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Variable (feature) selection plays an important role in data analysis and mathematical modeling. This paper aims to address the significant lack of formal evaluation benchmarks for feature selection algorithms (FSAs). To evaluate FSAs effectively, controlled environments are required, and the use of synthetic datasets offers significant advantages. We introduce a set of ten synthetically generated datasets with known relevance, redundancy, and irrelevance of features, derived from various mathematical, logical, and geometric sources. Additionally, eight FSAs are evaluated on these datasets based on their relevance and novelty. The paper first introduces the datasets and then provides a comprehensive experimental analysis of the performance of the selected FSAs on these datasets including testing the FSAs' resilience on two types of induced data noise. The analysis has guided the grouping of the generated datasets into four groups of data complexity. Lastly, we provide public access to the generated datasets to facilitate bench-marking of new feature selection algorithms in the field via our Github repository. The contributions of this paper aim to foster the development of novel feature selection algorithms and advance their study. [ABSTRACT FROM AUTHOR]

Truck hoisting detection constitutes a key focus in port security, for which no optimal resolution has been identified. To address the issues of high costs, susceptibility to weather conditions, and low accuracy in conventional methods for truck hoisting detection, a non-intrusive detection approach is proposed in this paper. The proposed approach utilizes a mathematical model and an extreme gradient boosting (XGBoost) model. Electrical signals, including voltage and current, collected by Hall sensors are processed by the mathematical model, which augments their physical information. Subsequently, the dataset filtered by the mathematical model is used to train the XGBoost model, enabling the XGBoost model to effectively identify abnormal hoists. Improvements were observed in the performance of the XGBoost model as utilized in this paper. Finally, experiments were conducted at several stations. The overall false positive rate did not exceed 0.7% and no false negatives occurred in the experiments. The experimental results demonstrated the excellent performance of the proposed approach, which can reduce the costs and improve the accuracy of detection in container hoisting. [ABSTRACT FROM AUTHOR]

In modern converter-dominated power systems, total inertia is very variable and depends on the share of power generated by renewable-based converter-interfaced generation (CIG) at each specific moment. As a result, the limits required by the grid codes on the rate of change of frequency and its nadir or zenith during disturbances become challenging to achieve with conventional control approaches. Therefore, the transition to a novel control strategy of CIG with a grid-forming power converter is relevant. For this purpose, a control algorithm based on a virtual synchronous generator (VSG) is used, which simulates the properties and capabilities of a conventional synchronous generation. However, due to continuously changing operating conditions in converter-dominated power systems, the virtual inertia formed by VSG must be adaptive. At the same time, the efficiency of adaptive algorithms strongly depends on the used VSG structure. In this connection, this paper proposes an enhanced VSG structure for which the transfer function of the active power control loop was formed. With the help of it, the advantages over the conventional VSG structure were proven, which are necessary for the effective adaptive control of the VSG parameters. Then, the analysis of the impact of the VSG parameters on the dynamic response using the transient characteristics in the time domain was performed. Based on the results obtained, adaptive algorithms for independent control of the virtual inertia and the parameters of the VSG damper winding were developed. The performed mathematical modeling confirmed the reliable and effective operation of the developed adaptive control algorithms and the enhanced VSG structure. The theoretical and experimental results obtained in this paper indicate the need for simultaneous development and improvement of both adaptive control algorithms and VSG structures used for this purpose. [ABSTRACT FROM AUTHOR]

Simple Summary: Neuroblastoma is a rare type of cancer that usually affects children. The high-risk patients' expected survival rate is less than 50%. One reason is the lack of precision in the standard treatment protocol: a one-size-fits-all multi-modal therapy. The study presented in this paper was designed to address this deficit by optimising the use of two chemotherapeutic agents—vincristine and cyclophosphamide—during induction chemotherapy—the part of the protocol that shrinks the primary tumour before surgical removal. We combined a mathematical model and an optimisation algorithm to identify the best chemotherapy schedules for a cohort of virtual patients with different initial tumour compositions. Our results reveal novel strategies to exploit a pair of drugs with different levels of efficacy, provide a platform on which to individualise induction chemotherapy, and lay the foundation for a personalised therapy that leverages targeted therapies, multi-region sequencing, liquid biopsies, and modern computational methods to improve today's multi-modal therapy. Neuroblastoma is the most common extra-cranial solid tumour in children. Despite multi-modal therapy, over half of the high-risk patients will succumb. One contributing factor is the one-size-fits-all nature of multi-modal therapy. For example, during the first step (induction chemotherapy), the standard regimen (rapid COJEC) administers fixed doses of chemotherapeutic agents in eight two-week cycles. Perhaps because of differences in resistance, this standard regimen results in highly heterogeneous outcomes in different tumours. In this study, we formulated a mathematical model comprising ordinary differential equations. The equations describe the clonal evolution within a neuroblastoma tumour being treated with vincristine and cyclophosphamide, which are used in the rapid COJEC regimen, including genetically conferred and phenotypic drug resistance. The equations also describe the agents' pharmacokinetics. We devised an optimisation algorithm to find the best chemotherapy schedules for tumours with different pre-treatment clonal compositions. The optimised chemotherapy schedules exploit the cytotoxic difference between the two drugs and intra-tumoural clonal competition to shrink the tumours as much as possible during induction chemotherapy and before surgical removal. They indicate that induction chemotherapy can be improved by finding and using personalised schedules. More broadly, we propose that the overall multi-modal therapy can be enhanced by employing targeted therapies against the mutations and oncogenic pathways enriched and activated by the chemotherapeutic agents. To translate the proposed personalised multi-modal therapy into clinical use, patient-specific model calibration and treatment optimisation are necessary. This entails a decision support system informed by emerging medical technologies such as multi-region sequencing and liquid biopsies. The results and tools presented in this paper could be the foundation of this decision support system. [ABSTRACT FROM AUTHOR]

