Showing papers on "Autonomous system (mathematics) published in 2022"

Autonomous Bus Operation Alternatives in Urban Areas Using Fuzzy Dombi-Bonferroni Operator Based Decision Making Model

Abstract: Advances in V2V, V2I, and autonomous vehicle technologies have made autonomous buses possible in cities. Soon, autonomous bus operations will be common in urban areas, which will improve sustainability, safety, and the city’s technology. These buses have different operation types. Each operation has advantages and disadvantages. Therefore, the goal of this study is to serve as a guide for decision-makers during the transition to autonomous buses. Four alternatives are evaluated based on eleven criteria organized under four main aspects, namely autonomous buses for special uses, autonomous buses for last-mile uses, autonomous cars in mixed traffic, and autonomous buses in closed systems. We propose an Ordinal Priority Approach (OPA) method for determining the criteria weights and application of fuzzy Dombi Bonferroni (DOBI) methodology for the evaluation of alternatives. When compared to the other three alternatives in this study, the results show that deploying autonomous buses in mixed traffic is the most advantageous option.

Autonomous Non‐Equilibrium Self‐Assembly and Molecular Movements Powered by Electrical Energy

Abstract: Abstract The ability to exploit energy autonomously is one of the hallmarks of life. Mastering such processes in artificial nanosystems can open technological opportunities. In the last decades, light‐ and chemically driven autonomous systems have been developed in relation to conformational motion and self‐assembly, mostly in relation to molecular motors. In contrast, despite electrical energy being an attractive energy source to power nanosystems, its autonomous harnessing has received little attention. Herein we consider an operation mode that allows the autonomous exploitation of electrical energy by a self‐assembling system. Threading and dethreading motions of a pseudorotaxane take place autonomously in solution, powered by the current flowing between the electrodes of a scanning electrochemical microscope. The underlying autonomous energy ratchet mechanism drives the self‐assembly steps away from equilibrium with a higher energy efficiency compared to other autonomous systems. The strategy is general and might be extended to other redox‐driven systems.

A Taxonomy for System of Autonomous Systems

Abstract: Artificial Intelligence and machine learning is rapidly equipping modern systems with real-time learning and autonomous decision-making capabilities allowing these systems to decide and act on their own based on observations from their operational environment. These autonomous systems become constituent systems in a system of autonomous systems that provides more capabilities to fulfill the mission needs and decreases operators’ workload. These autonomous systems have varying level of autonomy which not only defines their independent autonomous behaviour but also the resulting capabilities of the larger system of autonomous systems. However, there is a gap in system of systems literature to classify different types and key structural heuristics for a system of autonomous systems based on the level of autonomy of its constituent systems. In this paper, we propose a taxonomy for system of autonomous systems using the Observe Orient Act and Decide (OODA) loop as a fundamental abstraction of an autonomous system and leverage it to identify information exchange between constituent systems of the system of autonomous systems. This taxonomy proposes seven levels of information sharing between autonomous systems based on their level of autonomy. We describe a conceptual application of this taxonomy to a search and rescue mission to realize a system of autonomous systems.

Asymptotically autonomous dynamics for non-autonomous stochastic 2D g-Navier–Stokes equation in regular spaces

Abstract: This work is a continuation of our previous work [Li et al., Commun. Pure Appl. Anal. 19, 3137 (2020)] on the regular backward compact random attractor. We prove that under certain conditions, the components of the random attractor of a non-autonomous dynamical system can converge in time to those of the random attractor of the limiting autonomous dynamical system in more regular spaces rather than the basic phase space. As an application of the abstract theory, we show that the backward compact random attractors [[Formula: see text] is precompact for each [Formula: see text]] for the non-autonomous stochastic g-Navier–Stokes ( g-NS) equation is backward asymptotically autonomous to a random attractor of the autonomous g-NS equation under the topology of [Formula: see text].

