNRET (unrolling and retiming) is an approach for resource-constrained loop pipelining that aims at nding a loop schedule with maximum throughput and minimum register pressure. This paper proposes an algorithm in two phases. In the rst phase, a schedule with maximum throughput is found for a given set of resource constraints. To do this, diierent unrolling degrees are explored in decreasing ord...

This paper presents UNRET (unrolling and retiming), a new approach for resource-constrained loop pipelining. UNRET aims at nding a loop schedule with maximum throughput and minimum register pressure. UNRET is composed of two main phases. In the rst phase, a schedule with maximum throughput is found for a given set of resource constraints. To do so, diierent unrolling degrees are explored in dec...