Detecting small targets and handling target occlusion and overlap are critical challenges in weld defect detection. In this paper, we propose the S-YOLO model, a novel weld defect detection method based on the YOLOv8-nano model and several mathematical techniques, specifically tailored to address these issues. Our approach includes several key contributions. Firstly, we introduce omni-dimensional dynamic convolution, which is sensitive to small targets, for improved feature extraction. Secondly, the NAM attention mechanism enhances feature representation in the region of interest. NAM computes the channel-wise and spatial-wise attention weights by matrix multiplications and element-wise operations, and then applies them to the feature maps. Additionally, we replace the SPPF module with a context augmentation module to improve feature map resolution and quality. To minimize information loss, we utilize Carafe upsampling instead of the conventional upsampling operations. Furthermore, we use a loss function that combines IoU, binary cross-entropy, and focal loss to improve bounding box regression and object classification. We use stochastic gradient descent (SGD) with momentum and weight decay to update the parameters of our model. Through rigorous experimental validation, our S-YOLO model demonstrates outstanding accuracy and efficiency in weld defect detection. It effectively tackles the challenges of small target detection, target occlusion, and target overlap. Notably, the proposed model achieves an impressive 8.9% improvement in mean Average Precision (mAP) compared to the native model. [ABSTRACT FROM AUTHOR]

As an important technology in 3D vision, point-cloud registration has broad development prospects in the fields of space-based remote sensing, photogrammetry, robotics, and so on. Of the available algorithms, the Iterative Closest Point (ICP) algorithm has been used as the classic algorithm for solving point cloud registration. However, with the point cloud data being under the influence of noise, outliers, overlapping values, and other issues, the performance of the ICP algorithm will be affected to varying degrees. This paper proposes a global structure and adaptive weight aware ICP algorithm (GSAW-ICP) for image registration. Specifically, we first proposed a global structure mathematical model based on the reconstruction of local surfaces using both the rotation of normal vectors and the change in curvature, so as to better describe the deformation of the object. The model was optimized for the convergence strategy, so that it had a wider convergence domain and a better convergence effect than either of the original point-to-point or point-to-point constrained models. Secondly, for outliers and overlapping values, the GSAW-ICP algorithm was able to assign appropriate weights, so as to optimize both the noise and outlier interference of the overall system. Our proposed algorithm was extensively tested on noisy, anomalous, and real datasets, and the proposed method was proven to have a better performance than other state-of-the-art algorithms. [ABSTRACT FROM AUTHOR]

An efficient and more accurate millimeter-wave imaging algorithm, applied to a close-range monostatic personnel screening system, with consideration of dual path propagation loss, is presented in this paper. The algorithm is developed in accordance with a more rigorous physical model for the monostatic system. The physical model treats incident waves and scattered waves as spherical waves with a more rigorous amplitude term as per electromagnetic theory. As a result, the proposed method can achieve a better focusing effect for multiple targets in different range planes. Since the mathematical methods in classical algorithms, such as spherical wave decomposition and Weyl identity, cannot handle the corresponding mathematical model, the proposed algorithm is derived through the method of stationary phase (MSP). The algorithm has been validated by numerical simulations and laboratory experiments. Good performance in terms of computational efficiency and accuracy has been observed. The synthetic reconstruction results show that the proposed algorithm has significant advantages compared with the classical algorithms, and the reconstruction by using full-wave data generated by FEKO further verifies the validity of the proposed algorithm. Finally, the proposed algorithm performs as expected over real data acquired by our laboratory prototype. [ABSTRACT FROM AUTHOR]

Modal-free optimization algorithms do not require specific mathematical models, and they, along with their other benefits, have great application potential in adaptive optics. In this study, two different algorithms, the single-dimensional perturbation descent algorithm (SDPD) and the second-order stochastic parallel gradient descent algorithm (2SPGD), are proposed for wavefront sensorless adaptive optics, and a theoretical analysis of the algorithms' convergence rates is presented. The results demonstrate that the single-dimensional perturbation descent algorithm outperforms the stochastic parallel gradient descent (SPGD) and 2SPGD algorithms in terms of convergence speed. Then, a 32-unit deformable mirror is constructed as the wavefront corrector, and the SPGD, single-dimensional perturbation descent, and 2SPSA algorithms are used in an adaptive optics numerical simulation model of the wavefront controller. Similarly, a 39-unit deformable mirror is constructed as the wavefront controller, and the SPGD and single-dimensional perturbation descent algorithms are used in an adaptive optics experimental verification device of the wavefront controller. The outcomes demonstrate that the convergence speed of the algorithm developed in this paper is more than twice as fast as that of the SPGD and 2SPGD algorithms, and the convergence accuracy of the algorithm is 4% better than that of the SPGD algorithm. [ABSTRACT FROM AUTHOR]

The generation of mathematical models for the analysis of buildings with multiple thermal zones is a large and complex task. Furthermore, the order and complexity of the dynamical model are increased by the number of included thermal zones. To overcome this problem, this paper presents an algorithm to define the mathematical model automatically, using the geometric and physics parameters as inputs. Additionally, the spatial position of each thermal zone must be recorded in an arrangement called a contact matrix. The algorithm for modeling systems with multiple thermal zones is the main contribution of this work. This algorithm is presented in pseudocode format and as an annex, an implementation in MATLAB software. One of the advantages of this methodology is that it allows us to work with parallelepipeds and not necessarily cubic thermal zones. The algorithm allows us to generate mathematical models with symbolic variables, starting from the knowledge of how many thermal zones compose the system and its geometric organization. This information must be organized in a matrix arrangement called a contact matrix. Different arrays of thermal zones were constructed with wooden boxes to verify the functionality of the models generated with the algorithm. Each case provided information that allowed us to adjust the mathematical models and their simulations, obtaining a range of errors between experimental and simulated temperatures from 2.08 to 5.6 , depending on the number of thermal zones studied. [ABSTRACT FROM AUTHOR]

Numerical methods have gained momentum among specific engineering problems that must be solved in such a manner that accuracy and speed are the two most important aspects to consider regarding the output. This paper presents a fast, semi-analytical method (SAM) and original mathematical algorithms to determine the pressure distribution and von Mises stress for spur gears' meshing teeth. The SAM begins with the Hartnett approach, based on Boussinesq's equation for the half-space theory of linear elasticity, which implicitly means an infinite width of the gear flank. To simulate more realistic quarter-space conditions, corrections based on virtual mirror pressure are introduced in the computational algorithm. Mathematical surfaces modeling is an important aspect for spur gears as an intermediate stage to determine the pressure distribution and von Mises stress. Shaft misalignment changes the contact problem from symmetric, in which the half- or quarter-space model can be used, to asymmetric. In the latter case, the model must determine the entire contact area. The obtained output is validated by comparisons between our original FEA results and results from the literature using SAMs and FEA. [ABSTRACT FROM AUTHOR]

