Bibliographies thématiques / Autonomous Reconfigurable Vehicle

Littérature scientifique sur le sujet « Autonomous Reconfigurable Vehicle »

Auteur : Grafiati
Publié le 10 mars 2023

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Articles de revues sur le sujet "Autonomous Reconfigurable Vehicle"

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Topini, Edoardo, Marco Pagliai et Benedetto Allotta. « Dynamic Maneuverability Analysis : A Preliminary Application on an Autonomous Underwater Reconfigurable Vehicle ». Applied Sciences 11, no 10 (14 mai 2021) : 4469. http://dx.doi.org/10.3390/app11104469.

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Since the development of the first autonomous underwater vehicles, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations, in addition to surveys. As a result, the development of autonomous underwater reconfigurable vehicles (AURVs) with the capability of interacting with the surrounding environment and autonomously changing the configuration, according to the task at hand, can represent a real breakthrough in underwater system technologies. Driven by these considerations, an innovative AURV has been designed by the Department of Industrial Engineering of the University of Florence (named as UNIFI DIEF AURV), capable of efficiently reconfiguring its shape according to the task at hand. In particular, the UNIFI DIEF AURV has been provided with two extreme configurations: a slender (“survey”) configuration for long navigation tasks, and a stocky (“hovering”) configuration designed for challenging goals as intervention operations. In order to observe the several dynamic features for the two different configurations, a novel formulation for the dynamic maneuverability analysis (DMA) of an AURV, adapting Yoshikawa’s well-known manipulability theory for robotic arms, is proposed in this work. More specifically, we introduce a novel analysis which relates the vehicle body-fixed accelerations with the rotational speed of each thruster, taking into account also the AURV dynamic model for each configuration and the propulsion system.
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Knapik, Dawid, Krzysztof Kołek, Maciej Rosół et Andrzej Turnau. « Autonomous, reconfigurable mobile vehicle with rapid control prototyping functionality ». IFAC-PapersOnLine 52, no 8 (2019) : 13–18. http://dx.doi.org/10.1016/j.ifacol.2019.08.041.

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Koju, Surya Man, et Nikil Thapa. « FPGA Based Vehicle to Vehicle Communication in Spartan 3E ». Journal of Science and Engineering 8 (12 novembre 2020) : 14–21. http://dx.doi.org/10.3126/jsce.v8i0.32858.

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This paper presents economic and reconfigurable RF based wireless communication at 2.4 GHz between two vehicles. It implements digital VLSI using two Spartan 3E FPGAs, where one vehicle receives the information of another vehicle and shares its own information to another vehicle. The information includes vehicle’s speed, location, heading and its operation, such as braking status and turning status. It implements autonomous vehicle technology. In this work, FPGA is used as central signal processing unit which is interfaced with two microcontrollers (ATmega328P). Microcontroller-1 is interfaced with compass module, GPS module, DF Player mini and nRF24L01 module. This microcontroller determines the relative position and the relative heading as seen from one vehicle to another. Microcontroller-2 is used to measure the speed of vehicle digitally. The resulting data from these microcontrollers are transmitted separately and serially through UART interface to FPGA. At FPGA, different signal processing such as speed comparison, turn comparison, distance range measurement and vehicle operation processing, are carried out to generate the voice announcement command, warning signals, event signals, and such outputs are utilized to warn drivers about potential accidents and prevent crashes before event happens.
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De Novi, G., C. Melchiorri, J. C. Garcia, P. J. Sanz, P. Ridao et G. Oliver. « New approach for a Reconfigurable Autonomous Underwater Vehicle for Intervention ». IEEE Aerospace and Electronic Systems Magazine 25, no 11 (novembre 2010) : 32–36. http://dx.doi.org/10.1109/maes.2010.5638803.

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Higashi, Toshimitsu, Kosuke Sekiyama et Toshio Fukuda. « Autonomous Formation of Transportation Order under Dynamical Environment ». Journal of Robotics and Mechatronics 12, no 4 (20 août 2000) : 494–500. http://dx.doi.org/10.20965/jrm.2000.p0494.