A Prototype of Obstacle Avoidance for Autonomous Vehicle

Abstract: Obstacle avoidance is one of the major tasks needed to be carefully focused by the autonomous system designers. In this digital era, most industries are moving towards autonomous systems. Obstacle avoidance is considered as a primary concern for any autonomous system. In this paper, a prototype of an autonomous vehicle is presented, which is capable of obstacle avoidance using an ultrasonic sensor for its movement and avoidance. An Arduino microcontroller is used to achieve the desired operation. In order to achieve the desired task of the proposed system, a proper methodology is followed which combines appropriate selection of hardware components as well as logic design of actions for obstacle avoidance. The proposed system can easily detect an obstacle, and move accordingly towards the safe path, by first detecting and then verifying the safe path. This can be very useful if implemented in real life. It can ultimately reduce the chances of accidents of trains and road vehicles which will save lots of lives. It can also detect broken roads and train tracks, which may result in reducing the chances of accidents to some extent. The accuracy of the autonomous vehicle depends on the output received by the ultrasonic sensor; therefore, it is not affected by the lighting environment. The prototype has been tested in various experimental settings and achieves appropriate results.

Implementation of traffic sign recognition on the scaled vehicle model

Abstract: The popularity of autonomous vehicles has grown in the past few years as autonomous systems are more and more present on vehicles. The most accessible way for students of mechanical and software engineers to learn about autonomous vehicles is by applying algorithms and systems necessary for autonomous driving on the scaled vehicle model. These models are, as in this case, and are equipped with all systems necessary for autonomous driving, such as a four-wheel drive powertrain, a suspension system, an electrically controlled steering system, a brain-computer and a camera. The goal of projects such as this one is to make the vehicle capable of autonomous driving on a designated track, obeying regular traffic rules and signs (for example, the vehicle has to perform a full stop when it approaches the stop sign). To make this possible, it is necessary for a vehicle to "know" which traffic sign is nearby, i.e., traffic sign recognition is required. For this purpose, traffic sign recognition is done by an artificial neural network. The training process of the proper artificial neural network will be shown in this paper.

Autonomous movement and control system of a medium-duty military vehicle

Abstract: The article considers the prospects of creating new types of military vehicles, including autonomous vehicles for military needs, analyzes foreign and domestic experience in the field of unmanned vehicles. The classification of levels of autonomy among the systems of assistance to the driver of modern cars is given. The technology of movement of unmanned vehicles in the «Leader-Follower» mode and the set of equipment that ensures its operation are revealed. Emphasis is placed on creating a system of autonomous movement and control of a medium-ton military vehicle and its features. The construction of the architecture of the system of autonomous movement and control of a medium-ton military vehicle is given, as well as the tasks and requirements for the subsystems that are part of it are determined. The general principle of operation of the autonomous movement and control system and the content of information processing operations that it performs are revealed. Based on the analysis, the technical characteristics of LiDAR sensors as components of the elements of the technical vision system of the autonomous motion subsystem are given. The general principle of operation of LiDAR technology and possibilities which are reached at its application in systems of autonomous movement are opened. The need to integrate various sensors to detect and recognize objects, obstacles and control the autonomous movement of the car is indicated. Keywords: medium-duty military vehicle, unmanned vehicle, autonomous movement, autonomous movement and control system, subsystem, autonomous movement subsystem, integrated navigation subsystem, control subsystem, elements of technical vision system, image interpretation unit, sensor, scanner, LiDAR, object recognition, information processing, digital elevation model, sensor integration.

Investigation of Autonomous Power System Stability Improvement Methods

Abstract: The paper proposes measures to increase the stability of autonomous power systems. The considered autonomous power system could be connected to a regional system for power flow exchange or operate in the “island” mode. In the analysis of stability, it is assumed that there is a connection with the regional electric power system or the presence of several power plants in the autonomous system, combined for parallel operation. Autonomous systems are usually located in remote areas, far enough from regional power systems. A transmission line connecting an autonomous system to a “large” electrical system can have a rather low transmission capacity. This is due to both the desire to reduce the cost of the line and its functional purpose. Initially, it is not supposed to transfer significant amounts of energy through the line, its main function is to provide an autonomous system with some volumes of electricity in case of accidents. In addition, excess power of an autonomous system can be transmitted over the line or power can be received when a deficit occurs. The low bandwidth of a communication line with a “large” system leads to a deterioration in static and dynamic stability.

Non-autonomous Differential Systems with Delays: A Global Attraction Analysis

Abstract: Abstract In this paper, we derive criteria of global attractivity of a (possibly constant) positive periodic solution in non-autonomous systems of delay differential equations. Our approach can be viewed as the extension for non-autonomous systems of the folkloric connection between discrete dynamics and scalar delay differential equations. It is worth mentioning that we provide delay-dependent criteria of global attraction that cover the best delay independent conditions. We apply our results to non-autonomous variants of several classical models such that Nicholson’s blowfly equation, Goodwin’s model oscillator, the Mackey–Glass equation and systems with patch structure.