A huge amount of construction waste is generated in construction sites every day that needs to be transported by vehicle to disposal facilities for processing. Unlike in most typical transportation problems, once these vehicles are loaded with construction waste, they must travel directly to the disposal facility. Moreover, there are different types of construction waste that may require handling by different disposal facilities. In this paper, we develop a model and algorithm for identifying the optimal transportation routes specific to construction waste transportation. Our results can not only minimize the overall costs for both the logistics company and the contractor but also minimize the distance traveled, thus reducing urban traffic emissions. [ABSTRACT FROM AUTHOR]

The purpose of this work is to present a new method for estimating the parameters of the biomass of agricultural crops based on Earth remote sensing (ERS) data. The method includes mathematical models and algorithms estimation and has been tested on the example of spring wheat sowing. Sowing biomass parameters are the basis for making management decisions aimed at obtaining a given crop yield. Currently, for these purposes, vegetation indices are most widely used. It is impossible to estimate the physical parameters of the crop sowing biomass using these indices, due to their scalar form and lack of dimension. The paper develops a classical approach to the problem of estimating the parameters of the state of agricultural crops, in which remote sensing data are considered as an indirect measurement of the estimated parameters. The basis for the implementation of the estimation method is the dynamic model of biomass parameters and the remote sensing model, which reflects the relationship between the spectral reflection parameters and the estimated parameters of the crop biomass. The parameters of the dynamic model and the remote sensing model are refined by selective ground measurements in separate elementary sections of the field. The difference between this article and previous works of a similar nature lies in the fact that agricultural crops with a more complex morphological structure are considered as the object of evaluation. In addition, such an important feature of agricultural objects as their spatial distribution is considered here. To take it into account, a new type of mathematical models is used, in which spatial coordinates are introduced. Due to the significant complication of modeling and estimation algorithms based on such models, simpler approximation schemes are proposed. The advantage of the proposed approach is that the assessment is considered as a dynamic process that meets the content of the task of monitoring crops. [ABSTRACT FROM AUTHOR]

An iterative QR-based soft feedback segment interference cancellation (QRSFSIC) detection and decoder algorithm for a Reed-Muller (RM) space-time turbo system is proposed in this paper. It forms the sufficient statistic for the minimum-mean-square error (MMSE) estimate according to QR decomposition-based soft feedback successive interference cancellation, stemmed from the a priori log-likelihood ratio (LLR) of encoded bits. Then, the signal originating from the symbols of the reliable segment, the symbol reliability metric, in terms of an a posteriori LLR of encoded bits which is larger than a certain threshold, is iteratively cancelled with the QRSFSIC in order to further obtain the residual signal for evaluating the symbols in the unreliable segment. This is done until the unreliable segment is empty, resulting in the extrinsic information for a RM turbo-coded bit with the greatest likelihood. Bridged by de-multiplexing and multiplexing, an iterative QRSFSIC detection is concatenated with an iterative trellis-based maximum a posteriori probability RM turbo decoder as if a principal Turbo detection and decoder is embedded with an iterative subordinate QRSFSIC detection and a RM turbo decoder, exchanging each other's detection and decoding soft-decision information iteratively. These three stages let the proposed algorithm approach the upper bound of the diversity. The simulation results also show that the proposed scheme outperforms the other suboptimum detectors considered in this paper. [ABSTRACT FROM AUTHOR]

Modeling of a time-varying dynamical system provides insights into the functions of biological neural networks and contributes to the development of next-generation neural prostheses. In this paper, we have formulated a novel sparse multiwavelet-based generalized Laguerre-Volterra (sMGLV) modeling framework to identify the time-varying neural dynamics from multiple spike train data. First, the significant inputs are selected by using a group least absolute shrinkage and selection operator (LASSO) method, which can capture the sparsity within the neural system. Second, the multiwavelet-based basis function expansion scheme with an efficient forward orthogonal regression (FOR) algorithm aided by mutual information is utilized to rapidly capture the time-varying characteristics from the sparse model. Quantitative simulation results demonstrate that the proposed sMGLV model in this paper outperforms the initial full model and the state-of-the-art modeling methods in tracking performance for various time-varying kernels. Analyses of experimental data show that the proposed sMGLV model can capture the timing of transient changes accurately. The proposed framework will be useful to the study of how, when, and where information transmission processes across brain regions evolve in behavior. [ABSTRACT FROM AUTHOR]

An energy storage system (ESS) in a power system facilitates tasks such as renewable integration, peak shaving, and the use of ancillary services. Among the various functions of an ESS, this study focused on frequency regulation (or secondary reserve). This paper presents an optimal scheduling algorithm for frequency regulation by an ESS. This algorithm determines the bidding capacity and base point of an ESS in each operational period to achieve the maximum profit within a stable state-of-charge (SOC) range. However, the charging/discharging efficiency of an ESS causes SOC errors whenever the ESS performs frequency regulation. With an increase in SOC errors, the ESS cannot respond to an automatic generation control (AGC) signal. This situation results in low ESS performance scores, and finally, the ESS is disqualified from performing frequency regulation. This paper also presents a real-time SOC management algorithm aimed at solving the SOC error problem in real-time operations. This algorithm compensates for SOC errors by changing the base point of the ESS. The optimal scheduling algorithm is implemented in MATLAB by using the particle swarm optimization (PSO) method. In addition, changes in the SOC when the ESS performs frequency regulation in a real-time operation are confirmed using the PSCAD/EMTDC tool. The simulation results show that the optimal scheduling algorithm manages the SOC more efficiently than a commonly employed planning method. In addition, the proposed real-time SOC management algorithm is confirmed to be capable of performing SOC recovery. [ABSTRACT FROM AUTHOR]

The Ground-based Radio Navigation System (GRNS) is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo). In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services) SC (special committee)-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias) during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP) or fluctuations in the received signal quality. [ABSTRACT FROM AUTHOR]

The k-means problem has been paid much attention for many applications. In this paper, we define the uncertain constrained k-means problem and propose a (1 + ϵ) -approximate algorithm for the problem. First, a general mathematical model of the uncertain constrained k-means problem is proposed. Second, the random sampling properties of the uncertain constrained k-means problem are studied. This paper mainly studies the gap between the center of random sampling and the real center, which should be controlled within a given range with a large probability, so as to obtain the important sampling properties to solve this kind of problem. Finally, using mathematical induction, we assume that the first j − 1 cluster centers are obtained, so we only need to solve the j-th center. The algorithm has the elapsed time O ((1891 e k ϵ 2) 8 k / ϵ n d) , and outputs a collection of size O ((1891 e k ϵ 2) 8 k / ϵ n) of candidate sets including approximation centers. [ABSTRACT FROM AUTHOR]

