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Autonomous Docking for Underwater Drones Using ArUco Marker Based Localization

Autonomous Docking for Underwater Drones Using ArUco Marker ...

引用

Robotics, Automation and Artificial Intelligence (RAAI), ieee international conference on

作者： Benaiah Saju Joseph Shasank Gunturu Sumukh Shrote S Sandosh School of Computer Science and Engineering Vellore Institute of Technology Chennai Chennai India

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

Autonomous docking for underwater drones is crucial for various marine applications. this paper introduces an approach to autonomous underwater vehicle (AUV) docking using ArUco marker-based localization, as demonstrated by Project MIRA, at the Tau Autonomy Center, Norway. the method combines a control system with dual-feed computer vision based perception to achieve autonomy. the control system is based on a cascaded PID controller fine-tuned using various external sensors and optimization techniques. the vision system utilizes ArUco markers for 3D positioning. Our method uses visual markers to help the drone navigate to a custom docking pad. We achieved stable and reliable docking by combining advanced control systems using visual-inertial sensors. this work highlights the potential of using visual markers and smart control systems for underwater drone operations.

关键词： Location awareness YOLO Visualization Computer vision Autonomous underwater vehicles Navigation 6-DOF sensor systems Reliability Drones

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A Proactive Resilience Enhancement Strategy to Electric Distribution systems during Hurricanes 4

A Proactive Resilience Enhancement Strategy to Electric Dist...

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4th international conference on Smart Energy systems and Technologies (SEST)

作者： Abdelmalak, Michael Benidris, Mohammed Univ Nevada Dept Elect & Biomed Engn Reno NV 89557 USA

ISBN: (纸本)9781728176604

this paper proposes a probabilistic proactive strategy to enhance operational resilience of distribution power grids in preparation to and during hurricanes. Many of current resilience enhancement strategies focus on determining optimal locations and sizes of distributed Energy Resources (DERs) in electric distribution systems to reduce load curtailments during extreme events. Other approaches enhance distribution system resilience through utilizing the concept of microgrid formulation to split the grid into smaller and stable standalone grids. However, the rapid changing conditions and constraints of the power system during extreme events exhibit further computational burden and complexities to provide a fast acting decision process. In this work, a multi-objective mixed integer linear programming optimization problem is formulated to minimize the amount of load curtailments and operational costs. A Markov decision process is developed to model transitions between system states to determine the optimal generation level of each DER considering component failure probabilities, hurricane spatiotemporal properties, and load variations. To maintain reliable and stable operation of electric distribution systems integrated with DERs, system operational and technical constraints should be fulfilled. the CPLEX solver is integrated with MATLAB to formulate and solve the optimization problem. the proposed strategy is demonstrated using a modified ieee 33-feeder distribution system under various system characteristics. Results show the role of proactive generation redispatch to improve resilience levels and reduce the total amount of load curtailments by 30%-45%.

关键词： distributed energy resources extreme weather event hurricanes Markov decision process resilience

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An efficient cluster-based routing using Sparrow Search Algorithm for heterogeneous nodes in Wireless sensor Networks 4

An efficient cluster-based routing using Sparrow Search Algo...

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4th international conference on Communication, Information and computing Technology, ICCICT 2021

作者： Kathiroli, Panimalar Kanmani, S. Department of Computer Science and Engineering Pondicherry Engineering College Puducherry India Department of Information Technology Pondicherry Engineering College Puducherry India

ISBN: (纸本)9781665404303

In recent days, Wireless sensor Networks becomes prevalent due to their application in a modern communication network. To design the protocols, efficient use of its limited energy is the primary concern since in many adverse conditions, it is challenging to replace or recharge the battery depleted nodes. the key aspects that impinge the performance are energy use, stability, quality, operation, and network lifetime. Hence this paper presents an efficient cluster-based routing model using Sparrow search Algorithm derives a fitness function to perform clustering process. the foraging and antipredator nature of sparrows effectively select the cluster heads and optimal routing paths to BS. Vast testing has been done to validate the implementation of the proposed model to achieve maximum energy efficiency and network lifetime over other compared methods under varying number of nodes and iteration in the network. © 2021 ieee

关键词： Energy efficiency

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Experiment Study of Passive Radar Maritime Target Detection Based on Staring Radar

Experiment Study of Passive Radar Maritime Target Detection ...

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Computer Science, Electronic Information Engineering and Intelligent Control Technology (CEI), ieee international conference on

作者： Zaiyuan Wu Jie Song Zhongxun Wang Shandong Data Open Innovation Application Laboratory of Smart grid Advanced Technology Yantai University. Yantai University School of Physics and Electronic Information Yantai China Naval Aviation University Yantai China

ISBN: (数字)9798350378542

ISBN: (纸本)9798350378559

this paper introduces the characteristics of passive radar system and staring radar as well as briefly introduces the data processing method, uses gaze radar as a non-cooperative radiation source, carries out a series of maritime target detection experiments, and verifies the experimental results with AIS system. the results show that the passive radar system can accurately get the target speed, distance and other information.

