Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
Heap-based buffer overflow in the __nss_hostname_digits_dots function in glibc 2.2, and other 2.x versions before 2.18, allows context-dependent attackers to execute arbitrary code via vectors related to the (1) gethostbyname or (2) gethostbyname2 function, aka "GHOST."
The GHOST vulnerability is a serious weakness in the Linux glibc library. It allows attackers to remotely take complete control of the victim system without having any prior knowledge of system credentials. CVE-2015-0235 has been assigned to this issue.
Qualys security researchers discovered this bug and worked closely with Linux distribution vendors. And as a result of that we are releasing this advisory today as a coordinated effort, and patches for all distribution are available January 27, 2015.
Digital Signatures: Reassessing security of randomizable signaturesPriyanka Aash
The document summarizes research on differential attacks against deterministic digital signatures like EdDSA. It finds that removing randomness from signature generation does not eliminate all attack vectors, identifying 8 fault attacks and 1 side-channel attack. Fully compliant countermeasures per the EdDSA specification have significant performance impacts. Alternatively, introducing high-quality randomness where possible allows cheaper countermeasures without affecting key generation or verification. The research aims to inform standardization bodies on defining new digital signature algorithms.
This document discusses adversarial search problems where agents have conflicting goals, such as in games. It introduces the concept of minimax search which finds the optimal strategy for a game by considering all possible moves by both players. The algorithm works by assigning numeric values to terminal states and recursively backing up values through the game tree. Alpha-beta pruning is also described, which improves on minimax by pruning branches that cannot influence the final decision. Evaluation functions are used to estimate the value of non-terminal states when the full search space cannot be explored within time limits.
The document discusses classical cryptography techniques such as substitution ciphers, transposition ciphers, and product ciphers. It then covers topics like cryptanalysis techniques including brute force attacks and statistical attacks. Modern symmetric key algorithms like AES and cryptographic hash functions are also mentioned.
The document discusses various classical cryptography techniques including substitution ciphers, transposition ciphers, and product ciphers. It then describes specific classical ciphers such as the Caesar cipher, monoalphabetic ciphers, and the Playfair cipher. It also covers cryptanalysis techniques like frequency analysis that can be used to break some classical ciphers.
Heap-based buffer overflow in the __nss_hostname_digits_dots function in glibc 2.2, and other 2.x versions before 2.18, allows context-dependent attackers to execute arbitrary code via vectors related to the (1) gethostbyname or (2) gethostbyname2 function, aka "GHOST."
The GHOST vulnerability is a serious weakness in the Linux glibc library. It allows attackers to remotely take complete control of the victim system without having any prior knowledge of system credentials. CVE-2015-0235 has been assigned to this issue.
Qualys security researchers discovered this bug and worked closely with Linux distribution vendors. And as a result of that we are releasing this advisory today as a coordinated effort, and patches for all distribution are available January 27, 2015.
Digital Signatures: Reassessing security of randomizable signaturesPriyanka Aash
The document summarizes research on differential attacks against deterministic digital signatures like EdDSA. It finds that removing randomness from signature generation does not eliminate all attack vectors, identifying 8 fault attacks and 1 side-channel attack. Fully compliant countermeasures per the EdDSA specification have significant performance impacts. Alternatively, introducing high-quality randomness where possible allows cheaper countermeasures without affecting key generation or verification. The research aims to inform standardization bodies on defining new digital signature algorithms.
This document discusses adversarial search problems where agents have conflicting goals, such as in games. It introduces the concept of minimax search which finds the optimal strategy for a game by considering all possible moves by both players. The algorithm works by assigning numeric values to terminal states and recursively backing up values through the game tree. Alpha-beta pruning is also described, which improves on minimax by pruning branches that cannot influence the final decision. Evaluation functions are used to estimate the value of non-terminal states when the full search space cannot be explored within time limits.
The document discusses classical cryptography techniques such as substitution ciphers, transposition ciphers, and product ciphers. It then covers topics like cryptanalysis techniques including brute force attacks and statistical attacks. Modern symmetric key algorithms like AES and cryptographic hash functions are also mentioned.
The document discusses various classical cryptography techniques including substitution ciphers, transposition ciphers, and product ciphers. It then describes specific classical ciphers such as the Caesar cipher, monoalphabetic ciphers, and the Playfair cipher. It also covers cryptanalysis techniques like frequency analysis that can be used to break some classical ciphers.
The document describes an algebraic attack on the KeeLoq block cipher. KeeLoq is used in car keyless entry systems and has 528 rounds with a 64-bit key. The attack sets up a system of equations modeling the encryption rounds using a SAT solver to recover the key from known plaintext-ciphertext pairs. It converts the algebraic normal form equations to conjunctive normal form required by the SAT solver to solve for the key.
The document describes several case-based planning platforms for real-time strategy (RTS) games:
1. The CAT system uses case-based reasoning to learn to win the RTS game Wargus by training against some opponents and then defeating a novel opponent.
2. The Darmok system retrieves relevant past cases based on the current game state's shallow and deep features to determine the best plan to achieve the goal of winning.
3. These systems represent cases as goals, states, plans and performances to learn tactics and strategies from previous games. Shallow features define situations while deep features discriminate between cases.
This document discusses embedded system development. It begins with definitions of embedded systems and some of their common characteristics like limited resources and real-time constraints. It then discusses specific issues like memory alignment, flash and RAM sizes, and performance optimizations. Examples are given of embedded projects like digital video recorders and how to address issues like file sorting, memory usage and stack overflows. The conclusion emphasizes that embedded systems involve knowledge from many technical fields and stresses the importance of experience, observation, and a positive problem-solving attitude.
This document provides an introduction to the C programming language in Chinese. It discusses downloading and installing Cygwin on Windows to get a development environment for C. It then covers basic C syntax like printf(), variables, conditions, loops, functions, pointers, arrays, and strings. Examples are provided like a program to evaluate poker card values using switches and if/else statements. The document emphasizes learning C through practical examples and exercises.
Accelerating Habanero-Java Program with OpenCL GenerationAkihiro Hayashi
Accelerating Habanero-Java Program with OpenCL Generation. Akihiro Hayashi, Max Grossman, Jisheng Zhao, Jun Shirako, Vivek Sarkar. 10th International Conference on the Principles and Practice of Programming in Java (PPPJ), September 2013.
