相关论文: RouthSearch: Inferring PID Parameter Specification…
Proportional-integral-derivative (PID) control, the most common control strategy in the industry, always suffers from health problems resulting from external disturbances, improper tuning, etc. Therefore, there have been many studies on…
As software systems grow increasingly complex, ensuring security during development poses significant challenges. Traditional manual code audits are often expensive, time-intensive, and ill-suited for fast-paced workflows, while automated…
Large Language Models employing extended chain-of-thought (CoT) reasoning often suffer from the overthinking phenomenon, generating excessive and redundant reasoning steps that increase computational costs while potentially degrading…
This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown. We propose a multi-stage procedure, called Coarse-ID control, that estimates a model from a few experimental…
Programs with floating-point computations are often derived from mathematical models or designed with the semantics of the real numbers in mind. However, for a given input, the computed path with floating-point numbers may differ from the…
This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…
Proportional-integral-derivative (PID) control underlies more than $97\%$ of automated industrial processes. Controlling these processes effectively with respect to some specified set of performance goals requires finding an optimal set of…
Recent advancements in Retrieval-Augmented Generation have significantly enhanced code completion at the repository level. Various RAG-based code completion systems are proposed based on different design choices. For instance, gaining more…
Unmanned Aerial Vehicles (UAVs) have revolutionized inspection tasks by offering a safer, more efficient, and flexible alternative to traditional methods. However, battery limitations often constrain their effectiveness, necessitating the…
The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement…
This paper presents PMwc-Tune, a novel PID tuning method that uniquely combines frequency-domain robustness constraints with time-domain performance optimization through constrained nonlinear programming. The key contribution is a unified…
We present a dataset of several fault types in control surfaces of a fixed-wing Unmanned Aerial Vehicle (UAV) for use in Fault Detection and Isolation (FDI) and Anomaly Detection (AD) research. Currently, the dataset includes processed data…
Fuzzing has gained in popularity for software vulnerability detection by virtue of the tremendous effort to develop a diverse set of fuzzers. Thanks to various fuzzing techniques, most of the fuzzers have been able to demonstrate great…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
To run a cloud application with the required service quality, operators have to continuously monitor the cloud application's run-time status, detect potential performance anomalies, and diagnose the root causes of anomalies. However,…
In the research of automated program repair (APR), benchmark datasets consisting of known defects in combination with test suites that indicate the defects are of high importance. They allow for an evidence-based comparison of different APR…
Alignment-based conformance checking is the state-of-the-art approach for comparing observed process executions with normative process models. The standard exact solution relies on an A*-based heuristic search, which can exhibit exponential…
To guarantee the safety of flight operations, decision-support systems for air traffic control must be able to improve the usage of airspace capacity and handle increasing demand. In this study, we address the aircraft conflict avoidance…
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…
The stability and control of Unmanned Aerial Vehicles (UAVs) in a turbulent environment is a matter of great concern. Devising a robust control algorithm to reject disturbances is challenging due to the highly nonlinear nature of wind…