Development and Enlightenment on Test and Evaluation of Unmanned Autonomous System of the U.S. Military

Abstract: With the transformation of war form from informationization to intelligentization, it will be an important development direction for joint operations to realize cross-domain synergy in multi-dimensional battlefields using unmanned autonomous systems. The test and evaluation of unmanned autonomous system is a new type of test organization, which adapts to the development of war form. In this paper, the relevant conceptions of unmanned autonomous system are defined, the development of the test and evaluation of unmanned autonomous system of the U.S. military is analyzed, and the enlightenments of the test and evaluation of unmanned autonomous system are put forward

Multi-component Painlev\'{e} ODE's and related non-autonomous KdV stationary hierarchies

Abstract: First, starting from two hierarchies of autonomous St\"{a}ckel ODE's, we reconstruct the hierarchy of KdV stationary systems. Next, we deform considered autonomous St\"{a}ckel systems to non-autonomous Painlev\'{e} hierarchies of ODE's. Finally, we reconstruct the related non-autonomous KdV stationary hierarchies from respective Painlev\'{e} systems.

Dynamic Modeling and Performance Analysis of an Autonomous and Non-autonomous Microgrid

Abstract: A microgrid system with a power system grid connection is advantageous because it can depend on the power grid when additional power is needed. Alternatively, it can also feed the grid with its excess generation. This paper looks into the dynamic behaviour of a microgrid when it switches from non-autonomous to autonomous mode. A 28 ^th -order nonlinear dynamic model of a PV-wind-microalternator-STATCOM integrated microgrid system has been developed. The performance of the system has been evaluated by solving the state equations through the MATLAB ode program. The effect of temporary and permanent faults in the system network has been investigated. Simulation results suggest that the proposed model can effectively operate in non-autonomous mode until a severe disturbance is encountered in the main grid. It also shows its capability of switching to the autonomous mode once the disturbance is found to be severe or if it persists for a longer time.

A Path Dependent Approach for Characterizing the Legal Governance of Autonomous Systems

Abstract: Autonomous systems promise significant improvements in many fields. These systems will be subject to legal governance requirements. The literature has largely focused on “autonomous governance” as a framework that is broadly applicable to autonomous devices regardless of the type of system ( e.g ., aviation or motor vehicles) at issue. While there are regulatory principles applicable to autonomous systems generally, an “autonomy-focused” approach is an inadequate lens to consider the governance of these systems. Rather, because autonomous systems are improvements of currently regulated complex systems, the regulation of autonomous elements will occur within those systems’ preexisting regulatory framework. Accordingly, the nature of future autonomous regulation will likely depend on the preexisting features of that substantive system, rather than on an optimal approach divorced from that history, an attribute known in the social science literature as path dependency. In order to characterize diverse regulated systems with an eye toward assessing future autonomous developments, we develop a framework of regulatory approaches to identify specific features of the preexisting regulatory scheme for a given system. We then analyze that approach by examining three different regulatory regimes (aviation, motor vehicles, and medical devices), across two different continents, and consider how the same type of requirement, e.g ., fail-safe systems, can lead to different types of regulations depending on the differing baseline framework.

Autonomous Non-Equilibrium Self-Assembly and Molecular Movements Powered by Electrical Energy

Abstract: The ability to exploit energy autonomously is one of the hallmarks of Life. Mastering such processes in artificial nanosystems can open unforeseen technological opportunities. In the last decades, light- and chemically-driven autonomous systems have been developed in relation to conformational motion and self-assembly, mostly in relation to molecular motors. On the contrary, despite electrical energy is an attractive energy source to power nanosystems, its autonomous exploitation remains essentially unexplored. Herein we demonstrate the autonomous exploitation of electrical energy by a self-assembling system. Threading and dethreading motions of a pseudorotaxane take place autonomously in solution, between the electrodes of a scanning electrochemical microscope. This innovative actuation mode allows operating a molecular machine with an energy efficiency of 9%, unprecedented in autonomous systems. The strategy is general and can be applied to any redox-driven system. Ultimately, our study brings molecular nanoscience one step closer to everyday technology.

