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Multi-task Collaborative Perception Algorithm Based on Consensus Perception

Multi-task Collaborative Perception Algorithm Based on Conse...

引用

2024 ieee international conference on Unmanned systems, ICUS 2024

作者： Luo, Fuyu Yu, Yunbo Guo, Xiaoye Systems Engineering Research Institute China State Shipbuilding Corporation Beijing China Department of Computer Science Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

This Multi-agent collaborative perception is a hot topic in the current field of machine learning. Through communication and sharing of perceived scene information between agents, this approach can tackle issues such as occlusion and sparse observations present in single-agent observations. Existing studies have shown that localization errors are a significant factor affecting the accuracy of perception results. Furthermore, most prior work has focused solely on the performance of algorithms in individual tasks without considering multi-task scenarios. In this paper, a multitask collaborative perception method based on consensus perception is proposed. It integrates local perception information from each intelligent agent to form a global perception consensus, which is then used to correct the spatial feature maps of the agents, alleviating the impact of localization errors on perception results. Additionally, the use of a feature selection module based on spatial confidence maps and a multi-scale attention feature fusion module optimizes the performance of the collaborative perception process. By setting up multiple decoders in parallel, a single model is able to handle diverse tasks. Experimental results demonstrate that the proposed consensus-based collaborative perception method effectively mitigates the negative impact of localization errors on perception performance, and the algorithm can achieve good perception results across multiple tasks. © 2024 ieee.

关键词： Feature Selection

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Development of a cyber-Physical Model and Emulation of an Oil and Gas Compressor Station for cybersecurity Research and Development

Development of a Cyber-Physical Model and Emulation of an Oi...

引用

ieee international conference on Trust, Privacy and Security in intelligent systems and Applications (TPS-ISA)

作者： Adam J. Beauchaine Titus A. Gray Andrew S. Hahn Lee T. Maccarone Scott T. Bowman Sandia National Laboratories Albuquerque NM Idaho National Laboratory Idaho Falls ID

ISBN: (数字)9798350386745

ISBN: (纸本)9798350386752

Significant research and development efforts are underway to ensure the cybersecurity of critical infrastructure and other operational technology (OT) systems. Given the high demand for safety and availability of OT systems, novel OT tools and systems must be designed and tested in a consequence-aware environment. This requires the seamless integration of high-fidelity physics simulations with emulations of OT devices and networks. This paper introduces a modular simulation environment for an oil and gas compressor station and its local networks. This environment will be used to support the development of novel tools to predict, detect, and mitigate cyber threats on critical infrastructure. This paper also describes future plans to expand the scale of the environment and its use cases.

关键词： Privacy Oils Emulation control systems Critical infrastructure Safety intelligent systems Computer crime Research and development Physics

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Performance Evaluation of Optimum Number of Stages for ADPLL Ring Oscillator

Performance Evaluation of Optimum Number of Stages for ADPLL...

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2023 ieee international conference on Automatic control and intelligent systems, I2CACIS 2023

作者： Ishak, Syaza Norfilsha Faseehuddin, Mohammad Sampe, Jahariah Nayan, Nazrul Anuar Yunus, Noor Hidayah Mohd Universiti Kebangsaan Malaysia UKM Bangi Malaysia Symbiosis International [Deemed University Department of Electronics and Telecommunication Pune India Faculty of Engineering and Built Environment Universiti Kebangsaan Malaysia UKM Bangi Malaysia Communication Technology Universiti Kuala Lumpur British Malaysian Institute Gombak Malaysia

ISBN: (纸本)9798350321302

An all-digital phase-locked loop (ADPLL) has been demanded among academics and industries due to its advantages in the complementary-metal-oxide semiconductor (CMOS) technology process. In the ADPLL, one of the crucial blocks is the digital-controlled oscillator (DCO), which is a combination of the digital-to-analog converter (DAC) and the voltage-controlled oscillator (VCO). In this work, the approach of the CMOS inverter ring oscillator is designed using Cadence OrCad Capture with CMOS 90 nm technology process. The ring oscillator is designed with different stages, which are 3-stage, 5-stage, and 7-stage configurations. At the output of every stage, a 0.001pF capacitor is connected as a capacitance load. The result shows that the oscillation period started for the 7-stage is 0.1 ns, which is faster than the 5-stage and the 3-stage of the ring oscillator, which are 0.6 ns and 0.15, ns respectively. For the power consumption performance, the 3-stage recorded 52.47 μ W which is the lowest power dissipated compared to others. © 2023 ieee.