Cloud computing is an ever-growing field in today‘s era.With the accumulation of data and the
advancement of technology,a large amount of data is generated everyday.Storage, availability and security of
the data form major concerns in the field of cloud computing.This paper focuses on homomorphic encryption,
which is largely used for security of data in the cloud.Homomorphic encryption is defined as the technique of
encryption in which specific operations can be carried out on the encrypted data.The data is stored on a remote
server.The task here is operating on the encrypted data.There are two types of homomorphic encryption, Fully
homomorphic encryption and patially homomorphic encryption.Fully homomorphic encryption allow arbitrary
computation on the ciphertext in a ring, while the partially homomorphic encryption is the one in which
addition or multiplication operations can be carried out on the normal ciphertext.Homomorphic encryption
plays a vital role in cloud computing as the encrypted data of companies is stored in a public cloud, thus taking
advantage of the cloud provider‘s services.Various algorithms and methods of homomorphic encryption that
have been proposed are discussed in this paper
This document provides a business plan for Marian Mats, a proposed business that will sell doormats featuring the Marian University logo. The doormats will cost $4.80 each to produce in China and will be sold for $20, giving a 75.5% profit margin. Market research found high student interest in a Marian-themed doormat. The plan is to order 205 doormats, advertise heavily on campus, and sell through events and social media, targeting students, faculty, alumni and parents. With 200 mats sold, the plan projects $2,301 in profit to split between the founders and donate to charity.
The Wearhouse: EchoUser and Oracle UX Wearable Technology for Work Design JamUltan O'Broin
This document outlines an event to discuss and design wearable solutions for enterprise use. It introduces wearables and provides examples of current devices. Attendees will participate in a design jam to rapidly prototype a wearable solution for an enterprise problem. The document provides guidance on designing wearable solutions, such as prioritizing the user experience and integrating with other devices and data. The goal is to have fun while learning and building relationships between wearables and enterprise technology.
This application note demonstrates an easy-to-fabricate holder that is suitable for many small samples. In addition, it shows the measurement of absolute total reflectance using this sample holder.
Este documento resume la dinámica de las importaciones de alimentos de Estados Unidos, la exportación de alimentos peruanos a EE.UU., y algunas acciones regulatorias de la FDA. Explica que las importaciones de alimentos de EE.UU. han crecido sustancialmente en las últimas décadas, y que las exportaciones peruanas, especialmente de productos hortofrutícolas, también han aumentado considerablemente. Finalmente, detalla algunas acciones de regulación de la FDA como inspecciones, muestreos, retiros de mercado y rechazos de importaciones
The document outlines a project to develop an artificial stability augmentation system (USAS) for unmanned aerial vehicles. It discusses the mission objectives, an overview of design alternatives, specifications for the system design, and a risk assessment plan. A project plan is presented, including an organizational chart, work breakdown structure, schedule, cost estimates, and required facilities and resources.
This document discusses key concepts in quantum mechanics including:
- Planck's quantum theory which established that atoms can only emit or absorb energy in discrete quanta.
- Einstein's explanation of the photoelectric effect using the particle nature of light (photons).
- Bohr's model of the hydrogen atom which explained its spectral lines by postulating discrete electron energy levels.
- Quantum numbers which describe the state of an electron including its orbital, orientation, and spin.
- Electron configuration which shows how electrons fill atomic orbitals according to the aufbau principle.
This document provides an overview of atomic structure and chemical bonding. It begins with a brief history of atomic theory from Dalton to Rutherford, including Thomson's discovery of the electron. Key topics covered include atomic number, mass number, isotopes, ions, molecules, chemical formulas and nomenclature. The periodic table is introduced as a way to organize elements based on atomic structure. Chemical formulas are used to represent ionic compounds, molecular compounds and acids/bases. Hydrates are also defined as compounds that contain bonded water molecules.
Passive Wireless Sensor Tags and High-Function RFID tags are enabled by RF Power Harvesting from RFID infrastructure or other dedicated RF power transmitters.
Viral and buzz Marketing : Como convertir tu marketing en un virus contagiosoJuan Sanchez Bonet
Marketing viral, como convertir tu estrategia en un virus contagioso. Claves del marketing viral,
Teorías y origen del marketing viral (The tipping point, vaca púrpura, 6 grados de separación, Roggers, etc.), la fórmula secreta de la viralidad, campañas de viral marketing, best practices, como desarrollar una estrategia de marketing viral, casos de estudios marketing viral, métricas marketing viral
Emakina, Vanksen, Culturebuzz, ...
Envíame un email to download conversemos@juanmarketing.com
Ahmed Momtaz Ahmed Hosny is an Egyptian aerospace engineer and manager. He received his PhD in aircraft dynamics and control from Beihang University in China. He has over 25 years of experience in aircraft maintenance, design, and management. Currently, he is the General Manager of Instrumentation and Control at Abu Zaabal for Fertilizers and Chemicals Company in Egypt, where he oversees maintenance, procurement, training, and projects. He has published several papers on control systems for aircraft and unmanned aerial vehicles.
This document provides an overview of engineering mechanics statics. It covers topics including:
- Defining mechanics as the science dealing with bodies at rest or in motion under forces.
- Dividing mechanics into statics, dynamics, and other subfields. Statics deals with bodies at rest.
- Introducing fundamental concepts of forces, units of measurement, and representing forces as vectors that add according to the parallelogram law.
- Providing examples of adding forces graphically using the parallelogram law and triangle rule to determine the resultant force.
- Discussing problems involving determining the magnitude and direction of resultant forces from multiple forces acting on structures, stakes, and brackets
The document describes an algebraic attack on the KeeLoq block cipher. KeeLoq is used in car keyless entry systems and has 528 rounds with a 64-bit key. The attack sets up a system of equations modeling the encryption rounds using a SAT solver to recover the key from known plaintext-ciphertext pairs. It converts the algebraic normal form equations to conjunctive normal form required by the SAT solver to solve for the key.
The document describes several case-based planning platforms for real-time strategy (RTS) games:
1. The CAT system uses case-based reasoning to learn to win the RTS game Wargus by training against some opponents and then defeating a novel opponent.