A Review Paper on Development of e-Vehicles

Abstract: Abstract: In this paper, we present a detailed chronological analysis of the achievements in autonomous automation, which is an area of interest for researchers. This paper can be useful for understanding the trends in autonomous vehicletechnology in the past, present, and future. The technology of autonomous vehicles has drastically changed since the 1920s, when radio controlled vehicles first appeared. Electric cars powered by embedded circuits on the road became fairly autonomous in the next few decades. By the 1960s, autonomous cars had similar electronic guide systems. The 1980s saw the introduction of vision guided autonomous vehicles, a major milestone in technology that we continue to use today. In modern cars, semi-autonomous features such as lane keeping,automatic braking, and adaptive cruise control are based on these systems. An extensive network of visionguided systems is the future of autonomous vehicles. It is predicted that the majority of companieswill launch fully autonomous vehicles by the turn of the century. We are entering an era of safe, comfortable, and efficient transportation with autonomous vehicles.

BGP-ELF: Enhancing BGP To Eliminate Routing Loops and Oscillations without Path Vectors

Abstract: The policy mechanisms used in BGP are modified by substituting path vectors with path labels, which results in BGP-ELF (BGP Enhanced for Loop Freedom). BGP-ELF uses updates, queries, and replies based on path labels to attain multi-path loop-free and stable routing across autonomous systems without the need for path vectors. An autonomous system organized into clusters is required to elect a designated route reflector to ensure that no routing loops can be formed due to local preferences within clusters in the autonomous system. Well-known examples of systems in which EBGP and IBGP do not converge are used to illustrate the benefits of BGP-ELF.

A Doxastic Characterisation of Autonomous Decisive Systems

Abstract: A highly autonomous system (HAS) has to assess the situation it is in and derive beliefs, based on which, it decides what to do next. The beliefs are not solely based on the observations the HAS has made so far, but also on general insights about the world, in which the HAS operates. These insights have either been built in the HAS during design or are provided by trusted sources during its mission. Although its beliefs may be imprecise and might bear flaws, the HAS will have to extrapolate the possible futures in order to evaluate the consequences of its actions and then take its decisions autonomously. In this paper, we formalize an autonomous decisive system as a system that always chooses actions that it currently believes are the best. We show that it can be checked whether an autonomous decisive system can be built given an application domain, the dynamically changing knowledge base and a list of LTL mission goals. We moreover can synthesize a belief formation for an autonomous decisive system. For the formal characterization, we use a doxastic framework for safety-critical HASs where the belief formation supports the HAS's extrapolation.

MultiState-BGP Manager for Multi-Domain SDN

Abstract: The Border Gateway Protocol (BGP) is used between Autonomous Systems (AS) to enable and exchange routing information. AS are allocated an Autonomous System Number (ASN). The ASN, utilized in BGP routing, represents the grouping of Internet Protocol (IP) routing prefixes allotted to a single administrative domain. Classless Interdomain-Routing (CIDR) is used to support hierarchical routing in the Internet backbone. As the Internet has grown, BGP has been updated to tackle challenges, including the growing routing tables, improved load-balancing, BGP-hijacking and security, and AS transit times. One major issue remaining is the BGP convergence delay, which is the time taken for a set of routers to agree on the network topology. Convergence delay has become an issue for large networks due to changing network topologies causing route updates and path failures that cause instability in the network. A network's instability might cause packet loss or delay, loss of connectivity, and a delay in message transmission. In this research, we propose a novel technique named “MultiState-BGP Manager” that controls and manages multi-domain SDN networks and decreases the BGP convergence delay.

Furstenberg family and multi-transitivity in non-autonomous systems

Abstract: In this paper, we study the dynamics of a non-autonomous dynamical system generated by a sequence of continuous self maps. We obtain necessary and sufficient condition for a non-autonomous system to be multi- -transitive and -mixing of all orders where is a Furstenberg family. Also, we get some sufficient conditions under which multi- -transitivity of a non-autonomous discrete dynamical system is inherited under iterations. We relate the multi- -transitivity of the non-autonomous system with the multi- -transitivity of We also show that multi- -transitivity is equivalent with -mixing of all orders if the system is minimal. We also give examples to investigate the conditions imposed for the results to hold good.

Development of Devices for Autonomous Decentralized Systems Research

Abstract: Ants do not act complicatedly as individuals, but when viewed as a group, they work together to protect themselves from foreign enemies and take cooperative actions such as collecting food. They have classes; each ant that is assigned a role cooperates with others and creates a society to prosper the species. Such a system that each element acts autonomously without receiving any information from a central function that integrates the whole but it functions as a whole due to the interaction with others is called an “autonomous decentralized system”. In order for multiple robots to perform cooperative movements in a changing environment, it seems effective to make the robots acquire their own abilities and mutual relationships between them in a learning manner, regarding the whole as an autonomous decentralized system In this study, we evaluate the dynamic characteristics of mobile robots that were designed and prototyped to conduct research.