关键词： CMOS integrated circuits

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Autonomous Peg Transfer - A Gateway to Surgery 4.0 10

Autonomous Peg Transfer - A Gateway to Surgery 4.0

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10th ieee Jubilee international conference on Computational cybernetics and cyber-Medical systems, ICCC 2022

作者： Nagy, Tamás D. Haidegger, Tamás Antal Bejczy Center for Intelligent Robotics EKIK Óbuda University Bećsi út 96/B Budapest1034 Hungary Óbuda University Doctoral School of Applied Informatics and Applied Mathematics Hungary Biomatics Institute John von Neumann Faculty of Informatics Óbuda University Hungary Viktor-Kaplan-Straße 2 Wiener Neustadt2700 Austria

ISBN: (数字)9781665481779

ISBN: (纸本)9781665481779

The appearance and global spread of Robot-Assisted Minimally Invasive Surgery (RAMIS) induced a revolution in healthcare during the last few decades. Many believe that the next step in the advancement of surgery will be subtask-level automation. Currently, a number of research groups are working on the automation of surgical subtasks, and in the last few years, the automation of simple surgical training exercises received more and more attention. At present, the most intensively researched of those training exercises is the peg transfer, probably due to its simplicity, enabling to elaborate the basic principles and best algorithms for automation. This paper presents an overview of the current state of the research in this particular area, emphasizing benchmarks and different variations of the peg transfer training exercise. An example implementation of autonomous peg transfer on the research-enhanced da Vinci Surgical System, the da Vinci Research Kit (DVRK), utilizing RGB-D camera stream, is also shown. Finally, advanced variations on the peg transfer training exercise, suitable as future research directions are proposed, gradually increasing challenge in the process of automation. © 2022 ieee.

关键词： Surgical equipment

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A Networked Method Applied to Sensitivity Analysis of a VSG controlled BESS System 5

A Networked Method Applied to Sensitivity Analysis of a VSG ...

引用

5th international conference on Power Engineering, ICPE 2024

作者： Sun, Zhiyuan Luo, Chao Zheng, Kun Zhu, Yihua Yu, Jiawei Guangxi Power Grid Electric Power Research Institute China S. Power Grid Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment Nanning China Electric Power Research Institute China Southern Power Grid State Key Laboratory of Hvdc Guang zhou China National Energy Power Grid Technology R&d Centre Guang zhou China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guang zhou China

ISBN: (纸本)9798331531140

The grid-forming battery energy storage system (BESS) plays important role in constructing new energy system. This paper presents a frequency domain modal-based stability analysis of virtual synchronous generator (VSG) controlled BESS. Both ac and dc side interactive dynamics of the grid-tied inverter system are considered, by establishing a hybrid ac/dc impedance network. Then, the frequency domain modal analysis (FMA) method for networked converter systems is applied to the BESS system, covering the eigen-sensitivity from the node level to parameter level. Using this method, key parameters that influence the BESS system's weakly/negative damping modes most can be better analyzed and identified. The analysis results are validated via the time-domain simulations. © 2024 ieee.

关键词： Frequency domain analysis

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Research on Energy Management Strategy of intelligent Building Microgrid Based on Particle Swarm Optimization 2

Research on Energy Management Strategy of Intelligent Buildi...

引用

2nd international conference on Power systems and Electrical technology, PSET 2023

作者： Ni, Gaojun Zheng, Wenjun Li, Ping Zheng, Kai Yuan, Songlin Zhejiang University Center for Balance Architecture Hangzhou China The Architectural Design & Research Institute of Zhejiang University Co. Ltd. Hangzhou China

ISBN: (纸本)9798350339703

The energy management optimization model of AC-DC hybrid microgrid system for intelligent buildings based on Simulink is introduced. Under the incentive of time-of-use price, the life expenditure of the energy storage battery is taken into account, and the optimal distribution scheme of the energy storage system under this time-of-use price is sought by using particle swarm optimization, so as to achieve the lowest daily cost of AC-DC hybrid microgrid. On this basis, the influence of the input and output power on the converter efficiency is further considered, and the maximum economic benefit of the system is realized by dynamically changing the charge-discharge power of the energy storage battery. A practical case is given to verify the effectiveness of the control strategy. © 2023 ieee.

关键词： Energy management systems

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Greensense: IoT-Enabled Smart Monitoring And Early Detection System For Optimal Plant Health In Greenhouse

Greensense: IoT-Enabled Smart Monitoring And Early Detection...