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This paper proposes a system, that realizes collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large-scale distributed autonomous system in a dynamic environment feasibly. However, if we use a global evaluation function in order to control each agent, it is necessary to rewrite the global evaluation function of the system whenever the environment changes. If we use such a method, the system cannot be called a real distributed autonomous system. In this paper, we propose two ideas in order to realize dynamically reconfigurable formation in the dynamic environment, namely, learning based on the agent's own action and interaction with other agents by relative evaluation. By use of these ideas, it is shown that dynamically reconfigurable formation emerges as an autonomous conveyance order formation of AGV transportation in the dynamic environment.
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Katebi, M. R., et M. J. Grimble. « Integrated control, guidance and diagnosis for reconfigurable autonomous underwater vehicle control ». International Journal of Systems Science 30, no 9 (janvier 1999) : 1021–32. http://dx.doi.org/10.1080/002077299291886.

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Hemmati, Maryam, Morteza Biglari-Abhari et Smail Niar. « Adaptive Real-Time Object Detection for Autonomous Driving Systems ». Journal of Imaging 8, no 4 (11 avril 2022) : 106. http://dx.doi.org/10.3390/jimaging8040106.

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Accurate and reliable detection is one of the main tasks of Autonomous Driving Systems (ADS). While detecting the obstacles on the road during various environmental circumstances add to the reliability of ADS, it results in more intensive computations and more complicated systems. The stringent real-time requirements of ADS, resource constraints, and energy efficiency considerations add to the design complications. This work presents an adaptive system that detects pedestrians and vehicles in different lighting conditions on the road. We take a hardware-software co-design approach on Zynq UltraScale+ MPSoC and develop a dynamically reconfigurable ADS that employs hardware accelerators for pedestrian and vehicle detection and adapts its detection method to the environment lighting conditions. The results show that the system maintains real-time performance and achieves adaptability with minimal resource overhead.
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Pugi, Luca, Marco Pagliai et Benedetto Allotta. « A robust propulsion layout for underwater vehicles with enhanced manoeuvrability and reliability features ». Proceedings of the Institution of Mechanical Engineers, Part M : Journal of Engineering for the Maritime Environment 232, no 3 (26 mars 2017) : 358–76. http://dx.doi.org/10.1177/1475090217696569.

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Design of autonomous underwater vehicles is deeply influenced by required mission specifications. In particular, some activities like inspection of offshore plants or harsh marine environments require underwater vehicle with high autonomy, good propulsion performances and manoeuvrability. These features are deeply influenced by design and performances of the propulsion system. In particular, performances of underwater vehicles (both remotely operated and autonomous) are deeply influenced by four quadrants performances of propellers and by complex fluid dynamics interactions that are difficult to be, even roughly, evaluated. In this work, a study of a reconfigurable propulsion layout and its comparison with a conventional one is introduced. In particular, this study is also focused on modelling techniques that should really represent a reasonable trade-off in terms of accuracy and involved computational resources for fast prototyping and simulation of this kind of mechatronic systems.
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Cantelli, Bonaccorso, Longo, Melita, Schillaci et Muscato. « A Small Versatile Electrical Robot for Autonomous Spraying in Agriculture ». AgriEngineering 1, no 3 (6 août 2019) : 391–402. http://dx.doi.org/10.3390/agriengineering1030029.

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Boosting innovation and research in the agricultural sector is crucial if farmers are asked to produce more with less. Precision agriculture offers different solutions to assist farmers in improving efficiency and reducing labor costs while respecting the legal requirements. Precision spraying enables the treatment of only the plants that require it, with the right amount of products. Our research group has developed a solution based on a reconfigurable vehicle with a high degree of automation for the distribution of plant protection products in vineyards and greenhouses. The synergy between the vehicle and the spraying management system we developed is an innovative solution with high technological content, and attempts to account for the current European and global directives in the field of agricultural techniques. The objectives of our system are the development of an autonomous vehicle and a spraying management system that allows safe and accurate autonomous spraying operations.
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Glas, Benjamin, Oliver Sander, Vitali Stuckert, Klaus D. Müller-Glaser et Jürgen Becker. « Prime Field ECDSA Signature Processing for Reconfigurable Embedded Systems ». International Journal of Reconfigurable Computing 2011 (2011) : 1–12. http://dx.doi.org/10.1155/2011/836460.