关键词： Passive radar Radar cross-sections Surveillance Radar detection Sea measurements Object detection Interference sensor systems Marine vehicles Artificial intelligence

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Data Privacy Preserving in Cloud ERP using Cryptographic Algorithm with IoT

Data Privacy Preserving in Cloud ERP using Cryptographic Alg...

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international conference on ICT in Business Industry & Government (ICTBIG)

作者： Ekta Sabbarwal Daya Shankar Pandey Department of CSE Sarvepalli Radhakrishnan University Bhopal M.P India

ISBN: (数字)9798331518981

ISBN: (纸本)9798331518998

the Internet of things (IoT) has become one of the increasingly popular and rapidly growing technologies in the IT sector. sensors are integrated into networked physical equipment through wireless or wired connections and engage in mutual interaction. the ERP system is an evolving implementation of the IoT-Cloud. Multiple research efforts are undertaken to guarantee the confidentiality of ERP data. the main focal points of the IoT-cloud based ERP system are data security and the computational loads. this paper presents a novel method for safeguarding our data by using sophisticated cryptographic techniques, including the Elliptic Curve Cryptography Algorithm and the Advanced Encryption Standard (AES) algorithms. the objective of this technique is to bolster the security of ERP data in the IoT ERP Cloud system. the Cloud Service Provider (CSP) authenticates the user access policy and transmits the encrypted data to the user. One way to assess the recommended approach is by conducting tests on different performance metrics, such as key generation time and query processing time.

关键词： Wireless communication Measurement Cloud computing Wireless sensor networks Query processing Government sensors Encryption Internet of things Standards

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sensor packaging method based on the solid tire sole of wheel-legged robot

Sensor packaging method based on the solid tire sole of whee...

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Artificial Intelligence, Robotics, and Communication (ICAIRC), ieee international conference on

作者： Chao Huang Yaodong Wang Min Guo Meng Hong Hubei Provincial Engineering Research Center of Robotics&Intelligent Manufacturing Wuhan University of Technology Wuhan China

ISBN: (数字)9798331531225

ISBN: (纸本)9798331531232

For wheel-legged robots, the unique wheel-legged structure significantly influences the dynamics and kinematic behavior of the foot during ground contact. this paper presents a resistive strain gauge sensor integration scheme for solid tires, wherein sensors are embedded within the tires to actively monitor the touchdown information of the foot-end. A method is proposed for embedding the solid tires in circumferential arrays to capture the plantar strain state, which supports the control system of wheel-legged robots. To evaluate the effectiveness of this sensor package, a simulated impact experiment was conducted to simulate the wheel-legged ground contact. the experimental results demonstrate that the strain gauge embedding method effectively detects the strain response of solid tires under impact. Since ground contact information is crucial for the autonomous switching of the wheel-legged structure in robots, the successful implementation of this sensing system for ground contact monitoring holds significant potential for both research and practical engineering applications.

关键词： Switches Robot sensing systems Solids Strain measurement Tires sensors Mobile robots Robots Monitoring Strain

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Secure and Efficient Fraud Detection Using Federated Learning and distributed Search Databases

Secure and Efficient Fraud Detection Using Federated Learnin...

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AI in Cybersecurity (ICAIC), international conference on

作者： Milavkumar Shah Parth Shah Swapnil Patil University of Texas at Dallas Texas USA University of Colorado Colorado Springs USA

ISBN: (数字)9798331518882

ISBN: (纸本)9798331518899

Credit card fraud has grown increasingly common in today’s age, and with the rise in cybercrimes with fraud, several examples have been recorded in the past. the use of a distributed search plays a pivotal role in enhancing the performance of fraud detection systems. By enabling the aggregation and retrieval of data from multiple decentralized sources without compromising data privacy, it facilitates the efficient training of models on large, diverse datasets. Another technique used in controlling fraud losses is through applying Federated Learning (FL) for detecting fraudulent transactions. the models may gain the benefit of the dispersed data without actually sharing the data in this way. this paper focuses on the implementation of CNN with FL to improve a security and accuracy of fraud detection in financial transactions. the suggested model employs Kaggle credit card fraud dataset and uses enhanced techniques such as; SMOTE to work on class imbalance problem and one hot encoder to work on Categorical features. the proposed CNN-FL model surpassed other classifiers and yielded better accuracy, precision, and recall rates compared to traditional ML classifiers like NB, LR, and Gaussian Naive Bayes; accuracy $\mathbf{9 9. 8 6\%}$, precision 99.83%, recal 199.85%, and an F1-score of $\mathbf{9 9. 84\%}$. thus, effectiveness of suggested CNN-based federated learning approach for enriching fraud detection systems is shown, with good generalisation and high accuracy on various types of transactions.