Analysing the Safety of Decision-Making in Autonomous Systems

Abstract: AbstractWe characterise an autonomous system as one that has the capability to take decisions independently from human control. This independent and autonomous decision making could give rise to new hazards or hazard causes not present in an equivalent human-controlled system, e.g. through lack of human real-world understanding. Despite the increased adoption of autonomous systems there has been a dearth of research in the area of safety analysis and assurance of decision-making for autonomous systems. This paper is intended to be a first step to fill this gap. We compare and contrast the differing causal models of autonomous and non-autonomous systems, and build on existing safety engineering techniques in order to define a process (Decision Safety Analysis) for the analysis of autonomous decision-making. We show, using a real-world example, how this process supports the development of safety requirements to mitigate hazardous scenarios.KeywordsDecision-makingAutonomous systemsSafety analysis

An autonomous crawler excavator for hazardous environments

Abstract: Abstract As part of ROBDEKON, a 24-ton crawler excavator was equipped with sensors and a digital actuation interface as a technology demonstrator which features autonomy capabilities. The system architecture includes algorithms for localization, perception, mapping, planning, and control. The system is capable of tasks like autonomous driving to a target location, excavation of a predefined area to a given depth, and autonomous loading of an autonomously approaching transport vehicle. To ensure safety, collision avoidance based on 360° perception is always active during autonomous operation. This article presents the concept and implementation of the excavator’s autonomy functionality.

Autonomous Non‐Equilibrium Self‐Assembly and Molecular Movements Powered by Electrical Energy**

Abstract: The ability to exploit energy autonomously is one of the hallmarks of life. Mastering such processes in artificial nanosystems can open technological opportunities. In the last decades, light- and chemically driven autonomous systems have been developed in relation to conformational motion and self-assembly, mostly in relation to molecular motors. In contrast, despite electrical energy being an attractive energy source to power nanosystems, its autonomous harnessing has received little attention. Herein we consider an operation mode that allows the autonomous exploitation of electrical energy by a self-assembling system. Threading and dethreading motions of a pseudorotaxane take place autonomously in solution, powered by the current flowing between the electrodes of a scanning electrochemical microscope. The underlying autonomous energy ratchet mechanism drives the self-assembly steps away from equilibrium with a higher energy efficiency compared to other autonomous systems. The strategy is general and might be extended to other redox-driven systems.

A first step towards checking BGP routes in the dataplane

Abstract: BGP is a fragile routing protocol since it is based on an implicit system of trust between the Autonomous Systems (AS) participating in the exchange of routes on the Internet. Any router can announce the routes it wants without being the owner. Due to the lack of a validation system for the announcements made by BGP routers, a series of RFCs published after the release of BGP have partially solved this problem by introducing the Resource Public Key Infrastructure (RPKI). In this paper, we aim to complement the security mechanisms of BGP by introducing a new active control system. We propose to validate BGP paths in the dataplane. We extend the BGP implementation of FRRouting (an open source Internet routing protocol suite) to demonstrate the feasibility of our approach. Finally, we discuss the potential of an active system in a routing protocol to both secure BGP announcements and improve the routing decision.

Gradient-free Multi-domain Optimization for Autonomous Systems

Abstract: Autonomous systems are composed of several subsystems such as mechanical, propulsion, perception, planning and control. These are traditionally designed separately which makes performance optimization of the integrated system a significant challenge. In this paper, we study the problem of using gradient-free optimization methods to jointly optimize the multiple domains of an autonomous system to find the set of optimal architectures for both hardware and software. We specifically perform multi-domain, multi-parameter optimization on an autonomous vehicle to find the best decision-making process, motion planning and control algorithms, and the physical parameters for autonomous racing. We detail the multi-domain optimization scheme, benchmark with different core components, and provide insights for generalization to new autonomous systems. In addition, this paper provides a benchmark of the performances of six different gradient-free optimizers in three different operating environments. Our approach is validated with a case study where we describe the autonomous vehicle system architecture, optimization methods, and finally, provide an argument on gradient-free optimization being a powerful choice to improve the performance of autonomous systems in an integrated manner.