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Growing ubiquity and safety relevance of embedded systems strengthen the need to protect their functionality against malicious attacks. Communication and system authentication by digital signature schemes is a major issue in securing such systems. This contribution presents a complete ECDSA signature processing system over prime fields for bit lengths of up to 256 on reconfigurable hardware. By using dedicated hardware implementation, the performance can be improved by up to two orders of magnitude compared to microcontroller implementations. The flexible system is tailored to serve as an autonomous subsystem providing authentication transparent for any application. Integration into a vehicle-to-vehicle communication system is shown as an application example.
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Thèses sur le sujet "Autonomous Reconfigurable Vehicle"

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Hurd, Carter J. « Design of Reconfigurable Interior for Autonomous Vehicle Prototype ». The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1531224108072119.

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Gheneti, Banti Henricus. « Reconfigurable Autonomous Surface Vehicles : perception and trajectory optimization algorithms ». Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/121672.

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This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 105-110).
Autonomous Surface Vehicles (ASV) are a highly active area of robotics with many ongoing projects in search and rescue, environmental surveying, monitoring, and beyond. There have been significant studies on ASVs in riverine, coastal, and sea environments, yet only limited research on urban waterways, one of the most busy and important water environments. This thesis presents an Urban Autonomy System that is able to meet the critical precision, real-time and other requirements that are unique to ASVs in urban waterways. LiDAR-based perception algorithms are presented to enable robust and precise obstacle avoidance and object pose estimation on the water. Additionally, operating ASVs in well-networked urban waterways creates many potential use cases for ASVs to serve as re-configurable urban infrastructure, but this necessitates developing novel multi-robot planners for urban ASV operations. Efficient sequential quadratic programming and real-time B-spline parameterized mixed-integer quadratic programming multi-ASV motion planners are presented respectively for formation changing and shapeshifting operations, enabling use cases such as ASV docking and bridge-building on water. These methods increase the potential of urban and non-urban ASVs in the field. The underlying planners in turn contribute to the motion planning and trajectory optimization toolbox for unmanned aerial vehicles (UAVs), self-driving cars, and other autonomous systems.
by Banti Henricus Gheneti.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
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Vega, Emanuel Pablo. « Conception orientée-tâche et optimisation de systèmes de propulsion reconfigurables pour robots sous-marins autonomes ». Thesis, Brest, 2016. http://www.theses.fr/2016BRES0067/document.