Principal–assistant agent teams are often employed to solve tasks in multiagent collaboration systems. Assistant agents attached to the principal agents are more flexible for task execution and can assist them to complete tasks with complex constraints. However, how to employ principal–assistant agent teams to execute time-critical tasks considering the dependency between agents and the constraints among tasks is still a challenge so far. In this paper, we investigate the principal–assistant collaboration problem with deadlines, which is to allocate tasks to suitable principal–assistant teams and construct routes satisfying the temporal constraints. Two cases are considered in this paper, including single principal–assistant teams and multiple principal–assistant teams. The former is formally formulated in an arc-based integer linear programming model. We develop a hybrid combination algorithm for adapting larger scales, the idea of which is to find an optimal combination of partial routes generated by heuristic methods. The latter is defined in a path-based integer linear programming model, and a branch-and-price-based (BP-based) algorithm is proposed that introduces the number of assistant-accessible tasks surrounding a task to guide the route construction. Experimental results validate that the hybrid combination algorithm and the BP-based algorithm are superior to the benchmarks in terms of the number of served tasks and the running time. [ABSTRACT FROM AUTHOR]

In this paper; we introduce an enhanced electromyography (EMG) pattern recognition algorithm based on a split-and-merge deep belief network (SM-DBN). Generally, it is difficult to classify the EMG features because the EMG signal has nonlinear and time-varying characteristics. Therefore, various machine-learning methods have been applied in several previously published studies. A DBN is a fast greedy learning algorithm that can identify a fairly good set of weights rapidly--even in deep networks with a large number of parameters and many hidden layers. To reduce overfitting and to enhance performance, the adopted optimization method was based on genetic algorithms (GA). As a result, the performance of the SM-DBN was 12.06% higher than conventional DBN. Additionally, SM-DBN results in a short convergence time, thereby reducing the training epoch. It is thus efficient in reducing the risk of overfitting. It is verified that the optimization was improved using GA. [ABSTRACT FROM AUTHOR]

Traditional detectors for spectrum sensing in cognitive radio networks always become disabled when noise uncertainty is severe. Shannon entropy-based detection methods have aroused widespread attention in recent years due to the characteristics of effective anti-noise uncertainty. However, in existing entropy-based sensing schemes, the uniform quantization method cannot guarantee the maximum entropy distribution when primary users do not exist, and cannot effectively distinguish between two hypotheses, which severely limits the promotion of detection performance. Moreover, the Shannon entropy-based sensing schemes are prone to misconvergence occurring when estimating entropy values, thus causing failure detection, which leads to system detection inefficiency and resource waste. These are the two major serious defects in Shannon entropy-based detectors, which restrict the performance improvement. In this paper, a novel non-uniform quantized exponential entropy-based (NQEE) detector is proposed for local sensing to deal with the problems of maximum entropy distribution and detection failure. To further improve the reliability of the detection, a collaborative spectrum sensing algorithm based on an NQEE detector with multiple fusion rules is presented. Simulation results verify that the detection performance of the improved local entropy-based detector is superior to the existing Shannon entropy-based detectors and is proved to be robust to noise power uncertainty. In addition, the novel collaborative detection algorithm outperforms the traditional collaborative spectrum detection method to a great degree. [ABSTRACT FROM AUTHOR]

Krawtchouk polynomials (KPs) and their moments are promising techniques for applications of information theory, coding theory, and signal processing. This is due to the special capabilities of KPs in feature extraction and classification processes. The main challenge in existing KPs recurrence algorithms is that of numerical errors, which occur during the computation of the coefficients in large polynomial sizes, particularly when the KP parameter (p) values deviate away from 0.5 to 0 and 1. To this end, this paper proposes a new recurrence relation in order to compute the coefficients of KPs in high orders. In particular, this paper discusses the development of a new algorithm and presents a new mathematical model for computing the initial value of the KP parameter. In addition, a new diagonal recurrence relation is introduced and used in the proposed algorithm. The diagonal recurrence algorithm was derived from the existing n direction and x direction recurrence algorithms. The diagonal and existing recurrence algorithms were subsequently exploited to compute the KP coefficients. First, the KP coefficients were computed for one partition after dividing the KP plane into four. To compute the KP coefficients in the other partitions, the symmetry relations were exploited. The performance evaluation of the proposed recurrence algorithm was determined through different comparisons which were carried out in state-of-the-art works in terms of reconstruction error, polynomial size, and computation cost. The obtained results indicate that the proposed algorithm is reliable and computes lesser coefficients when compared to the existing algorithms across wide ranges of parameter values of p and polynomial sizes N. The results also show that the improvement ratio of the computed coefficients ranges from 18.64% to 81.55% in comparison to the existing algorithms. Besides this, the proposed algorithm can generate polynomials of an order ∼8.5 times larger than those generated using state-of-the-art algorithms. [ABSTRACT FROM AUTHOR]

The paper investigates an algorithm for the numerical solution of a parametric eigenvalue problem for the Helmholtz equation on the plane specially tailored for the accurate mathematical modeling of lasing modes of microring lasers. The original problem is reduced to a nonlinear eigenvalue problem for a system of Muller boundary integral equations. For the numerical solution of the obtained problem, we use a trigonometric Galerkin method, prove its convergence, and derive error estimates in the eigenvalue and eigenfunction approximation. Previous numerical experiments have shown that the method converges exponentially. In the current paper, we prove that if the generalized eigenfunctions are analytic, then the approximate eigenvalues and eigenfunctions exponentially converge to the exact ones as the number of basis functions increases. To demonstrate the practical effectiveness of the algorithm, we find geometrical characteristics of microring lasers that provide a significant increase in the directivity of lasing emission, while maintaining low lasing thresholds. [ABSTRACT FROM AUTHOR]

