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International conference on Power Engineering and Intelligent Systems, PEIS 2024

ISBN: (纸本)9789819767090

The proceedings contain 41 papers. The special focus in this conference is on Power Engineering and Intelligent Systems. The topics include: Smart Seating: The Smart Seating Solution for Crowded Public Transit;comparative Study of Coil Shapes for Electric Vehicle Resonant Wireless Power Transfer System;A Case Study of Solar Photovoltaic and Biomass-Based Hybrid Power System in Educational Institutes in Delhi-NCR;comparative Analysis of Water Bodies Segmentation Techniques;load Frequency Control in Hybrid Integrated Power Systems with Redox Flow Batteries Using Dual-Mode Gain Scheduling Method;enhanced Discrete Cosine Transform Image Compression for Ultra-High-Resolution Imagery;Simulation and Analysis of 6T SRAM Cell in NGSpice: Exploring Performance and Stability;design of Double Precision Floating Point Comparator for Multiple Numbers;secured Regulatory Data Compliance for the Pharmaceutical Sector Through Blockchain;Optimizing IoT-Based Quantum Wireless sensor Networks Using NM-TEEN fusion of Energy Efficiency and Systematic Governance;optimal Sizing and Allocation of Multiple distributed Generation;high-Gain X-Band Patch Antenna for Spaceborne Synthetic Aperture Radar Applications;protection of Series Compensated Networks Using Different Techniques: An Overview;a robotic Way to Investigate Unapproachable Places and Inaccessible Substances Using e-skin;a Review of Chatbot Technology: Its Design and Implementation;exploring the Microcosm: A Comprehensive Survey of Micro sensor Applications Across Multidisciplinary Research;stress Classification Using Machine Learning Techniques: Comparative Study;normalized Mutual Information-Driven Feature Extraction Method for Big Data Analytics;modeling of a Novel Correlation-Weighted Elman Neural Network for Building Automation System;Application FOPID for PLL Design in Grid Integration;Impact of Inter-Next Generation Node B (gNB) Distance on End-User Applications in 5G Networks.

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Trust-Based Assured sensor fusion in distributed Aerial Autonomy 25

Trust-Based Assured Sensor Fusion in Distributed Aerial Auto...

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Proceedings of the ACM/IEEE 16th International conference on Cyber-Physical Systems (with CPS-IoT Week 2025)

作者： R. Spencer Hallyburton Miroslav Pajic Department of Electrical and Computer Engineering Duke University Durham NC USA

ISBN: (纸本)9798400714986

Multi-agent collaboration enhances situational awareness in intelligence, surveillance, and reconnaissance (ISR) missions. Ad hoc networks of unmanned aerial vehicles (UAVs) allow for real-time data sharing, but they face security challenges due to their decentralized nature, making them vulnerable to cyber-physical attacks. This paper introduces a trust-based framework for assured sensor fusion in distributed multi-agent networks, utilizing a hidden Markov model (HMM)-based approach to estimate the trustworthiness of agents and their provided information in a decentralized fashion. Trust-informed data fusion prioritizes fusing data from reliable sources, enhancing resilience and accuracy in contested environments. To evaluate the assured sensor fusion under attacks on system/mission sensing, we present a novel multi-agent aerial dataset built from the Unreal Engine simulator. We demonstrate through case studies improved ISR performance and an ability to detect malicious actors in adversarial settings.

关键词： Autonomous Vehicles

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Multi-sensor detection schemes for mobile robots

Multi-sensor detection schemes for mobile robots

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conference on sensor fusion and distributed robotic agents

作者： Fatemi, A Lecocq, H Univ. de Liege (Belgium)

ISBN: (纸本)0819423076

In this work, Mobile robot distributed detection systems are described that use multiple sources of information to construct an internal representation of its environment. We begin by considering a Decision fusion Model employing the parallel fusion topology. Based on their observations, local sensors make local binary decisions and transmit them to the Decision fusion Center where they are combined to yield the global decision. Decisions rules are obtained by using different probabilistic methods. The optimal decision scheme at the fusion center is derived, by optimising three criterions: the mean square error, the maximum a posterio error, and the Bayesian risk. We, then, consider an optimal data fusion where the local decisions are simply added. Finally, an application to the fusion of ultrasound sonar data is presented and discussed.