2. The Darmok system retrieves relevant past cases based on the current game state's shallow and deep features to determine the best plan to achieve the goal of winning.
3. These systems represent cases as goals, states, plans and performances to learn tactics and strategies from previous games. Shallow features define situations while deep features discriminate between cases.
This document discusses embedded system development. It begins with definitions of embedded systems and some of their common characteristics like limited resources and real-time constraints. It then discusses specific issues like memory alignment, flash and RAM sizes, and performance optimizations. Examples are given of embedded projects like digital video recorders and how to address issues like file sorting, memory usage and stack overflows. The conclusion emphasizes that embedded systems involve knowledge from many technical fields and stresses the importance of experience, observation, and a positive problem-solving attitude.
This document provides an introduction to the C programming language in Chinese. It discusses downloading and installing Cygwin on Windows to get a development environment for C. It then covers basic C syntax like printf(), variables, conditions, loops, functions, pointers, arrays, and strings. Examples are provided like a program to evaluate poker card values using switches and if/else statements. The document emphasizes learning C through practical examples and exercises.
Accelerating Habanero-Java Program with OpenCL GenerationAkihiro Hayashi
Accelerating Habanero-Java Program with OpenCL Generation. Akihiro Hayashi, Max Grossman, Jisheng Zhao, Jun Shirako, Vivek Sarkar. 10th International Conference on the Principles and Practice of Programming in Java (PPPJ), September 2013.
Cloud computing is an ever-growing field in today‘s era.With the accumulation of data and the
advancement of technology,a large amount of data is generated everyday.Storage, availability and security of
the data form major concerns in the field of cloud computing.This paper focuses on homomorphic encryption,
which is largely used for security of data in the cloud.Homomorphic encryption is defined as the technique of
encryption in which specific operations can be carried out on the encrypted data.The data is stored on a remote
server.The task here is operating on the encrypted data.There are two types of homomorphic encryption, Fully
homomorphic encryption and patially homomorphic encryption.Fully homomorphic encryption allow arbitrary
computation on the ciphertext in a ring, while the partially homomorphic encryption is the one in which
addition or multiplication operations can be carried out on the normal ciphertext.Homomorphic encryption
plays a vital role in cloud computing as the encrypted data of companies is stored in a public cloud, thus taking
advantage of the cloud provider‘s services.Various algorithms and methods of homomorphic encryption that
have been proposed are discussed in this paper
This document provides a business plan for Marian Mats, a proposed business that will sell doormats featuring the Marian University logo. The doormats will cost $4.80 each to produce in China and will be sold for $20, giving a 75.5% profit margin. Market research found high student interest in a Marian-themed doormat. The plan is to order 205 doormats, advertise heavily on campus, and sell through events and social media, targeting students, faculty, alumni and parents. With 200 mats sold, the plan projects $2,301 in profit to split between the founders and donate to charity.
The Wearhouse: EchoUser and Oracle UX Wearable Technology for Work Design JamUltan O'Broin
This document outlines an event to discuss and design wearable solutions for enterprise use. It introduces wearables and provides examples of current devices. Attendees will participate in a design jam to rapidly prototype a wearable solution for an enterprise problem. The document provides guidance on designing wearable solutions, such as prioritizing the user experience and integrating with other devices and data. The goal is to have fun while learning and building relationships between wearables and enterprise technology.
This application note demonstrates an easy-to-fabricate holder that is suitable for many small samples. In addition, it shows the measurement of absolute total reflectance using this sample holder.
Este documento resume la dinámica de las importaciones de alimentos de Estados Unidos, la exportación de alimentos peruanos a EE.UU., y algunas acciones regulatorias de la FDA. Explica que las importaciones de alimentos de EE.UU. han crecido sustancialmente en las últimas décadas, y que las exportaciones peruanas, especialmente de productos hortofrutícolas, también han aumentado considerablemente. Finalmente, detalla algunas acciones de regulación de la FDA como inspecciones, muestreos, retiros de mercado y rechazos de importaciones
The document outlines a project to develop an artificial stability augmentation system (USAS) for unmanned aerial vehicles. It discusses the mission objectives, an overview of design alternatives, specifications for the system design, and a risk assessment plan. A project plan is presented, including an organizational chart, work breakdown structure, schedule, cost estimates, and required facilities and resources.
This document discusses key concepts in quantum mechanics including:
- Planck's quantum theory which established that atoms can only emit or absorb energy in discrete quanta.
- Einstein's explanation of the photoelectric effect using the particle nature of light (photons).
- Bohr's model of the hydrogen atom which explained its spectral lines by postulating discrete electron energy levels.
- Quantum numbers which describe the state of an electron including its orbital, orientation, and spin.
- Electron configuration which shows how electrons fill atomic orbitals according to the aufbau principle.
This document provides an overview of atomic structure and chemical bonding. It begins with a brief history of atomic theory from Dalton to Rutherford, including Thomson's discovery of the electron. Key topics covered include atomic number, mass number, isotopes, ions, molecules, chemical formulas and nomenclature. The periodic table is introduced as a way to organize elements based on atomic structure. Chemical formulas are used to represent ionic compounds, molecular compounds and acids/bases. Hydrates are also defined as compounds that contain bonded water molecules.
Passive Wireless Sensor Tags and High-Function RFID tags are enabled by RF Power Harvesting from RFID infrastructure or other dedicated RF power transmitters.
Viral and buzz Marketing : Como convertir tu marketing en un virus contagiosoJuan Sanchez Bonet
Marketing viral, como convertir tu estrategia en un virus contagioso. Claves del marketing viral,
Teorías y origen del marketing viral (The tipping point, vaca púrpura, 6 grados de separación, Roggers, etc.), la fórmula secreta de la viralidad, campañas de viral marketing, best practices, como desarrollar una estrategia de marketing viral, casos de estudios marketing viral, métricas marketing viral
Emakina, Vanksen, Culturebuzz, ...