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2024 international conference on Advances in Data Engineering and intelligent Computing systems, ADICS 2024

作者： Venkatesh, R. Aadhira, K.R. Kathiravan, M. Hindustan Institute Of Technology And Science Department Of Computer Science & Engineering Chennai India

ISBN: (纸本)9798350364828

The emergence of Agriculture 4.0 signifies a transformative shift in traditional farming practices, integrating cutting-edge technologies like IoT, machine learning, and robotics to support productivity and sustainability. This era leverages real-time data and automation for precision farming, predictive analytics, and resource optimization, crucial for addressing global food security challenges while minimizing environmental impact. GreenSense represents progress within Agriculture 4.0. It seeks to revolutionize greenhouse management by integrating IoT and advanced machine learning algorithms. Through sensors, actuators, and a Raspberry Pi 4 board, this system offers a comprehensive solution for monitoring and optimizing plant health in controlled environments. The motivation behind this system stems from the imperative to enhance agricultural practices sustainably in the face of population growth. By enabling real-time monitoring and swift anomaly detection through application, this paper empowers proactive intervention to mitigate risks and optimize growing conditions. Integration of the YOLOv5 algorithm with 97% accuracy enhances precision in leaf disease and pest detection using OpenCV, reducing crop losses effectively. Beyond greenhouse management, this paper contributes to advancing sustainable agriculture. Its scalable and adaptable nature promotes resource-efficient practices and environmental care. Finally, a user-friendly interface is tailored to facilitate efficient data collection from sensors, enabling comprehensive monitoring of crop conditions, including pest and disease detection. © 2024 ieee.

关键词： Learning algorithms

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An Integrated Neural Unmanned System for Multi-Domain Perception and Decision-Making

An Integrated Neural Unmanned System for Multi-Domain Percep...

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2022 ieee international conference on Robotics and Biomimetics, ROBIO 2022

作者： Liu, Qiming Xu, Neng Zhang, Jinpeng Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China Shanghai Jiao Tong University SJTU Paris Elite Institute of Technology Shanghai200240 China Second Academy of China Aerospace Beijing100854 China Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

Most recent intelligent systems study the perception or policy modules independently but ignore the inter-connection between them, which results in low information efficiency and high network redundancy, in the end, leads to the incomplete utilization of network potential and poor system-level end-to-end intelligence. This paper proposes an integrated end-to-end network that adapts to multi-domain inputs and multi-function outputs. 'Integration' is defined in this paper in mainly three aspects: network structure level, optimization level, and functional level. The integrated network architecture is capable of fusing multiple raw sensory inputs and outputting multiple perceptions and decisions simultaneously. We first implement the integrated system in a virtual simulation environ-ment and investigate the domain transformation methods to real world. Comprehensive experiment results in both virtual and real environments show that our proposed system can behave normally under exploration, target-driven navigation and target shooting tasks. © 2022 ieee.

关键词： intelligent systems

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IoT-Based Plant Health Monitor Using NodeMCU and ESP8266

IoT-Based Plant Health Monitor Using NodeMCU and ESP8266

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IoT Based control Networks and intelligent systems (ICICNIS), international conference on

作者： Rajat Tandel Ebenezer V Santhiya P Bijolin Edwin Stewart Kirubakaran S Roshni Thanka Division of Computer Science and Engineering Karunya Institute of Technology and Sciences Coimbatore India Division of Data Sciences and Cyber Security Karunya Institute of Technology and Sciences Coimbatore India

ISBN: (数字)9798331518097

ISBN: (纸本)9798331518103

Plant Monitor Using NodeMCU(ESP8266)is a technology that is advanced; it uses IoT-Internet of Things to measure and monitor different plant phenomena. This system, which is based on sensors that collect data on different factors such as soil type, temperature, humidity, and other vital metrics vital for plant growth, is also integrated. Bringing IoT into the picture, the system can remotely sense the metrics and having control over other factors which include watering, shading, and even security provision for the plants to make it thrive. Besides that, it will also send notifications to users, hence allowing them to engage in the monitoring process through mobile applications with support from their smartphones. The Smart Plant Monitoring System though creates an impact on the efficiency of plant care also impacts on water conservation, automation of plant care process and better agricultural practices.

关键词： Temperature sensors Temperature measurement Temperature distribution Technological innovation automation Plants (biology) Humidity Water conservation Monitoring intelligent sensors

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Design and implementation of UAV inspection and control platform for transmission lines 8

Design and implementation of UAV inspection and control plat...

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8th international conference on Information systems Engineering, ICISE 2023

作者： Hao, Zheng Yu, Hao Yu, Wang Binbin, Li Yi, Chen Cong, Wang Ning, Zhang State Grid Anhui Electric Power Co. Ltd. Hefei China Electric Power Research Institute State Grid Anhui Electric Power Co. Ltd. Hefei China University of Science and Technology of China International Institute of Finance Hefei China

ISBN: (纸本)9798350307009

In recent years, unmanned aerial vehicles (UAV) have been widely used in transmission line inspection because of their flexible operation, strong adaptability and strong security. In order to solve the dependence of traditional UAV inspection mode on manual operation, a UAV inspection and control platform for transmission lines is established. Through the design of intelligent inspection platform and the practice of landing application scenarios, the digitalization of UAV inspection business, standardized management and intelligent operation of transmission line are realized, which provides technical support for the construction of modern equipment management digital system. © 2023 ieee.

关键词： Electric lines

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