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Dans ce travail, l’optimisation de la propulsion et de la commande des AUV (Autonomous Underwater Vehicles en anglais) est développée. Le modèle hydrodynamique de l’AUV est examiné. Egalement, son système de propulsion est étudié et des modèles pour des solutions de propulsion différentes (fixe et vectorielle) sont développés dans le cadre de la mobilité autonome.Le modèle et l’identification de la technologie de propulsion dite fixe sont basés sur un propulseur disponible commercialement. Le système de propulsion vectoriel est basé sur un prototype de propulseur magneto-couplé reconfigurable (PMCR) développé à l’IRDL-ENIB.Une méthode de commande non linéaire utilisant le modèle hydrodynamique de l’AUV est développée et son adaptation à deux systèmes de propulsion est présentée. Des analyses portant sur la commandabilité du robot et l’application de cette commande à différents systèmes sont proposées. L’optimisation globale est utilisée pour trouver des topologies propulsives et des paramètres de commande adaptés à la réalisation de tâches robotiques spécifiques. L’optimisation réalisée permet de trouver des solutions capables d’assurer le suivi de trajectoire et de minimiser la consommation énergétique du robot. L’optimisation utilise un algorithme génétique (algorithme évolutionnaire), une méthode d’optimisation stochastique appliquée ici à la conception orientée tâche de l’AUV. Les résultats de cette optimisation peuvent être utilisés comme une étape préliminaire dans la conception des AUVs, afin de donner des pistes pour améliorer les capacités de la propulsion.La technique d’optimisation est également appliquée au robot RSM (fabriqué au sein de l’IRDL-ENIB) en modifiant seulement quelques paramètres de sa topologie propulsive. Cela afin d’obtenir des configurations de propulsion adaptées au cours d’une seule et même mission aux spécificités locomotrices des tâches rencontrées : reconfiguration dynamique de la propulsion de l’AUV
In this PhD thesis, the optimization of the propulsion and control of AUVs is developed. The hydrodynamic model of the AUVs is examined. Additionally, AUV propulsion topologies are studied and models for fixed and vectorial technology are developed. The fixed technology model is based on an off the shelf device, while the modeled vectorial propulsive system is based on a magnetic coupling thruster prototype developed in IRDL (Institut de Recherche Dupuy de Lôme) at ENI Brest. A control method using the hydrodynamic model is studied, its adaptation to two AUV topologies is presented and considerations about its applicability will be discussed. The optimization is used to find suitable propulsive topologies and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used for task-based design.The results of the optimization can be used as a preliminary stage in the design process of an AUV, giving ideas for enhanced propulsive configurations. The optimization technique is also applied to an IRDL existing robot, modifying only some of the propulsive topology parameters in order to readily adapt it to different tasks, making the AUV dynamically reconfigurable
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Dias, Mauricio Acconcia. « Sistema de hardware reconfigurável para navegação visual de veículos autônomos ». Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-13012017-164142/.

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O número de acidentes veiculares têm aumentado mundialmente e a principal causa associada a estes acidentes é a falha humana. O desenvolvimento de veículos autônomos é uma área que ganhou destaque em vários grupos de pesquisa do mundo, e um dos principais objetivos é proporcionar um meio de evitar estes acidentes. Os sistemas de navegação utilizados nestes veículos precisam ser extremamente confiáveis e robustos o que exige o desenvolvimento de soluções específicas para solucionar o problema. Devido ao baixo custo e a riqueza de informações, um dos sensores mais utilizados para executar navegação autônoma (e nos sistemas de auxílio ao motorista) são as câmeras. Informações sobre o ambiente são extraídas por meio do processamento das imagens obtidas pela câmera, e em seguida são utilizadas pelo sistema de navegação. O objetivo principal desta tese consiste do projeto, implementação, teste e otimização de um comitê de Redes Neurais Artificiais utilizadas em Sistemas de Visão Computacional para Veículos Autônomos (considerando em específico o modelo proposto e desenvolvido no Laboratório de Robótica Móvel (LRM)), em hardware, buscando acelerar seu tempo de execução, para utilização como classificadores de imagens nos veículos autônomos desenvolvidos pelo grupo de pesquisa do LRM. Dentre as contribuições deste trabalho, as principais são: um hardware configurado em um FPGA que executa a propagação do sinal em um comitê de redes neurais artificiais de forma rápida com baixo consumo de energia, comparado a um computador de propósito geral; resultados práticos avaliando precisão, consumo de hardware e temporização da estrutura para a classe de aplicações em questão que utiliza a representação de ponto-fixo; um gerador automático de look-up tables utilizadas para substituir o cálculo exato de funções de ativação em redes MLP; um co-projeto de hardware/software que obteve resultados relevantes para implementação do algoritmo de treinamento Backpropagation e, considerando todos os resultados, uma estrutura que permite uma grande diversidade de trabalhos futuros de hardware para robótica por implementar um sistema de processamento de imagens em hardware.
The number of vehicular accidents have increased worldwide and the leading associated cause is the human failure. Autonomous vehicles design is gathering attention throughout the world in industry and universities. Several research groups in the world are designing autonomous vehicles or driving assistance systems with the main goal of providing means to avoid these accidents. Autonomous vehicles navigation systems need to be reliable with real-time performance which requires the design of specific solutions to solve the problem. Due to the low cost and high amount of collected information, one of the most used sensors to perform autonomous navigation (and driving assistance systems) are the cameras.Information from the environment is extracted through obtained images and then used by navigation systems. The main goal of this thesis is the design, implementation, testing and optimization of an Artificial Neural Network ensemble used in an autonomous vehicle navigation system (considering the navigation system proposed and designed in Mobile Robotics Lab (LRM)) in hardware, in order to increase its capabilites, to be used as image classifiers for robot visual navigation. The main contributions of this work are: a reconfigurable hardware that performs a fast signal propagation in a neural network ensemble consuming less energy when compared to a general purpose computer, due to the nature of the hardware device; practical results on the tradeoff between precision, hardware consumption and timing for the class of applications in question using the fixed-point representation; a automatic generator of look-up tables widely used in hardware neural networks to replace the exact calculation of activation functions; a hardware/software co-design that achieve significant results for backpropagation training algorithm implementation, and considering all presented results, a structure which allows a considerable number of future works on hardware image processing for robotics applications by implementing a functional image processing hardware system.
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Pagliai, Marco. « Design and testing of innovative thrusters and their integration in the design of a reconfigurable underwater vehicle ». Doctoral thesis, 2019. http://hdl.handle.net/2158/1154277.