Envíame un email to download conversemos@juanmarketing.com
Ahmed Momtaz Ahmed Hosny is an Egyptian aerospace engineer and manager. He received his PhD in aircraft dynamics and control from Beihang University in China. He has over 25 years of experience in aircraft maintenance, design, and management. Currently, he is the General Manager of Instrumentation and Control at Abu Zaabal for Fertilizers and Chemicals Company in Egypt, where he oversees maintenance, procurement, training, and projects. He has published several papers on control systems for aircraft and unmanned aerial vehicles.
This document provides an overview of engineering mechanics statics. It covers topics including:
- Defining mechanics as the science dealing with bodies at rest or in motion under forces.
- Dividing mechanics into statics, dynamics, and other subfields. Statics deals with bodies at rest.
- Introducing fundamental concepts of forces, units of measurement, and representing forces as vectors that add according to the parallelogram law.
- Providing examples of adding forces graphically using the parallelogram law and triangle rule to determine the resultant force.
- Discussing problems involving determining the magnitude and direction of resultant forces from multiple forces acting on structures, stakes, and brackets
Matlab codes for Sizing and Calculating the Aircraft Stability & PerformanceAhmed Momtaz Hosny, PhD
Matlab codes for Sizing and Calculating the Aircraft Stability & Performance, with the knowledge of the DATCOM Results. (Simple and rapid way to analyze and evaluate the aircraft performance)
This document provides an overview and summary of a thesis that investigates fuzzy logic LQR control integration for full mission multistage aerial refueling autopilot. It begins with acknowledgments and then provides an abstract that describes investigating LQR control alone and integrating it with fuzzy control. It indicates the control strategy was applied to two aerial refueling methods and MATLAB simulations showed the validity and efficiency of the proposed control approach. The document includes chapters that cover literature reviews on controller types, aircraft modeling and linearization, linear quadratic regulation, intelligent learning of fuzzy logic controllers via genetic algorithm, design of a fighter flight formation autopilot for aerial refueling, and control strategy implementation methodology. It concludes with summaries of results from each stage of
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive function. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
Development of Fuzzy Logic LQR Control Integration for Full Mission Multistag...Ahmed Momtaz Hosny, PhD
This work investigates the performance on the aircraft control system during air refuel purposes of the Linear Quadratic Regulator (LQR) control alone, and the integration between fuzzy control and LQR. LQR is modern linear control that is suitable for multivariable state feedback and is known to yield good performance for linear systems or for nonlinear systems where the nonlinear aspects are presented. The fuzzy control is known to have the ability to deal with nonlinearities without having to use advanced mathematics. The LQR integrated fuzzy control (LQRIFC) simultaneously makes use of the good performance of the LQR in the region close to switching curve, and the effectiveness of the fuzzy control in region away from switching curve. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into the fuzzy control. The LQRIFC is verified by simulation to suppress the uncertain instability more effectively than the LQR alone besides minimizing the time of the mission proposed. The aerial refueling process has been divided into 3 basic stages (initial stability stage, tracking stage, alignment stage) to meet all the process requirements and constraints with minimizing the whole mission time period. GA has been used to tune the fuzzy logic controller parameters and some PID’s. The control strategy was applied to both aerial refueling methods. And the MATLAB simulation results show the validity and the efficiency of using the proposed control approach.
Development of Fuzzy Logic LQR Control Integration for Full Mission Multistag...Ahmed Momtaz Hosny, PhD
This work investigates the performance on the aircraft control system during air refuel purposes of the Linear Quadratic Regulator (LQR) control alone, and the integration between fuzzy control and LQR. LQR is modern linear control that is suitable for multivariable state feedback and is known to yield good performance for linear systems or for nonlinear systems where the nonlinear aspects are presented. The fuzzy control is known to have the ability to deal with nonlinearities without having to use advanced mathematics. The LQR integrated fuzzy control (LQRIFC) simultaneously makes use of the good performance of the LQR in the region close to switching curve, and the effectiveness of the fuzzy control in region away from switching curve. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into the fuzzy control. The LQRIFC is verified by simulation to suppress the uncertain instability more effectively than the LQR alone besides minimizing the time of the mission proposed. The aerial refueling process has been divided into 3 basic stages (initial stability stage, tracking stage, alignment stage) to meet all the process requirements and constraints with minimizing the whole mission time period. GA has been used to tune the fuzzy logic controller parameters and some PID’s. The control strategy was applied to both aerial refueling methods. And the MATLAB simulation results show the validity and the efficiency of using the proposed control approach.
DEVELOPMENT OF A NEUROFUZZY CONTROL SYSTEM FOR THE GUIDANCE OF AIR ...Ahmed Momtaz Hosny, PhD
ABSTRACT
In recent years, there has been an increasing interest in the fusion of neural networks and fuzzy logic specially in missile control problems. A technique for the preliminary design of a control system is presented using a neurofuzzy approach for a highly nonlinear MIMO 5_DOF AIM 9R model. The model reflects cross coupling effects between the longitudinal and lateral motions. Two neural network controllers are used for the low level control of each motion separately. The control effort of these networks is then blended by a fuzzy logic controller to obtain the overall control action.The fuzzy controller which is a Mamdani type inference system has 25 rule base designed to cope with model uncertainties specially in cross coupling between lateral and longitudinal motions. A computer simulation is performed to compare between various control techniques. The result showed the effectiveness of the hybrid system compared to other control strategies where fuzzy systems or neural networks are used separately.
DEVELOPMENT OF NEUROFUZZY CONTROL SYSTEM FOR THE GUIDANCE OF AIR TO AIR MISS...Ahmed Momtaz Hosny, PhD
This document summarizes a thesis on developing a neurofuzzy control system for guiding air-to-air missiles. It includes sections on AIM 9 missile modeling, control strategies using neural networks and fuzzy logic, computer simulations, and conclusions. Control strategies include using neural networks, fuzzy logic, and a hybrid neurofuzzy system. Comparisons are made between different controller types using integrated square error. The thesis recommends applying the control techniques practically and optimizing guidance based on predicted target maneuver data.
A Comparison Study between Inferred State-Space and Neural Network Based Syst...Ahmed Momtaz Hosny, PhD
In this paper, system identifications of an unmanned aerial vehicle (UAV) based on inferred state space and multiple neural networks were presented. In this work an optimization approach was used to conclude an inferred state space and the multiple neural networks system identifications based on the genetic algorithms separately. The UAV is a multi-input multi-output (MIMO) nonlinear system. Models for such MIMO system are expected to be adaptive to dynamic behavior and robust to environment.