关键词： Training Data privacy Accuracy Federated learning distributed databases Credit cards Data models Fraud Bayes methods Computer crime

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Two-stage Approach for the Provision of Time-Dependent Flexibility at TSO-DSO Interface 4

Two-stage Approach for the Provision of Time-Dependent Flexi...

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4th international conference on Smart Energy systems and Technologies (SEST)

作者： Kryonidis, Georgios C. Lois, Apostolos N. Malamaki, Kyriaki-Nefeli D. Demoulias, Charis S. Aristotle Univ Thessaloniki Sch Electr & Comput Engn Thessaloniki Greece

ISBN: (纸本)9781728176604

In this paper, a new methodology is presented for the provision of active and reactive power flexibility at the transmission and distribution system operator (TSO-DSO) interface. Its distinct feature is the effective integration of time-dependent flexibility resources, e.g., energy storage systems, thus moving a step closer to the accurate modeling of active distribution grids. the proposed methodology is part of the day-ahead analysis and is divided into two main stages. In the first stage, an iterative, optimization-based process is adopted to estimate the hourly flexibility areas at the TSO-DSO interface that maximize the daily flexibility capacity of the distribution grid. these areas can be used in the day-ahead scheduling of the electrical grid to determine the optimal power set-points at the TSO-DSO boundary nodes. the second stage is introduced to optimally coordinate the operation of the main network elements to meet the above set-points. the validity of the proposed methodology is demonstrated by performing simulations on a medium-voltage grid with radial configuration.

关键词： distributed generation energy storage systems flexibility optimization TSO-DSO interface

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Research on distributed Photovoltaic Autonomous Optimization Control Strategy Under the Guidance of Voltage Optimization Principle

Research on Distributed Photovoltaic Autonomous Optimization...

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Data Science and Computer Application (ICDSCA), ieee international conference on

作者： Shishi Wang Xinke Lin Ziwei Chen Yuguo Xu Qi Su Wanning Power Supply Bureau of Hainan Power Grid Co. Ltd. Wanning China

ISBN: (数字)9798350368239

ISBN: (纸本)9798350368246

this paper innovatively describes a decentralized light energy self-regulation strategy rooted in the voltage optimization law. the scheme comprehensively considers the transient characteristics and decentralized pattern of light conversion, integrates GA (genetic algorithm) and PSO (particle swarm optimization) to build a hybrid optimization framework, and is committed to achieving the optimal regulation of photovoltaic production capacity based on ensuring the steady state of the power storage architecture. the first step is to conceive a voltage optimization blueprint specifically for decentralized light energy, whose function is to flexibly adjust the photovoltaic power consumption quota according to the real-time operating conditions of the power distribution network. With the help of the composite algorithm of GA superimposed on PSO, the cyclic refinement of the self-regulation strategy is realized. the results of simulation experiments show that this method can effectively reduce the degree of voltage fluctuation, enhance the robustness of photovoltaic equipment connected to the power grid, and simultaneously increase the overall efficiency of the system. Detailed numerical comparison shows that after adopting this method, the system voltage deviation from the standard value is reduced by as much as 12.3%, and the light-to-electricity efficiency ratio is increased to 8.6%. Compared with the previous control methods, the strategy presented in this paper has obvious advantages in voltage improvement and energy utilization efficiency. this study provides key insights for the optimized control of distributed solar energy connected to the grid.

关键词： Photovoltaic systems Voltage fluctuations Fluctuations Hybrid power systems Real-time systems Steady-state Voltage control Transient analysis Optimization Genetic algorithms

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Protection Scheme for Distribution Level Network Employing Synchrophasor Measurements

Protection Scheme for Distribution Level Network Employing S...

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Sustainable Energy and Future Electric Transportation (SEFET), international conference on

作者： Gagandeep Singh Dua Abdul Haleem Saian K. Sadanandan Tareg Ghaoud DEWA R&D Center Dubai

ISBN: (数字)9798350383997

ISBN: (纸本)9798350384000

Traditional protection methods become ineffective due to the emergence of various types of distributed energy generators or resources (DERs) in the distribution network, especially inverter-interfaced resources. To resolve this issue, the development of intelligent and specialized protection schemes is necessary. In this regard, the present paper proposes a protection scheme using synchrophasor measurements collected using micro-phasor measurement (μ-LPMU) units at both ends of line. the scheme is based on computing superimposed power differential phase angle (DPA) using positive sequence phasors. the investigation have been performed on a seven node network at distribution voltage level, comprising of different types of DERs. the simulations are carried out for network operation in grid-connected and islanded operation modes and for several fault conditions obtained by varying fault types, fault resistance, fault locations, etc. In addition, the scheme has been assessed for critical events that present severe variation in fundamental quantities. the simulation outcomes depict that the suggested superimposed power DPA-based protection technique is viable in identifying faults across a wide range of network operating conditions.

关键词： Resistance Voltage measurement Measurement units Computational modeling Distribution networks Phasor measurement units distributed power generation Circuit faults Protection Load modeling

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