关键词： mobile robot multi-sensor fusion sensor modelling and decision theory

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Utilization of Riemann surfaces in sensor data fusion

Utilization of Riemann surfaces in sensor data fusion

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conference on sensor fusion and distributed robotic agents

作者： Cain, MP Booz Allen & Hamilton Inc. (United States)

ISBN: (纸本)0819423076

The use of Riemann surfaces offers an alternative approach to the characterization of object classes. In a situation where data from multiple sensors is available, the sensor observables can be used as the coordinates which define the space occupied by the class surfaces. The curvature of the surfaces will be governed by the underlying correlations between the phenomenologies of interest and the viewing conditions. The result is a natural coordinate system in which to implement classification algorithms. In this paper, a simple two-dimensional example is presented which introduces the underlying mathematics of the approach. A traditional statistical classifier is then used to examine classification performance. Extending the approach to include non-collocated sensors, sensor measurement error, and noise sources is also briefly discussed.

关键词： Riemann non-Euclidean data fusion feature extraction classification

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A Multi-agent Architecture Based on the BDI Model for Data fusion in Visual sensor Networks

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JOURNAL OF INTELLIGENT & robotic SYSTEMS 2011年第3-4期62卷 299-328页

作者： Castanedo, Federico Garcia, Jesus Patricio, Miguel A. Molina, Jose M. Univ Carlos III Madrid Dept Comp Sci Appl Artificial Intelligence Grp Madrid Spain

The newest surveillance applications is attempting more complex tasks such as the analysis of the behavior of individuals and crowds. These complex tasks may use a distributed visual sensor network in order to gain coverage and exploit the inherent redundancy of the overlapped field of views. This article, presents a Multi-agent architecture based on the Belief-Desire-Intention (BDI) model for processing the information and fusing the data in a distributed visual sensor network. Instead of exchanging raw images between the agents involved in the visual network, local signal processing is performed and only the key observed features are shared. After a registration or calibration phase, the proposed architecture performs tracking, data fusion and coordination. Using the proposed Multi-agent architecture, we focus on the means of fusing the estimated positions on the ground plane from different agents which are applied to the same object. This fusion process is used for two different purposes: (1) to obtain a continuity in the tracking along the field of view of the cameras involved in the distributed network, (2) to improve the quality of the tracking by means of data fusion techniques, and by discarding non reliable sensors. Experimental results on two different scenarios show that the designed architecture can successfully track an object even when occlusions or sensor's errors take place. The sensor's errors are reduced by exploiting the inherent redundancy of a visual sensor network with overlapped field of views.

关键词： distributed visual sensor networks Multi-agent Systems Data fusion

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Cooperative robot programming based on the parallel logic language KL1

Cooperative robot programming based on the parallel logic la...

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conference on sensor fusion and distributed robotic agents

作者： Mizoguchi, F Iizuka, K Nishiyama, H Ohwada, H Science Univ. of Tokyo (Japan)

ISBN: (纸本)0819423076

Multi-agent robot systems for the real world, must handle negotiations between agents. In this paper, we present a robot language which makes it easy to describe negotiation processes. This language provides concurrency and synchronization based on the logic programing language KL1. We incorporate the language into a look-ahead facility for handling emergent situations. Thus, reactive actions can be described in the language. We illustrate these facilities through cooperate tasks in pick-and-place problems.

关键词： Computer programming robotic systems Logic Space robots Telecommunications Computer programming languages Cameras Robot vision Head Inspection

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An intelligent sensor fusion architecture for autonomous microgravity experiments

An intelligent sensor fusion architecture for autonomous mic...

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conference on sensor fusion and distributed robotic agents

作者： Rokonuzzaman, M Gosine, RG Faculty of Engineering and Applied Science/C-CORE Memorial University of Newfoundland St. John's NL A1B 3X5 Canada

ISBN: (纸本)0819423076

Perception for an intelligent system is partially accomplished through fusing information from a number of complementary and redundant sensors. The application of intelligent system technology to sense, reason, and control unsupervised autonomous microgravity experiments requires a sensor fusion unit (SFU) that is fault-tolerant, highly available, and intelligent Also, it should have a generic architecture to enhance the system development methodology. A generic architecture for fusion of environmental sensors for autonomous deployment of microgravity experiments is proposed in this paper. The proposed SFU has the characteristics of high data integrity, resource redundancy, on-line autonomous serviceability, and operating status reporting ability. A discrete event system (DES) model to quantify the performance of the SFU in terms of functionality (i.e., predictable redundancy management), reliability, and availability has been developed.