Development of a Customized Autopilot for Unmanned Helicopter Model Using Gen...Ahmed Momtaz Hosny, PhD
The objective of this paper is to develop a customized autopilot system that enables a helicopter model to carry out an autonomous flight using on-board microcontroller. The main goal of this project is to provide a comprehensive controller design methodology, Modeling, simulation, guidance and verification for an unmanned helicopter model. The autopilot system was designed to demonstrate autonomous maneuvers such as flying over the planned waypoints with constant forward speed.
A Comparison Study between Inferred State-Space and Neural Network Based Syst...Ahmed Momtaz Hosny, PhD
Dr. Ahmed M. Hosny presents a study comparing system identification methods for modeling an unmanned helicopter using inferred state-space modeling and neural networks. An optimization approach using genetic algorithms was used to determine the system models. The inferred state-space approach was found to be easier, more stable, and produced a better performing model compared to the multi-network neural network approach. Testing showed the inferred state-space model had a lower performance index value compared to the actual system, indicating better accuracy.
The objective of this paper is to develop a customized autopilot system that enables a helicopter model to carry out an autonomous flight using on-board microcontroller. The main goal of this project is to provide a comprehensive controller design methodology, Modeling, simulation, guidance and verification for an unmanned helicopter model. The autopilot system was designed to demonstrate autonomous maneuvers such as flying over the planned waypoints with constant forward speed and considerable steep maneuvers. For the controller design, the nonlinear dynamic model of the Remote Control helicopter was built by employing Lumped Parameter approach comprising of four different subsystems such as actuator dynamics, rotary wing dynamics, force and moment generation process and rigid body dynamics. The nonlinear helicopter mathematical model was then linearized using small perturbation theory for stability analysis and linear feedback control system design. The linear state feedback for the stabilization and control of the helicopter was derived using Pole Placement Method. The overall dynamic system control with output feedback was computed using Genetic Algorithm. Series of Matlab-Simulink models and guidance algorithms were presented in this work to simulate and verify the autopilot system performance. The proposed autopilot has shown acceptable capability of stabilizing and controlling the helicopter during tracking the desired waypoints. This paper is presenting a detailed comparison study for two different guidance strategies. The first strategy is concerning the difference between the desired heading or elevation referred to the next waypoint and the actual heading or elevation of the unmanned helicopter model. The second strategy is concerning the relative distance between the actual and the desired trajectories. In other words the first method is tracking the waypoints while the second one is tracking the trajectory. In this work a comparison study was conducted through the mentioned strategies simulation to show the significant differences in the output performance. Some performance indexes were presented to evaluate the system performance errors and the control effort needed for both strategies using the same desired trajectory and the same waypoints.
This document discusses autonomous formation flight control for aerial refueling missions. It models the dynamics of a KC-130J tanker and F-16 receiver in close formation flight. A control strategy is designed using a rotating reference frame attached to the wingman aircraft. The strategy aims to control the wingman's position relative to the leader through state error feedback between the aircraft. Specifically, it controls the lateral and forward distance between the aircraft in the level flight plane, as well as the vertical distance. The control system design decomposes the problem into inner loop attitude control and outer loop trajectory control of the formation geometry.
DEVELOPMENT OF A NEUROFUZZY CONTROL SYSTEM FOR THE GUIDANCE OF AIR TO AIR MIS...Ahmed Momtaz Hosny, PhD
This document describes the development of a neurofuzzy control system for guiding air-to-air missiles. The system uses two neural network controllers to control the longitudinal and lateral motions separately. A fuzzy logic controller then blends the outputs of the neural networks to obtain the overall control action. The fuzzy controller has a 25 rule base to handle uncertainties from cross-coupling between the motions. Simulation results showed the neurofuzzy hybrid system performed better than using just neural networks or fuzzy systems alone for control.
DEVELOPMENT OF FUZZY LOGIC LQR CONTROL INTEGRATION FOR AERIAL REFUELING AUTOP...Ahmed Momtaz Hosny, PhD
This document summarizes research on integrating fuzzy logic control with linear quadratic regulator (LQR) control for an aerial refueling autopilot. It describes modeling an aircraft, applying LQR control alone and with fuzzy logic control integrated. The integrated LQR fuzzy control is shown to more effectively suppress uncertainties and minimize mission time compared to LQR alone. Key aspects covered include aircraft modeling, optimal LQR flight control, applying fuzzy inference systems, deriving fuzzy rules, and the integrated LQR fuzzy control structure applied to pitch and lateral control for aerial refueling simulations.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive function. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms for those who already suffer from conditions like anxiety and depression.
Architectural and constructions management experience since 2003 including 18 years located in UAE.
Coordinate and oversee all technical activities relating to architectural and construction projects,
including directing the design team, reviewing drafts and computer models, and approving design
changes.
Organize and typically develop, and review building plans, ensuring that a project meets all safety and
environmental standards.
Prepare feasibility studies, construction contracts, and tender documents with specifications and
tender analyses.
Consulting with clients, work on formulating equipment and labor cost estimates, ensuring a project
meets environmental, safety, structural, zoning, and aesthetic standards.
Monitoring the progress of a project to assess whether or not it is in compliance with building plans
and project deadlines.
Attention to detail, exceptional time management, and strong problem-solving and communication
skills are required for this role.
Connect Conference 2022: Passive House - Economic and Environmental Solution...TE Studio
Passive House: The Economic and Environmental Solution for Sustainable Real Estate. Lecture by Tim Eian of TE Studio Passive House Design in November 2022 in Minneapolis.
- The Built Environment
- Let's imagine the perfect building
- The Passive House standard
- Why Passive House targets
- Clean Energy Plans?!
- How does Passive House compare and fit in?
- The business case for Passive House real estate
- Tools to quantify the value of Passive House
- What can I do?
- Resources
Storytelling For The Web: Integrate Storytelling in your Design ProcessChiara Aliotta
In this slides I explain how I have used storytelling techniques to elevate websites and brands and create memorable user experiences. You can discover practical tips as I showcase the elements of good storytelling and its applied to some examples of diverse brands/projects..