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Nowadays, Unmanned Underwater Vehicles (UUVs) are increasingly used in underwater operations (e.g. exploration, monitoring, maintenance), because they make safe working under the water. Since their use is growing, it is extremely important to ensure better maneuverability and lower power consumption to improve the performances of this kind of vehicles. The work carried out in the last three years at the Mechatronics and Dynamic Modelling Laboratory (MDM Lab) of the Department of Industrial Engineering of University of Florence (UNIFI DIEF), focused exactly on these problematics. More in details, the study presented below concerned both an in-depth analysis of current commercial and research UUVs, with the aim to define the specifications and the design of a new type of underwater vehicle, and the study of commercial low cost motors, with the purpose of improving their performance thus the one of the mobile robots they are mounted on. In the introduction a short summary of the UUVs history is reported and all the vehicle of UNIFI DIEF are presented. In the first chapter, instead, a deep analysis of the state of art of underwater vehicles is reported. This study has been divided into AUVs (Autonomous Underwater Vehicles), ROVs (Remotely Operated Vehicle) and Gliders features, taking into account especially their propulsion systems. In addition, based on also the study of the state of art, the conceptual design of an innovative vehicle capable of changing its shape and its thrusters layout is synthetized. In the following chapter (chapter 2), the design of the innovative vehicle is described, in order to verify the feasibility of the vehicle itself exploiting current technology and to estimate its performances and the budget required for its realization. In chapter 3, a low cost commercial thruster is presented. With these thrusters all the vehicles of UNIFI DIEF have been equipped; for this reason, the third chapter reports a deep experimental study to define the relation between thruster parameters and the input command. This study has been very important because it allows improving the thruster parameters estimation and consequently the control performances. In addition, in this third chapter the new vehicle designed by UNIFI DIEF with the collaboration of MDM Team s.r.l. (an University of Florence Spin Off) and named ZENO is presented. In chapter 4, it is shown how the thruster studied in the previous chapter has been upgraded and hardware modifications have been made. More in details, in this chapter it is explained how a Hall effect sensor has been integrated in the thruster in order to measure the rotor speed. In addition, it is shown how a low cost closed loop control system has been implemented for the thruster previously described and the results obtained on dedicated test rig are given. Finally, in the conclusion the results obtained are summarized, highlighting how the designed innovative vehicle is feasible and has the performances required by its hypothetical application. In addition, it is summarized how the studied thrusters have improved the UNIFI DIEF vehicles performances.
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Chapitres de livres sur le sujet "Autonomous Reconfigurable Vehicle"

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Kim, Kangsoo. « Reconfigurable Minimum-Time Autonomous Marine Vehicle Guidance in Variable Sea Currents ». Dans Automation and Control [Working Title]. IntechOpen, 2020. http://dx.doi.org/10.5772/intechopen.92013.

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« Reconfigurable, adaptable, multi-modality, mobile, wireless, energy-efficient, underwater sensor network of hover-capable AUVs ». Dans Autonomous Underwater Vehicles : Design and practice, 359–87. Institution of Engineering and Technology, 2020. http://dx.doi.org/10.1049/sbra525e_ch13.