The paper presents an analytical solution for the centric viscoelastic impact of two smooth balls. The contact period has two phases, compression and restitution, delimited by the moment corresponding to maximum deformation. The motion of the system is described by a nonlinear Hunt–Crossley equation that, when compared to the linear model, presents the advantage of a hysteresis loop closing in origin. There is only a single available equation obtained from the theorem of momentum. In order to solve the problem, in the literature, there are accepted different supplementary hypotheses based on energy considerations. In the present paper, the differential equation is written under a convenient form; it is shown that it can be integrated and a first integral is found—this being the main asset of the work. Then, all impact parameters can be calculated. The effect of coefficient of restitution upon all collision characteristics is emphasized, presenting importance for the compliant materials, in the domain of small coefficients of restitution. The results (variations of approach, velocity, force vs. time and hysteresis loop) are compared to two models due to Lankarani and Flores. For quasi-elastic collisions, the results are practically the same for the three models. For smaller values of the coefficient of restitution, the results of the present paper are in good agreement only to the Flores model. The simplified algorithm for the calculus of viscoelastic impact parameters is also presented. This algorithm avoids the large calculus volume required by solving the transcendental equations and definite integrals present in the mathematical model. The method proposed, based on the viscoelastic model given by Hunt and Crossley, can be extended to the elasto–visco–plastic nonlinear impact model. [ABSTRACT FROM AUTHOR]

Fuzzy goal programming has important applications in many areas of supply chain, logistics, transportation and shipping business. Business management has complications, and there exist many interactions between the factors of its components. The locomotive of world trade is maritime transport and approximately 90% of the products in the world are transported by sea. Optimization of maritime operations is a challenge in order to provide technical, operational and financial benefits. Fuzzy goal programming models attract interests of many scholars, therefore the objective of this paper is to investigate the problem of minimization of total cost and minimization of loss or damage of containers returned from destination port. There are various types of fuzzy goal programming problems based on models and solution methods. This paper employs fuzzy goal programming with triangular fuzzy numbers, membership functions, constraints, assumptions as well as the variables and parameters for optimizing the solution of the model problem. The proposed model presents the mathematical algorithm, and reveals the optimal solution according to satisfaction rank from 0 to 1. Providing a theoretical background, this study offers novel ideas to researchers, decision makers and authorities. [ABSTRACT FROM AUTHOR]

Logistics plays an important role in the field of global economy, and the storage and retrieval of tasks in a warehouse which has symmetry is the most important part of logistics. Generally, the shelves of a warehouse have a certain degree of symmetry and similarity in their structure. The storage and retrieval efficiency directly affects the efficiency of logistics. The efficiency of the traditional storage and retrieval mode has become increasingly inconsistent with the needs of the industry. In order to solve this problem, this paper proposes a greedy algorithm based on cost matrix to solve the path planning problem of the automatic storage and retrieval system (AS/RS). Firstly, aiming at the path planning mathematical model of AS/RS, this paper proposes the concept of cost matrix, which transforms the traditional storage and retrieval problem into the element combination problem of cost matrix. Then, a more efficient backtracking algorithm is proposed based on the exhaustive method. After analyzing the performance of the backtracking algorithm, combined with some rules, a greedy algorithm which can further improve efficiency is proposed; the convergence of the improved greedy algorithm is also proven. Finally, through simulation, the time consumption of the greedy algorithm is only 0.59% of the exhaustive method, and compared with the traditional genetic algorithm, the time consumption of the greedy algorithm is about 50% of the genetic algorithm, and it can still maintain its advantage in time consumption, which proves that the greedy algorithm based on cost matrix has a certain feasibility and practicability in solving the path planning of the automatic storage and retrieval system. [ABSTRACT FROM AUTHOR]

This paper presents a novel lightning search algorithm (LSA) using quantum mechanics theories to generate a quantum-inspired LSA (QLSA). The QLSA improves the searching of each step leader to obtain the best position for a projectile. To evaluate the reliability and efficiency of the proposed algorithm, the QLSA is tested using eighteen benchmark functions with various characteristics. The QLSA is applied to improve the design of the fuzzy logic controller (FLC) for controlling the speed response of the induction motor drive. The proposed algorithm avoids the exhaustive conventional trial-and-error procedure for obtaining membership functions (MFs). The generated adaptive input and output MFs are implemented in the fuzzy speed controller design to formulate the objective functions. Mean absolute error (MAE) of the rotor speed is the objective function of optimization controller. An optimal QLSA-based FLC (QLSAF) optimization controller is employed to tune and minimize the MAE, thereby improving the performance of the induction motor with the change in speed and mechanical load. To validate the performance of the developed controller, the results obtained with the QLSAF are compared to the results obtained with LSA, the backtracking search algorithm (BSA), the gravitational search algorithm (GSA), the particle swarm optimization (PSO) and the proportional integral derivative controllers (PID), respectively. Results show that the QLASF outperforms the other control methods in all of the tested cases in terms of damping capability and transient response under different mechanical loads and speeds. [ABSTRACT FROM AUTHOR]

This paper presents an open-source environment for development, tuning, and performance evaluation of magnetic, angular rate, and gravity-based (MARG-based) filters, such as pose estimators and classification algorithms. The environment is available in both ROS/Gazebo and MATLAB/Simulink, and it contains a six-degrees of freedom (6 DOF) test bench, which simultaneously moves and rotates an MARG unit in the three-dimensional (3D) space. As the quality of MARG-based estimation becomes crucial in dynamic situations, the proposed test platform intends to simulate different accelerating and vibrating circumstances, along with realistic magnetic perturbation events. Moreover, the simultaneous acquisition of both the real pose states (ground truth) and raw sensor data is supported during these simulated system behaviors. As a result, the test environment executes the desired mixture of static and dynamic system conditions, and the provided database fosters the effective analysis of sensor fusion algorithms. The paper systematically describes the structure of the proposed test platform, from mechanical properties, over mathematical modeling and joint controller synthesis, to implementation results. Additionally, a case study is presented of the tuning of popular attitude estimation algorithms to highlight the advantages of the developed open-source environment. [ABSTRACT FROM AUTHOR]

The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS. [ABSTRACT FROM AUTHOR]

