Design of fractional-order controller for trajectory tracking control of a non-holonomic autonomous ground vehicle

A robust control technique is proposed to address the problem of trajectory tracking of an autonomous ground vehicle (AGV). This technique utilizes a fractional-order proportional integral derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are designed to control the AGV’s inputs. These inputs represent the torques that are used in order to manipulate the implemented model of the vehicle to obtain the actual path. The implemented model of the non-holonomic autonomous ground vehicle takes into consideration both of the kinematic and dynamic models. In additional, a particle swarm optimization (PSO) algorithm is used to optimize the FOPID controllers’ parameters. These optimal tuned parameters of FOPID controllers minimize the cost function used in the algorithm. The effectiveness and validation of the proposed method have been verified through different patterns of reference paths using MATLAB–Simulink software package. The stability of fractional-order system is analysed. Also, the robustness of the system is conducted by adding disturbances due to friction of wheels during the vehicle motion. The obtained results of FOPID controller show the advantage and the performance of the technique in terms of minimizing path tracking error and the complement of the path following

Wargaming and NSW: Innovating for Future Conflict

Defense Analysis PosterProblem Narrative: NSW focused on landbased CT&COIN for (mostly CENTCOM) for past 15+ years; USN Fleet and NSW linkage atrophy; Re-emergence/re-focus on near-peer threats; New technology in fields of stealth, robotics, UXV, cyberNaval Special Warfare Comman

The development of Loessial soils in central United States as it reflects differences in climate

Publication authorized June 25, 1942.Digitized 2007 AES.Includes bibliographical references (pages 30-31)

Helminths of the Gastrointestinal Tract of Raccoons in Southern Illinois with Management Implications of \u3ci\u3eBaylisascaris procyonis\u3c/i\u3e Occurrence

The gastrointestinal tracts of 60 raccoons (Procyon lotor) were examined for helminths. Six species were found: four species of nematodes (Arthrocephalus lotoris, Physaloptera rara, Gnathostoma procyonis, and Baylisascaris procyonis); one species of cestode (Mesocestoides variabilis); and one species of acanthocephalan (Macracanthorhynchus ingens). Baylisascaris procyonis has been implicated in the decline of woodrat populations throughout the northeast United States. As such, this parasite also may have been a factor in the extirpation of the eastern woodrat (Neotoma floridana) throughout most of southern Illinois. The frequency occurrence of Baylisascaris procyonis in our sample was unexpectedly low, 3 of 60 raccoons (5.0%), and suggests that reintroduction of eastern woodrats to formerly occupied sites in southern Illinois may not be adversely affected by this parasite

Compilation as a Defense: Enhancing DL Model Attack Robustness via Tensor Optimization

Adversarial Machine Learning (AML) is a rapidly growing field of security research, with an often overlooked area being model attacks through side-channels. Previous works show such attacks to be serious threats, though little progress has been made on efficient remediation strategies that avoid costly model re-engineering. This work demonstrates a new defense against AML side-channel attacks using model compilation techniques, namely tensor optimization. We show relative model attack effectiveness decreases of up to 43% using tensor optimization, discuss the implications, and direction of future work.Comment: 2 pages, 1 figure, CAMLIS 2023 Fast Abstrac

Model Leeching: An Extraction Attack Targeting LLMs

Model Leeching is a novel extraction attack targeting Large Language Models (LLMs), capable of distilling task-specific knowledge from a target LLM into a reduced parameter model. We demonstrate the effectiveness of our attack by extracting task capability from ChatGPT-3.5-Turbo, achieving 73% Exact Match (EM) similarity, and SQuAD EM and F1 accuracy scores of 75% and 87%, respectively for only $50 in API cost. We further demonstrate the feasibility of adversarial attack transferability from an extracted model extracted via Model Leeching to perform ML attack staging against a target LLM, resulting in an 11% increase to attack success rate when applied to ChatGPT-3.5-Turbo

Socioeconomic disparities in orthodontic treatment outcomes and expenditure on orthodontics in England's state-funded National Health Service:A retrospective observational study

Percentage distribution/means of variables used in the adjusted treatment outcomes analyses, by socioeconomic status (SES). Additional file 1 contains information on the distribution of variables used to adjust for potential confounding: IOTN AC scores, gender, and age. This information is provided by IMD quintile. (DOCX 16 kb

Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller

The motion control of unmanned ground vehicles is essential in the industry of automation. In this paper, the sensors of a fuzzy inference system that is based on a navigation technique for an unmanned ground vehicle are formulated in a cluttered dynamic environment. This fuzzy inference system consists of two controllers. The first controller uses three sensors based on the distances from the front, the right and the left. The second controller employs the angle difference between the heading of the vehicle and the targeted angle to choose the optimal route based on the dynamic environment and reach the desired destination with minimum running power and time. Experimental tests have been carried out in three different case studies to investigate the validation and effectiveness of the introduced controllers of the fuzzy inference system. The reported simulation results are conducted using MATLAB software package. The results show that the controllers of the fuzzy inference system consistently perform the maneuvering task and route planning efficiently even in a complex environment with populated dynamic obstacles

Required Reading for Library Administrators Part 1

The library and information science literature is overflowing with how-to articles, particularly how to manage the library. Increasingly, library managers find that the time they have available to peruse such literature lessens as other professional demands intrude. With this trend in mind, members of the Comparative Library Organization Committee (CLOC), a LAMA/LOMS standing committee, decided that a list of required readings is in order. Not just another bibliography, the selection of titles was developed using citation analysis, or bibliometrics, to select highly cited authors and titles for works published outside of the professional library literature, and for works published within that literature.(FN1) Members of CLOC then annotated the top twenty titles in each of the two categories from the critical perspective of professional practice. Part one of this work, published in Library Administration and Management (volume 16, number 3, summer 2002), contained the twenty most highly cited works published outside the library profession. This second part contains the twenty most highly cited works published in the library literature. Part one includes an extensive description of how the lists were compiled and will not be repeated here