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Actes de conférences sur le sujet "Autonomous Reconfigurable Vehicle"

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Pagliai, Marco, Alessandro Ridolfi, Jonathan Gelli, Alessia Meschini et Benedetto Allotta. « Design of a Reconfigurable Autonomous Underwater Vehicle for Offshore Platform Monitoring and Intervention ». Dans 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729776.

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Wzorek, Mariusz, et Patrick Doherty. « Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle ». Dans 2006 International Conference on Hybrid Information Technology. IEEE, 2006. http://dx.doi.org/10.1109/ichit.2006.253618.

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Topini, Edoardo, Gherardo Liverani, Jonathan Gelli, Cosimo Fredducci, Alberto Topini, Alessandro Ridolfi et Benedetto Allotta. « Development and Control of an Autonomous Reconfigurable Underwater Vehicle ». Dans OCEANS 2022, Hampton Roads. IEEE, 2022. http://dx.doi.org/10.1109/oceans47191.2022.9977234.

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Shoureshi, Rahmat A., Sunwook Lim et Christopher M. Aasted. « Self-Reconfigurable Control System for Autonomous Vehicles ». Dans ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-3876.

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This paper presents a reconfigurable control design technique that integrates a robust feedback and an iterative learning control (ILC) scheme. This technique is applied to develop vehicle control systems that are tolerant to failures due to malfunctions or damages. The design procedure includes solving the robust performance condition for a feedback controller through the use of μ-synthesis that also satisfies the convergence condition for the iterative learning control rule. The effectiveness of the proposed approach is verified by simulation experiments using a radio-controlled (R/C) model airplane. The methods presented in this paper can be applied to design of global intelligent control systems to improve the operating characteristics of a vehicle and increase safety and reliability.
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De Novi, G., C. Melchiorri, J. C. Garcia, P. J. Sanz, P. Ridao et G. Oliver. « A new approach for a Reconfigurable Autonomous Underwater Vehicle for Intervention ». Dans 2009 3rd Annual IEEE Systems Conference. IEEE, 2009. http://dx.doi.org/10.1109/systems.2009.4815765.

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Elouaret, Tarek, Sylvain Colomer, Frederic Demelo, Nicolas Cuperlier, Olivier Romain, Lounis Kessal et Stephane Zuckerman. « Implementation of a bio-inspired neural architecture for autonomous vehicle on a reconfigurable platform ». Dans 2022 IEEE 31st International Symposium on Industrial Electronics (ISIE). IEEE, 2022. http://dx.doi.org/10.1109/isie51582.2022.9831562.

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Fang, Shihong, et Anna Choromanska. « Reconfigurable Network for Efficient Inferencing in Autonomous Vehicles ». Dans 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8794064.

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Hodel, Alan, et Ronnie Callahan. « Autonomous Reconfigurable Control Allocation (ARCA) for Reusable Launch Vehicles ». Dans AIAA Guidance, Navigation, and Control Conference and Exhibit. Reston, Virigina : American Institute of Aeronautics and Astronautics, 2002. http://dx.doi.org/10.2514/6.2002-4777.

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Schmitz, Derek, Vijayakumar Janardhan et S. Balakrishnan. « Implementation of Nonlinear Reconfigurable Controllers for Autonomous Unmanned Vehicles ». Dans 43rd AIAA Aerospace Sciences Meeting and Exhibit. Reston, Virigina : American Institute of Aeronautics and Astronautics, 2005. http://dx.doi.org/10.2514/6.2005-348.

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Gong, Zheng, Wuyang Xue, Ziang Liu, Yimo Zhao, Ruihang Miao, Rendong Ying et Peilin Liu. « Design of a Reconfigurable Multi-Sensor Testbed for Autonomous Vehicles and Ground Robots ». Dans 2019 IEEE International Symposium on Circuits and Systems (ISCAS). IEEE, 2019. http://dx.doi.org/10.1109/iscas.2019.8702610.

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