Visual Style and Aesthetics: Basics of Visual Design
Visual Design for Enterprise Applications
Range of Visual Styles.
Mobile Interfaces:
Challenges and Opportunities of Mobile Design
Approach to Mobile Design
Patterns
Revolutionizing the Digital Landscape: Web Development Companies in Indiaamrsoftec1
Discover unparalleled creativity and technical prowess with India's leading web development companies. From custom solutions to e-commerce platforms, harness the expertise of skilled developers at competitive prices. Transform your digital presence, enhance the user experience, and propel your business to new heights with innovative solutions tailored to your needs, all from the heart of India's tech industry.
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
1. Genetic Trial #1
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder
Paths with Multiple Random Starting Points Via Genetic Algorithm.
15. KK=0;
T=length(RTG);
while Q0-RT0_x0>0.1 && RT0_x0+Q0>0.1|| -RT0_x0+Q0<0.1
KK=KK+1;
if RT0_x0>=0 && RT0_x0<=(Q0-R0)
RT0_xn=RT0_x0-RT0_D;
RT0_yn=R0;
else
if RT0_x0<0 && RT0_x0>(Q0-R0)*(-1)
if (RT0_x0+(Q0-R0))<=mar
RT0_xn=-1*(Q0-R0);
RT0_yn=R0;
else
RT0_xn=RT0_x0-RT0_D;
RT0_yn=R0;
end
else
if RT0_x0>(Q0-R0) && RT0_x0<Q0
if (RT0_x0-(Q0-R0))<=mar1
RT0_xn=(Q0-R0);
RT0_yn=R0;
else
RT0_xn= R0*cos((RT0_D/R0)+acos(((RT0_x0)-(Q0-R0))/R0))+(Q0-R0);
RT0_yn=((R0)^2-(RT0_xn-(Q0-R0))^2)^0.5;
end
else
if RT0_x0<=(-1)*(Q0-R0) && RT0_x0>-Q0
RT0_xn= -R0*cos(((-1)*RT0_D/R0)+acos((((-1)*RT0_x0)-(Q0-R0))/R0))-
(Q0-R0);
RT0_yn=((R0)^2-((-RT0_xn)-(Q0-R0))^2)^0.5;
else
end
end
17. if RT0_x0<0 && RT0_x0>=(Q0-R0)*(-1)
RT0_xn=RT0_x0+RT0_D;
RT0_yn=-R0;
else
if RT0_x0>=(Q0-R0) && RT0_x0<Q0
RT0_xn= R0*cos((-RT0_D/R0)+acos(((RT0_x0)-(Q0-R0))/R0))+(Q0-R0);
RT0_yn=-((R0)^2-(RT0_xn-(Q0-R0))^2)^0.5;
else
if RT0_x0<=(-1)*(Q0-R0) && RT0_x0>-Q0
if (RT0_x0+(Q0-R0))>=-mar1
RT0_xn=-(Q0-R0);
RT0_yn=-R0;
else
RT0_xn= -R0*cos((RT0_D/R0)+acos((((-1)*RT0_x0)-(Q0-R0))/R0))-(Q0-
R0);
RT0_yn=-((R0)^2-((-RT0_xn)-(Q0-R0))^2)^0.5;
end
else
end
end
end
end
19. RT1_xn=-1*(Q1-R1);
RT1_yn=R1;
else
RT1_xn=RT1_x0-RT1_D;
RT1_yn=R1;
end
else
if RT1_x0>(Q1-R1) && RT1_x0<Q1
if (RT1_x0-(Q1-R1))<=mar1
RT1_xn=(Q1-R1);
RT1_yn=R1;
else
RT1_xn= R1*cos((RT1_D/R1)+acos(((RT1_x0)-(Q1-R1))/R1))+(Q1-R1);
RT1_yn=((R1)^2-(RT1_xn-(Q1-R1))^2)^0.5;
end
else
if RT1_x0<=(-1)*(Q1-R1) && RT1_x0>-Q1
RT1_xn= -R1*cos(((-1)*RT1_D/R1)+acos((((-1)*RT1_x0)-(Q1-R1))/R1))-
(Q1-R1);
RT1_yn=((R1)^2-((-RT1_xn)-(Q1-R1))^2)^0.5;
else
end
end
end
end
RT1_x0=RT1_xn;
RT2(KK)=RT1_xn;
RTY2(KK)=RT1_yn;
RTG1(T1+KK-1)=RT2(KK);
RTYG1(T1+KK-1)=RTY2(KK);
RTG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))+long1;
21. if RT1_x0<=(-1)*(Q1-R1) && RT1_x0>-Q1
if (RT1_x0+(Q1-R1))>=-mar1
RT1_xn=-(Q1-R1);
RT1_yn=-R1;
else
RT1_xn= -R1*cos((RT1_D/R1)+acos((((-1)*RT1_x0)-(Q1-R1))/R1))-(Q1-
R1);
RT1_yn=-((R1)^2-((-RT1_xn)-(Q1-R1))^2)^0.5;
end
else
end
end
end
end
RT1_x0=RT1_xn;
RT3(KK)=RT1_xn;
RTY3(KK)=RT1_yn;
RTG1(T1+KK-1)=RT3(KK);
RTYG1(T1+KK-1)=RTY3(KK);
RTG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))+long1;
RTYG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))*tan(th1)+RTYG1(T1+KK-1)/cos(th1)+lat1;
if RT1_yn>-mar2
RT1_y0=1;
else
end
end
22. end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the third
flight path
if RT2_y0>=0
KK=0;
T2=length(RTG2);
while Q2-RT2_x0>0.1 && RT2_x0+Q2>0.1|| -RT2_x0+Q2<0.1
% for KK=1:1:2928
KK=KK+1;
if RT2_x0>=0 && RT2_x0<=(Q2-R2)
RT2_xn=RT2_x0-RT2_D;
RT2_yn=R2;
else
if RT2_x0<0 && RT2_x0>(Q2-R2)*(-1)
if (RT2_x0+(Q2-R2))<=mar
RT2_xn=-1*(Q2-R2);
RT2_yn=R2;
else