关键词： sensor fusion unit fault-tolerance intelligent system generic architecture DES model predictable redundancy management microgravity experiments

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Nonlinear sensor fusion for a mobile robot

Nonlinear sensor fusion for a mobile robot

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conference on sensor fusion and distributed robotic agents

作者： Mutambara, AGO Florida State Univ. (United States)

ISBN: (纸本)0819423076

This paper proposes an estimation technique which employs measures of information for nonlinear systems. General recursive estimation and in particular the Kalman filter is discussed. A Bayesian approach to probabilistic information fusion is outlined. The notion and measures of information are defined. This leads to the derivation of the algebraic equivalent of the Kalman filter, the linear information filter. The characteristics of this filter and the advantages of information space estimation are discussed. State estimation for systems with nonlinearities is considered and the extended Kalman filter treated. Linear information space is then extended to nonlinear information space by deriving the extended information filter. This establishes all the necessary mathematical tools required for exhaustive information space estimation. The advantages of the extended information filter over the extended Kalman filter are presented and demonstrated. This extended information filter constitute an original and significant contribution to estimation theory made in this paper. It forms the basis of the decentralized data fusion techniques which can be applied to a modular wheeled mobile robot.

关键词： estimation nonlinearities extended information filter data fusion decentralized modular

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Experimental validation of likelihood ratio and CFAR detectors for multi-frequency radar data fusion .2.

Experimental validation of likelihood ratio and CFAR detecto...

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conference on sensor fusion and distributed robotic agents

作者： Thomopoulos, SCA Keller, MR INTELNET Inc. (United States) The Pennsylvania State Univ. (United States)

ISBN: (纸本)0819423076

This paper, which is the second part of a two-paper series, summarizes some key theoretical results in distributed decision fusion and provides new experimental evidence that validates these results. The experimental evidence is important in that it provides a guideline for designing and optimizing a distributed decision fusion system. Furthermore, it demonstrates that the performance of a distributed decision fusion system, when properly designed, may have performance which is comparable to the optimal centralized fusion. The objective of this paper is to benchmark centralized and distributed hypothesis testing algorithms and validate theoretical results from distributed decision fusion using the experimental multifrequency radar data from the Pome Lab Predetection fusion Program. In a series of papers Thomopoulos et al. have designed and evaluated a robust CFAR detector (code-named RobCFAR) for the distributed fusion of multi-frequency radar data from the Pome Lab Predetection fusion Program. In this paper the optimal centralized and distributed detectors fbr the same multi-frequency radar data are developed and their performance is compared with that of the RobCFAR detectors. Several problems that occur due to the necessity of on-line evaluation of the data statistics are addressed. The experimental results are used to validate several theoretical results from distributed decision fusion and benchmark the performance of a CFAR fusion design against the optimal centralized and distributed data fusion design.

关键词： fusion detector multi-frequency radar CFAR robust

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Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling

Autonomous synthesis of goal-oriented behaviors for planetar...

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conference on sensor fusion and distributed robotic agents

作者： Lee, SH Schenker, PS Jet Propulsion Lab. and Univ. of Southern California (United States) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819423076

An intelligent robotic architecture that autonomously synthesizes goal-oriented behaviors, while connecting sensing and action in real-time, is presented with applications to loosely defined planetary sampling missions. By the goal-oriented behaviors, we mean sequences of actions generated from automatic task monitoring and replanning toward set goals in the presence of uncertainties as well as errors and faults. This architecture is composed of perception and action nets interconnected in closed loops. The perception net, represented as a hierarchy of features that can be extracted from physical as well as logical sensors, manages uncertainties with sensor fusion, sensor planning, and consistency maintenance. The action net, represented as a hierarchy of state transition in which all the possible system behaviors are embedded, generates robust and fault-tolerant system behaviors with on-line adaptive task monitoring and replanning. The proposed intelligent robotic architecture is significant for autonomous planetary robotic sampling - and related robotic tasks in unstructured environments - that require robust and fault tolerant behaviors due to expected uncertainties as well as errors in sensing, actuation, and environmental constraints. We use a typical Mars planetary sampling scenario to evaluate the proposed architecture: autonomous soil science where a robot arm trenches soil to examine and deposit soil samples to lander based science instrumentation.

关键词： perception net action net intelligent robotic architecture goal-oriented behaviors planetary sampling

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