Related papers: RouthSearch: Inferring PID Parameter Specification…
Motivation and gap: PID-family controllers remain a pragmatic choice for many robotic systems due to their simplicity and interpretability, but tuning stable, high-performing gains is time-consuming and typically non-transferable across…
Unmanned Aerial Vehicles (UAVs) are an emerging computation platform known for their safety-critical need. In this paper, we conduct an empirical study on a widely used open-source UAV software framework, Paparazzi, with the goal of…
Redundancy-based automated program repair (APR), which generates patches by referencing existing source code, has gained much attention since they are effective in repairing real-world bugs with good interpretability. However, since…
This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft…
Automated program repair (APR) techniques are effective in fixing inevitable defects in software, enhancing development efficiency and software robustness. However, due to the difficulty of generating precise specifications, existing APR…
Proportional-integral-derivative (PID) structured controller is the most popular class of industrial control but still could not be appropriately exploited in fuzzy systems. To gain the practicability and tractability of fuzzy systems, this…
Directed fuzzing is a dynamic testing technique that focuses exploration on specific, pre targeted program locations. Like other types of fuzzers, directed fuzzers are most effective when maximizing testing speed and precision. To this end,…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
We propose a framework to evaluate the so-called random-coding union bound with parameter $s$ (RCUs) on the achievable error probability in the finite-blocklength regime for a pilot-assisted transmission scheme operating over an imperfectly…
Tuning searches are pivotal in High-Performance Computing (HPC), addressing complex optimization challenges in computational applications. The complexity arises not only from finely tuning parameters within routines but also potential…
Unsafe memory accesses in programs written using popular programming languages like C/C++ have been among the leading causes for software vulnerability. Prior memory safety checkers such as SoftBound enforce memory spatial safety by…
Modern safety-critical systems are heterogeneous, complex, and highly dynamic. They require reliability evaluation methods that go beyond the classical static methods such as fault trees, event trees, or reliability block diagrams.…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
As autonomous driving systems (ADSes) become increasingly complex and integral to daily life, the importance of understanding the nature and mitigation of software bugs in these systems has grown correspondingly. Addressing the challenges…
Today manufacturers are using fuzzy logic in everything from cameras to industrial process control. Fuzzy logic controllers are easier to design and so are cheaper to produce. Fuzzy logic captures the impreciseness inherent in most input…
Automated Program Repair (APR) holds the promise of alleviating the burden of debugging and fixing software bugs. Despite this, developers still need to manually inspect each patch to confirm its correctness, which is tedious and…
Brain-controlled unmanned aerial vehicle (uav) is a uav that can analyze human brain electrical signals through BCI to obtain flight commands. The research of brain-controlled uav can promote the integration of brain-computer and has a…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
Properly benchmarking Automated Program Repair (APR) systems should contribute to the development and adoption of the research outputs by practitioners. To that end, the research community must ensure that it reaches significant milestones…
GPUs play an increasingly important role in modern software. However, the heterogeneous host-device execution model and expanding software stacks make GPU programs prone to memory-safety and concurrency bugs that evade static analysis.…