RT2_xn=RT2_x0-RT2_D;
RT2_yn=R2;
end
else
if RT2_x0>(Q2-R2) && RT2_x0<Q2
if (RT2_x0-(Q2-R2))<=mar1
RT2_xn=(Q2-R2);
RT2_yn=R2;
else
RT2_xn= R2*cos((RT2_D/R2)+acos(((RT2_x0)-(Q2-R2))/R2))+(Q2-R2);
RT2_yn=((R2)^2-(RT2_xn-(Q2-R2))^2)^0.5;
end
else
23. if RT2_x0<=(-1)*(Q2-R2) && RT2_x0>-Q2
RT2_xn= -R2*cos(((-1)*RT2_D/R2)+acos((((-1)*RT2_x0)-(Q2-R2))/R2))-
(Q2-R2);
RT2_yn=((R2)^2-((-RT2_xn)-(Q2-R2))^2)^0.5;
else
end
end
end
end
RT2_x0=RT2_xn;
RT4(KK)=RT2_xn;
RTY4(KK)=RT2_yn;
RTG2(T2+KK-1)=RT4(KK);
RTYG2(T2+KK-1)=RTY4(KK);
RTG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))+long2;
RTYG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))*tan(th2)+RTYG2(T2+KK-1)/cos(th2)+lat2;
if RT2_yn<mar2
RT2_y0=-1;
else
end
end
elseif RT2_y0<0
T2=length(RTG2);
KK=0;
while (Q2-RT2_x0>0.1 && RT2_x0+Q2>0.1)|| RT2_x0+Q2<0.1
24. % for KK=1:1:2928
KK=KK+1;
if RT2_x0>=0 && RT2_x0<=(Q2-R2)
if (RT2_x0+(Q2-R2))<=mar1
RT2_xn=(Q2-R2);
RT2_yn=-R2;
else
RT2_xn=RT2_x0+RT2_D;
RT2_yn=-R2;
end
else
if RT2_x0<0 && RT2_x0>=(Q2-R2)*(-1)
RT2_xn=RT2_x0+RT2_D;
RT2_yn=-R2;
else
if RT2_x0>=(Q2-R2) && RT2_x0<Q2
RT2_xn= R2*cos((-RT2_D/R2)+acos(((RT2_x0)-(Q2-R2))/R2))+(Q2-R2);
RT2_yn=-((R2)^2-(RT2_xn-(Q2-R2))^2)^0.5;
else
if RT2_x0<=(-1)*(Q2-R2) && RT2_x0>-Q2
if (RT2_x0+(Q2-R2))>=-mar1
RT2_xn=-(Q2-R2);
RT2_yn=-R2;
else
RT2_xn= -R2*cos((RT2_D/R2)+acos((((-1)*RT2_x0)-(Q2-R2))/R2))-(Q2-
R2);
RT2_yn=-((R2)^2-((-RT2_xn)-(Q2-R2))^2)^0.5;
end
else
26. KK=0;
while Q3-RT3_x0>0.1 && RT3_x0+Q3>0.1|| -RT3_x0+Q3<0.1
% for KK=1:1:2928
KK=KK+1;
if RT3_x0>=0 && RT3_x0<=(Q3-R3)
RT3_xn=RT3_x0-RT3_D;
RT3_yn=R3;
else
if RT3_x0<0 && RT3_x0>(Q3-R3)*(-1)
if (RT3_x0+(Q3-R3))<=mar
RT3_xn=-1*(Q3-R3);
RT3_yn=R3;
else
RT3_xn=RT3_x0-RT3_D;
RT3_yn=R3;
end
else
if RT3_x0>(Q3-R3) && RT3_x0<Q3
if (RT3_x0-(Q3-R3))<=mar1
RT3_xn=(Q3-R3);
RT3_yn=R3;
else
RT3_xn= R3*cos((RT3_D/R3)+acos(((RT3_x0)-(Q3-R3))/R3))+(Q3-R3);
RT3_yn=((R3)^2-(RT3_xn-(Q3-R3))^2)^0.5;
end
else
if RT3_x0<=(-1)*(Q3-R3) && RT3_x0>-Q3
RT3_xn= -R3*cos(((-1)*RT3_D/R3)+acos((((-1)*RT3_x0)-(Q3-R3))/R3))-
(Q3-R3);
RT3_yn=((R3)^2-((-RT3_xn)-(Q3-R3))^2)^0.5;
else
end
end
28. if RT3_x0<0 && RT3_x0>=(Q3-R3)*(-1)
RT3_xn=RT3_x0+RT3_D;
RT3_yn=-R3;
else
if RT3_x0>=(Q3-R3) && RT3_x0<Q3
RT3_xn= R3*cos((-RT3_D/R3)+acos(((RT3_x0)-(Q3-R3))/R3))+(Q3-R3);
RT3_yn=-((R3)^2-(RT3_xn-(Q3-R3))^2)^0.5;
else
if RT3_x0<=(-1)*(Q3-R3) && RT3_x0>-Q3
if (RT3_x0+(Q3-R3))>=-mar1
RT3_xn=-(Q3-R3);
RT3_yn=-R3;
else
RT3_xn= -R3*cos((RT3_D/R3)+acos((((-1)*RT3_x0)-(Q3-R3))/R3))-(Q3-
R3);
RT3_yn=-((R3)^2-((-RT3_xn)-(Q3-R3))^2)^0.5;
end
else
end
end
end
end
30. if RT4_x0<0 && RT4_x0>(Q4-R4)*(-1)
if (RT4_x0+(Q4-R4))<=mar
RT4_xn=-1*(Q4-R4);
RT4_yn=R4;
else
RT4_xn=RT4_x0-RT4_D;
RT4_yn=R4;
end
else
if RT4_x0>(Q4-R4) && RT4_x0<Q4
if (RT4_x0-(Q4-R4))<=mar1
RT4_xn=(Q4-R4);
RT4_yn=R4;
else
RT4_xn= R4*cos((RT4_D/R4)+acos(((RT4_x0)-(Q4-R4))/R4))+(Q4-R4);
RT4_yn=((R4)^2-(RT4_xn-(Q4-R4))^2)^0.5;
end
else
if RT4_x0<=(-1)*(Q4-R4) && RT4_x0>-Q4
RT4_xn= -R4*cos(((-1)*RT4_D/R4)+acos((((-1)*RT4_x0)-(Q4-R4))/R4))-
(Q4-R4);
RT4_yn=((R4)^2-((-RT4_xn)-(Q4-R4))^2)^0.5;
else
end
end
end
end
RT4_x0=RT4_xn;
RT8(KK)=RT4_xn;
RTY8(KK)=RT4_yn;
32. else
if RT4_x0<=(-1)*(Q4-R4) && RT4_x0>-Q4
if (RT4_x0+(Q4-R4))>=-mar1
RT4_xn=-(Q4-R4);
RT4_yn=-R4;
else
RT4_xn= -R4*cos((RT4_D/R4)+acos((((-1)*RT4_x0)-(Q4-R4))/R4))-(Q4-
R4);
RT4_yn=-((R4)^2-((-RT4_xn)-(Q4-R4))^2)^0.5;
end
else
end
end
end
end
RT4_x0=RT4_xn;
RT9(KK)=RT4_xn;
RTY9(KK)=RT4_yn;
RTG4(T4+KK-1)=RT9(KK);
RTYG4(T4+KK-1)=RTY9(KK);
RTG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))+long4;
RTYG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))*tan(th4)+RTYG4(T4+KK-1)/cos(th4)+lat4;
