Dynamic Strategy of Keyframe Selection with PD Controller for VSLAM Systems

Author(s):  
Weinan Chen ◽  
Lei Zhu ◽  
Xubin Lin ◽  
Yisheng Guan ◽  
Li He ◽  
...  
2003 ◽  
Vol 36 (18) ◽  
pp. 65-70
Author(s):  
Mikuláš Huba ◽  
Pavol Bisták

2021 ◽  
pp. 1-34
Author(s):  
Peter A. Forsyth ◽  
Kenneth R. Vetzal ◽  
Graham Westmacott

Abstract We extend the Annually Recalculated Virtual Annuity (ARVA) spending rule for retirement savings decumulation (Waring and Siegel (2015) Financial Analysts Journal, 71(1), 91–107) to include a cap and a floor on withdrawals. With a minimum withdrawal constraint, the ARVA strategy runs the risk of depleting the investment portfolio. We determine the dynamic asset allocation strategy which maximizes a weighted combination of expected total withdrawals (EW) and expected shortfall (ES), defined as the average of the worst 5% of the outcomes of real terminal wealth. We compare the performance of our dynamic strategy to simpler alternatives which maintain constant asset allocation weights over time accompanied by either our same modified ARVA spending rule or withdrawals that are constant over time in real terms. Tests are carried out using both a parametric model of historical asset returns as well as bootstrap resampling of historical data. Consistent with previous literature that has used different measures of reward and risk than EW and ES, we find that allowing some variability in withdrawals leads to large improvements in efficiency. However, unlike the prior literature, we also demonstrate that further significant enhancements are possible through incorporating a dynamic asset allocation strategy rather than simply keeping asset allocation weights constant throughout retirement.


2021 ◽  
Vol 11 (1) ◽  
pp. 410
Author(s):  
Yu-Hsien Lin ◽  
Yu-Ting Lin ◽  
Yen-Jun Chiu

On the basis of a full-appendage DARPA SUBOFF model (DTRC model 5470), a scale (λ = 0.535) semi-autonomous submarine free-running model (SFRM) was designed for testing its manoeuvrability and stability in the constrained water. Prior to the experimental tests of the SFRM, a six-degree-of-freedom (6-DOF) manoeuvre model with an autopilot system was developed by using logic operations in MATLAB. The SFRM’s attitude and its trim polygon were presented by coping with the changes in mass and trimming moment. By adopting a series of manoeuvring tests in empty tanks, the performances of the SFRM were introduced in cases of three sailing speeds. In addition, the PD controller was established by considering the simulation results of these manoeuvring tests. The optimal control gains with respect to each manoeuvring test can be calculated by using the PID tuner in MATLAB. Two sets of control gains derived from the optimal characteristics parameters were compared in order to decide on the most appropriate PD controller with the line-of-sight (LOS) guidance algorithm for the SFRM in the autopilot simulation. Eventually, the simulated trajectories and course angles of the SFRM would be illustrated in the post-processor based on the Cinema 4D modelling.


2012 ◽  
Author(s):  
Udo von Öhsen ◽  
Jan Marek Marcinczak ◽  
Andres F. Mármol Vélez ◽  
Rolf-Rainer Grigat

2013 ◽  
Vol 373-375 ◽  
pp. 1638-1643
Author(s):  
Jian Yu Huang ◽  
Qi Sheng Zhang ◽  
Sheng Quan Zhang

A new Power over Ethernet (PoE) proprietary specification known as LTPoE++ and its solution for high power PoE system is introduced. A 90W single port high power PoE system based on the LTPoE++ solution using power sourcing equipment (PSE) controller LTC4274A-4 and powered device (PD) controller LT4275A produced by Linear Technology is illustrated, including overall structure, features, hardware frames, functions and their implementation. Finally working process of the system is analyzed.


2008 ◽  
Vol 24 (3) ◽  
pp. 753-758 ◽  
Author(s):  
E. Nuno ◽  
R. Ortega ◽  
N. Barabanov ◽  
L. Basanez

SIMULATION ◽  
2005 ◽  
Vol 81 (6) ◽  
pp. 437-459 ◽  
Author(s):  
Seungwan Ryu ◽  
Byunghan Ryu ◽  
Myoungki Jeong ◽  
Seikwon Park

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