Simple Summary: Acute myeloid leukemia (AML) is the second most frequent leukemia entity in children and adolescents, and definitely the most aggressive variant. Multiparameter flow-cytometry is one of the methodologies most useful to monitor the number of remaining leukemic cells in bone marrow (minimal residual disease, MRD) in AML patients, because it is widely available and applicable to most patients. However, AML flow cytometry data show very complex patterns and identifying leukemic cells in the data is subjective, time-consuming and requires experienced operators who are not available world-wide. In this paper, we approach automatic assessment of AML flow cytometry samples with a novel semi-supervised machine learning model, leveraging implicit expert knowledge stored in a collection of manually assessed samples. Because AML data exhibit a high degree of variability in the patterns of blast cell populations that is difficult to model, the model detects anomalies starting from the appearance of normal cell populations. Leukemia is the most frequent malignancy in children and adolescents, with acute lymphoblastic leukemia (ALL) and acute myeloid leukemia (AML) as the most common subtypes. Minimal residual disease (MRD) measured by flow cytometry (FCM) has proven to be a strong prognostic factor in ALL as well as in AML. Machine learning techniques have been emerging in the field of automated MRD quantification with the objective of superseding subjective and time-consuming manual analysis of FCM-MRD data. In contrast to ALL, where supervised multi-class classification methods have been successfully deployed for MRD detection, AML poses new challenges: AML is rarer (with fewer available training data) than ALL and much more heterogeneous in its immunophenotypic appearance, where one-class classification (anomaly detection) methods seem more suitable. In this work, a new semi-supervised approach based on the UMAP algorithm for MRD detection utilizing only labels of blast free FCM samples is presented. The method is tested on a newly gathered set of AML FCM samples and results are compared to state-of-the-art methods. We reach a median F 1 -score of 0.794, while providing a transparent classification pipeline with explainable results that facilitates inter-disciplinary work between medical and technical experts. This work shows that despite several issues yet to overcome, the merits of automated MRD quantification can be fully exploited also in AML. [ABSTRACT FROM AUTHOR]

The present work is motivated by the development of a mathematical model mimicking the mechanisms observed in lab-on-chip experiments, made to reproduce on microfluidic chips the in vivo reality. Here we consider the Cancer-on-Chip experiment where tumor cells are treated with chemotherapy drug and secrete chemical signals in the environment attracting multiple immune cell species. The in silico model here proposed goes towards the construction of a "digital twin" of the experimental immune cells in the chip environment to better understand the complex mechanisms of immunosurveillance. To this aim, we develop a tumor-immune microfluidic hybrid PDE–ODE model to describe the concentration of chemicals in the Cancer-on-Chip environment and immune cells migration. The development of a trustable simulation algorithm, able to reproduce the immunocompetent dynamics observed in the chip, requires an efficient tool for the calibration of the model parameters. In this respect, the present paper represents a first methodological work to test the feasibility and the soundness of the calibration technique here proposed, based on a multidimensional spline interpolation technique for the time-varying velocity field surfaces obtained from cell trajectories. [ABSTRACT FROM AUTHOR]

Numerous optimization problems have been defined in different disciplines of science that must be optimized using effective techniques. Optimization algorithms are an effective and widely used method of solving optimization problems that are able to provide suitable solutions for optimization problems. In this paper, a new nature-based optimization algorithm called Snow Leopard Optimization Algorithm (SLOA) is designed that mimics the natural behaviors of snow leopards. SLOA is simulated in four phases including travel routes, hunting, reproduction, and mortality. The different phases of the proposed algorithm are described and then the mathematical modeling of the SLOA is presented in order to implement it on different optimization problems. A standard set of objective functions, including twenty-three functions, is used to evaluate the ability of the proposed algorithm to optimize and provide appropriate solutions for optimization problems. Also, the optimization results obtained from the proposed SLOA are compared with eight other well-known optimization algorithms. The optimization results show that the proposed SLOA has a high ability to solve various optimization problems. Also, the analysis and comparison of the optimization results obtained from the SLOA with the other eight algorithms shows that the SLOA is able to provide more appropriate quasi-optimal solutions and closer to the global optimal, and with better performance, it is much more competitive than similar algorithms. [ABSTRACT FROM AUTHOR]

Formal concept analysis (FCA) is a mathematical theory that is typically used as a knowledge representation method. The approach starts with an input binary relation specifying a set of objects and attributes, finds the natural groupings (formal concepts) described in the data, and then organizes the concepts in a partial order structure or concept (Galois) lattice. Unfortunately, the total number of concepts in this structure tends to grow exponentially as the size of the data increases. Therefore, there are numerous approaches for selecting a subset of concepts to provide full or partial coverage. In this paper, we rely on the battery of mathematical models offered by FCA to introduce a new greedy algorithm, called Concise, to compute minimal and meaningful subsets of concepts. Thanks to its theoretical properties, the Concise algorithm is shown to avoid the sluggishness of its competitors while offering the ability to mine both partial and full conceptual coverage of formal contexts. Furthermore, experiments on massive datasets also underscore the preservation of the quality of the mined formal concepts through interestingness measures agreed upon by the community. [ABSTRACT FROM AUTHOR]

Crossed-grating phase-shifting profilometry (CGPSP) has great utility in three-dimensional shape measurement due to its ability to acquire horizontal and vertical phase maps in a single measurement. However, CGPSP is extremely sensitive to the non-linearity effect of a digital fringe projection system, which is not studied in depth yet. In this paper, a mathematical model is established to analyze the phase error caused by the non-linearity effect. Subsequently, two methods used to eliminate the non-linearity error are discussed in detail. To be specific, a double five-step algorithm based on the mathematical model is proposed to passively suppress the second non-linearity. Furthermore, a precoding gamma correction method based on probability distribution function is introduced to actively attenuate the non-linearity of the captured crossed fringe. The comparison results show that the active gamma correction method requires less fringe patterns and can more effectively reduce the non-linearity error compared with the passive method. Finally, employing CGPSP with gamma correction, a faster and reliable inverse pattern projection is realized with less fringe patterns. [ABSTRACT FROM AUTHOR]

Uncertain differential equations are important mathematical models in uncertain environments. This paper investigates uncertain multi-dimensional and multiple-factor differential equations. First, the solvability of the equations is analyzed. The α -path distributions and expected values of solutions are given. Then, structure preserving uncertain differential equations, uncertain Hamiltonian systems driven by Liu processes, which possess a kind of uncertain symplectic structures, are presented. A symplectic scheme with six-order accuracy and a Yao-Chen algorithm are applied to design an algorithm to solve uncertain Hamiltonian systems. At last, numerical experiments are given to investigate four uncertain Hamiltonian systems, which highlight the efficiency of our algorithm. [ABSTRACT FROM AUTHOR]