if RT4_yn>-mar2
RT4_y0=1;
else
35. U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x(v))^2+(RTYG1(U)-f1(v))^2)&& U==v
z=z+1;
Dx10_Time(z)=RTG1(U);
Dy10_Time(z)=RTYG1(U);
else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x(v))^2+(RTYG2(U)-f1(v))^2)&& U==v
z=z+1;
Dx20_Time(z)=RTG2(U);
Dy20_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x(v))^2+(RTYG3(U)-f1(v))^2)&& U==v
z=z+1;
Dx30_Time(z)=RTG3(U);
Dy30_Time(z)=RTYG3(U);
else
end
36. end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x(v))^2+(RTYG4(U)-f1(v))^2)&& U==v
z=z+1;
Dx4_Time(z)=RTG4(U);
Dy4_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x1-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x1(v))^2+(RTYG(U)-f11(v))^2)&& U==v
z=z+1;
Dx0_Time(z)=RTG(U);
Dy0_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
38. while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x1(v))^2+(RTYG4(U)-f11(v))^2)&& U==v
z=z+1;
Dx41_Time(z)=RTG4(U);
Dy41_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x2-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x2(v))^2+(RTYG(U)-f12(v))^2)&& U==v
z=z+1;
Dx1_Time(z)=RTG(U);
Dy1_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x2(v))^2+(RTYG1(U)-f12(v))^2)&& U==v
41. else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x3(v))^2+(RTYG2(U)-f13(v))^2)&& U==v
z=z+1;
Dx23_Time(z)=RTG2(U);
Dy23_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x3(v))^2+(RTYG3(U)-f13(v))^2)&& U==v
z=z+1;
Dx33_Time(z)=RTG3(U);
Dy33_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x3(v))^2+(RTYG4(U)-f13(v))^2)&& U==v
z=z+1;
43. end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x4(v))^2+(RTYG2(U)-f14(v))^2)&& U==v
z=z+1;
Dx24_Time(z)=RTG2(U);
Dy24_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x4(v))^2+(RTYG3(U)-f14(v))^2)&& U==v
z=z+1;
Dx34_Time(z)=RTG3(U);
Dy34_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x4(v))^2+(RTYG4(U)-f14(v))^2)&& U==v
z=z+1;
Dx44_Time(z)=RTG4(U);
Dy44_Time(z)=RTYG4(U);
else
45. Ji=1./(F+1e-10);
%****** Step 1 : Evaluate BestJ ******
BestJ(k)=min(Ji);
fi=F; %Fitness Function
[Oderfi,Indexfi]=sort(fi); %Arranging fi small to bigger
Bestfi=Oderfi(Size); %Let Bestfi=max(fi)
BestS=E(Indexfi(Size),:); %Let BestS=E(m), m is the Indexfi belong
to max(fi)
bfi(k)=Bestfi;
%****** Step 2 : Select and Reproduct Operation******
fi_sum=sum(fi);
fi_Size=(Oderfi/fi_sum)*Size;
fi_S=floor(fi_Size); %Selecting Bigger fi value
kk=1;
for i=1:1:Size
for j=1:1:fi_S(i) %Select and Reproduce
TempE(kk,:)=E(Indexfi(i),:);
kk=kk+1; %kk is used to reproduce
end
end
%************ Step 3 : Crossover Operation ************
pc=0.60;
n=ceil(250*rand);
for i=1:2:(Size-1)
temp=rand;
if pc>temp %Crossover Condition
for j=n:1:250
TempE(i,j)=E(i+1,j);
TempE(i+1,j)=E(i,j);
end
end
end
TempE(Size,:)=BestS;
E=TempE;
%************ Step 4: Mutation Operation **************
%pm=0.001;
%pm=0.001-[1:1:Size]*(0.001)/Size; %Bigger fi, smaller Pm
%pm=0.0; %No mutation
pm=0.1; %Big mutation
for i=1:1:Size
for j=1:1:25*CodeL
temp=rand;
if pm>temp %Mutation Condition
if TempE(i,j)==0
TempE(i,j)=1;
else
TempE(i,j)=0;
46. end
end
end
end
%Guarantee TempPop(30,:) is the code belong to the best
individual(max(fi))
TempE(Size,:)=BestS;
E=TempE;
W0(k)=W0;
W1(k)=W1;
W2(k)=W2;
W3(k)=W3;
W4(k)=W4;
L0(k)=L0;
L1(k)=L1;
L2(k)=L2;
L3(k)=L3;
L4(k)=L4;
th0(k)=th0;
th1(k)=th1;
th2(k)=th2;
th3(k)=th3;
th4(k)=th4;
lat0(k)=lat0;
lat1(k)=lat1;
lat2(k)=lat2;
lat3(k)=lat3;
lat4(k)=lat4;
long0(k)=long0;
long1(k)=long1;
long2(k)=long2;
long3(k)=long3;
long4(k)=long4;
end
Max_Value=Bestfi
BestS