This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and small swing angles. The mathematical model is based on the Euler–Lagrange formulation and considers the dynamics of the vehicle, the cable, and the load. Then, the mathematical model is represented as an input-affine system to obtain the linear model for the control design. A constrained MPC strategy was designed and compared with an unconstrained MPC and an algorithm from the literature for the case of study. The constraints to be considered include the limits on the swing angles and the quadrotor position. The constrained control algorithm was constructed to stabilize the aerial vehicle. It aims to track a trajectory reference while attenuating the load swing, considering a maximum swing range of ± 10 ∘ . Numerical simulations were carried out to validate the control strategy. [ABSTRACT FROM AUTHOR]

Having a method for analyzing and designing regulators of controls that contain many current loops such as active filters is not a trivial task. There can be many parameters of regulators and filters that must be carefully selected in order to fulfill certain desired requirements. For instance, these can be stability, dynamic response, robustness under uncertainty of parameters, and rejection capability to switching harmonics. Hence, this paper provides general analysis guidelines for designing current control loops by using mathematical models in an αβ reference frame. Then, by using the proposed modeling tool, a multi-objective tuning algorithm is proposed that helps obtain all the control loops' regulator and filter parameters, meeting all the desired requirements. Thus, the proposed analysis and design methodology is illustrated by applying it to three different controls conceived in a dq rotating reference frame with PI (Proportional Integral) regulators. The first control presents two current loops (simple dq current control), the second control uses four current loops (dual vector control, for unbalanced loads), while the third control presents eight current loops (active filter controlling current harmonics). Several experimental and simulation results show the effectiveness and usefulness of the proposed method. Since the mathematical model employed is in the αβ reference frame, it can also be easily applied to controls conceived in a αβ reference frame using resonant regulators, providing also a common comparative framework. [ABSTRACT FROM AUTHOR]

In the classical team orienteering problem (TOP), a fixed fleet of vehicles is employed, each of them with a limited driving range. The manager has to decide about the subset of customers to visit, as well as the visiting order (routes). Each customer offers a different reward, which is gathered the first time that it is visited. The goal is then to maximize the total reward collected without exceeding the driving range constraint. This paper analyzes a more realistic version of the TOP in which the driving range limitation is considered as a soft constraint: every time that this range is exceeded, a penalty cost is triggered. This cost is modeled as a piece-wise function, which depends on factors such as the distance of the vehicle to the destination depot. As a result, the traditional reward-maximization objective becomes a non-smooth function. In addition, a second objective, regarding the design of balanced routing plans, is considered as well. A mathematical model for this non-smooth and bi-objective TOP is provided, and a biased-randomized algorithm is proposed as a solving approach. [ABSTRACT FROM AUTHOR]

Power quality and stability have become the most important issues in power system operations, Micro Grids, and Smart Grids. Sensitive equipment can be seriously damaged when exposed to unstable power swing conditions. An unstable system may cause serious damage to Micro Grid System elements such as generators, transformers, transmission lines, and so forth. Therefore, out-of-step detection is essential for the safe operation of a Micro Grid system. In general, Equal Area Criterion (EAC) is a method for evaluating the stability of Smart Grid systems. However, EAC can be performed only if it is possible to analyze the active power and generator angle. This paper presents an analysis of the trajectory of complex power using a mathematical model. The variation of complex power is analyzed using a mathematical method, and then the relationship between complex power and EAC is presented, and a simulation performed. Later, in part II, a novel out-of-step detection algorithm based on part I will be presented and tested. [ABSTRACT FROM AUTHOR]

This paper proposes a distributed model-free adaptive bipartite consensus tracking (DMFABCT) scheme. The proposed scheme is independent of a precise mathematical model, but can achieve both bipartite time-invariant and time-varying trajectory tracking for unknown dynamic discrete-time heterogeneous multi-agent systems (MASs) with switching topology and coopetition networks. The main innovation of this algorithm is to estimate an equivalent dynamic linearization data model by the pseudo partial derivative (PPD) approach, where only the input–output (I/O) data of each agent is required, and the cooperative interactions among agents are investigated. The rigorous proof of the convergent property is given for DMFABCT, which reveals that the trajectories error can be reduced. Finally, three simulations results show that the novel DMFABCT scheme is effective and robust for unknown heterogeneous discrete-time MASs with switching topologies to complete bipartite consensus tracking tasks. [ABSTRACT FROM AUTHOR]

This paper proposes an optimal scheduling model under production and maintenance constraints for a real case of a discrete event system. The intent was to use the rich mathematical theory and algorithms of optimization in the study of this important class of systems. The current study detailed firstly a new approach for mapping a simulation event relationship graph into a mixed-integer program, with a flexible workshop real case. Several other potential applications of the mathematical model are examined, thanks to the model constraints flexibility characteristics, including a general case of a manufacturing system for optimal resource scheduling, an application on the case of hospital beds' management. The model extension could be also interesting for other applications like museum systems or the case of big data in complex and social networks. [ABSTRACT FROM AUTHOR]

A recent study of property valuation literature indicated that the vast majority of researchers and academics in the field of real estate are focusing on Mass Appraisals rather than on the further development of the existing valuation methods. Researchers are using a variety of mathematical models used within the field of Machine Learning, which are applied to real estate valuations with high accuracy. On the other hand, it appears that professional valuers do not use these sophisticated models during daily practice, rather they operate using the traditional five methods. The Department of Lands and Surveys in Cyprus recently published the property values (General Valuation) for taxation purposes which were calculated by applying a hybrid model based on the Cost approach with the use of regression analysis in order to quantify the specific parameters of each property. In this paper, the authors propose a number of algorithms based on Artificial Intelligence and Machine Learning approaches that improve the accuracy of these results significantly. The aim of this work is to investigate the capabilities of such models and how they can be used for the mass appraisal of properties, to highlight the importance of sensitivity analysis in such models and also to increase the transparency so that automated valuation models (AVM) can be used for the day-to-day work of the valuer. [ABSTRACT FROM AUTHOR]

Manycast routing and spectrum assignment (RSA) in elastic optical networks (EONs) has become a hot research field. In this paper, the mathematical model and high efficient algorithm to solve this challenging problem in EONs is investigated. First, a multi-objective optimization model, which minimizes network power consumption, the total occupied spectrum, and the maximum index of used frequency spectrum, is established. To handle this multi-objective optimization model, we integrate these three objectives into one by using a weighted sum strategy. To make the population distributed on the search domain uniformly, a uniform design method was developed. Based on this, an improved grey wolf optimization method (IGWO), which was inspired by PSO (Particle Swarm Optimization, PSO) and DE (Differential Evolution, DE), is proposed to solve the maximum model efficiently. To demonstrate high performance of the designed algorithm, a series of experiments are conducted using several different experimental scenes. Experimental results indicate that the proposed algorithm can obtain better results than the compared algorithm. [ABSTRACT FROM AUTHOR]

Color image encryption has enticed a lot of attention in recent years. Many authors proposed a chaotic system-based encryption algorithms for that purpose. However, due to the shortcomings of the low dimensional chaotic systems, similar rule structure for RGB channels, and the small keyspace, many of those were cryptanalyzed by chosen-plaintext or other well-known attacks. A Security vulnerability exists because of the same method being applied over the RGB channels. This paper aims to introduce a new three-channel three rules (3C3R) image encryption algorithm along with two novel mathematical models for DNA rule generator and bit inversion. A different rule structure was applied in the different RGB-channels. In the R-channel, a novel Block-based Bit Inversion (BBI) is introduced, in the G-channel Von-Neumann (VN) and Rotated Von-Neumann (RVN)- based 2D-cellular structure is applied. In the B-channel, a novel bidirectional State Machine-based DNA rule generator (SM-DNA) is introduced. Simulations and results show that the proposed 3C3R encryption algorithm is robust against all well-known attacks particularly for the known-plaintext attacks, statistical attacks, brute-force attacks, differential attacks, and occlusion attacks, etc. Also, unlike earlier encryption algorithms, the 3C3R has no security vulnerability. [ABSTRACT FROM AUTHOR]

An up-to-date knowledge of water depth is essential for a wide range of coastal activities, such as navigation, fishing, study of coastal erosion, or the observation of the rise of water levels due to climate change. This paper presents a coastal bathymetry estimation method that takes a single satellite acquisition as input, aimed at scenarios where in situ data are not available or would be too costly to obtain. The method uses free multispectral images that are easy to obtain for any region of the globe from sources such as the Sentinel-2 or Landsat-8 satellites. In order to address the shortcomings of existing image-only approaches (low resolution, scarce spatial coverage especially in the shallow water zones, dependence on specific physical conditions) we derive a new bathymetry estimation approach that combines a physical wave model with a statistical method based on Gaussian Process Regression learned in an unsupervised way. The resulting system is able to provide a nearly complete coverage of the 2–12-m-depth zone at a resolution of 80 m. Evaluated on three sites around the Hawaiian Islands, our method obtained estimates with a correlation coefficient in the range of 0.7–0.9. Furthermore, the trained models provide equally good results in nearby zones that lack exploitable waves, extending the scope of applicability of the method. [ABSTRACT FROM AUTHOR]

In this paper, the problem of multi-scale geospatial object detection in High Resolution Remote Sensing Images (HRRSI) is tackled. The different flight heights, shooting angles and sizes of geographic objects in the HRRSI lead to large scale variance in geographic objects. The inappropriate anchor size to propose the objects and the indiscriminative ability of features for describing the objects are the main causes of missing detection and false detection in multi-scale geographic object detection. To address these challenges, we propose a class-specific anchor based and context-guided multi-class object detection method with a convolutional neural network (CNN), which can be divided into two parts: a class-specific anchor based region proposal network (RPN) and a discriminative feature with a context information classification network. A class-specific anchor block providing better initial values for RPN is proposed to generate the anchor of the most suitable scale for each category in order to increase the recall ratio. Meanwhile, we proposed to incorporate the context information into the original convolutional feature to improve the discriminative ability of the features and increase classification accuracy. Considering the quality of samples for classification, the soft filter is proposed to select effective boxes to improve the diversity of the samples for the classifier and avoid missing or false detection to some extent. We also introduced the focal loss in order to improve the classifier in classifying the hard samples. The proposed method is tested on a benchmark dataset of ten classes to prove the superiority. The proposed method outperforms some state-of-the-art methods with a mean average precision (mAP) of 90.4% and better detects the multi-scale objects, especially when objects show a minor shape change. [ABSTRACT FROM AUTHOR]

The cooperative localization of submerged autonomous underwater vehicles (AUVs) using the Time Difference of Arrival (TDOA) measurements of surface AUV sensors is an effective method for many applications of AUVs. Proper positioning of the sensors to maximize the observability of the AUVs is very critical for cooperative localization. In this paper, a novel method for obtaining the optimal formation of sensor AUVs has been presented for the three-dimensional (3D) cooperative localization of targets using the TDOA technique. An evaluation function for estimating the optimal formation has been derived based on Fisher Information Matrix (FIM) theory for a single target as well as multiple-target cooperative localization systems. An iterative stepping algorithm has been followed to solve the evaluation function and obtain the optimal positions of the sensors. The algorithm ensured that the computation complexity should remain limited, even when the number of sensor AUVs is increased. Various simulation examples are then presented to calculate the optimal formation for different systems/situations. The effect of the position of the reference sensor and operating depth of the target AUVs on the optimal formation of the sensors has also been studied, and conclusions are drawn. For implementation of the proposed method for more practical scenarios, a simulation example is also presented for cases when the target's position is only known with uncertainty. [ABSTRACT FROM AUTHOR]

The harmonic voltage issue becomes a challenge for a distributed generation system. Considering that droop control is the most common control algorithm used in the distributed system, a virtual harmonic power droop strategy which aims to mitigate the harmonic voltage is proposed in this paper. First, the conventional droop control is analyzed. Based on that concept, the virtual power algorithm is introduced. Second, the output harmonic voltage issue and the mathematical model of the inverter are presented. In addition, the second-order generalized integrator is briefly discussed. Third, taking into consideration the algorithms and models presented, a virtual harmonic power droop strategy is proposed to implement the harmonic voltage mitigation. In this algorithm, signals in fundamental frequency and harmonic frequency are separated with the help of second-order generalized integrators. Unlike the conventional voltage–current dual loop structure which is used to mitigate system harmonics, this method only needs the virtual power feedback to mitigate the harmonic voltage. Based on these features, the system's control structure is simplified. Simulation and experimental results verified the harmonic voltage mitigation ability of the proposed strategy. [ABSTRACT FROM AUTHOR]