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Dynamic SLAM Algorithm Fusing Semantic Information and Geometric Constraints 12

Dynamic SLAM Algorithm Fusing Semantic Information and Geome...

引用

12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Zhou, Dongyi Chang, Yong Hong, Kunlong Song, Yifeng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Shenyang Aerospace University Shenyang China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Traditional visual simultaneous localization and mapping algorithms usually assume that the environment in which the robot is located is static. When dynamic objects appear in the background, the localization accuracy and robustness of the algorithm will be affected by moving targets. Aiming at this problem, an effective VSLAM algorithm that adapts to dynamic scenes is proposed. First, the YOLOv5s object detection algorithm is used to extract the semantic information of the pictures captured by the camera, and the image scene is divided into a static area and a potential dynamic area according to the semantic information. Then, the algorithm in this paper only uses the feature points in the static environment when calculating the initial pose, and then combines the epipolar constraints and the weighted dynamic probability to eliminate the dynamic points in the environment. Finally, the initial pose is optimized by calculating all the static points in the environment. Experiments on TUM's RGB dataset show that the proposed algorithm is significantly better than the ORB-SLAM2 system in terms of trajectory accuracy and improves the robustness of SLAM systems in dynamic environments. © 2022 ieee.

关键词： Object detection

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Particle Swarm Optimization of a Liquid State Machine for Epilepsy and Seizure EEG Signal Classification 12

Particle Swarm Optimization of a Liquid State Machine for Ep...

引用

12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Gong, Qingfeng Zhou, Wenli Li, Zhuoyu Wen, Kaiqiang Sheng, Zhoujun School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan430074 China Wuhan National Laboratory of Optoelectronics Wuhan430074 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Electroencephalogram (EEG) data classification is still a complex and time-consuming task so far. In this paper, a liquid state machine (LSM), a bio-inspired computing model, was investigated for classification of the epileptic seizure EEG data. To enhance the classification performance of the random connected LSM, the particle swarm optimization (PSO) algorithm was used to optimize its topology and nonlinear dynamics through the search of the liquid hyperparameters such as the scaling of synaptic strength, connection probability and time constant of membrane potential. The effect of the inertia weight in PSO on the performance of searched LSM was studied. The best accuracy of 95% for EEG classification was achieved by an optimized LSM with 160 neurons combined with a Softmax classifier via 10-fold cross-validation. In addition, the margin of the searched parameters for hardware implementation of LSM was given. © 2022 ieee.

关键词： Electroencephalography

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SmartDrive: The Ultimate EV-IoT control Hub 5

SmartDrive: The Ultimate EV-IoT Control Hub

引用

5th international conference on IoT Based control Networks and intelligent systems, ICICNIS 2024

作者： Elavarasi, K. Rajasekar, P. Chandra Mouli, B. Siva Subramanian, P. Bharanidharan, R. Karpagam Academy of Higher Education Department of Electrical and Electronics Engineering Coimbatore India Dhanalakshmi Srinivasan College of Engineering Department of Electrical and Electronics Engineering Coimbatore India Dhaanish Ahmed Institute of Technology Department of Robotics and Automation India SSM Institute of Engineering and Technology Department of Electrical and Electronics Engineering Engineering India

ISBN: (数字)9798331518097

ISBN: (纸本)9798331518097

IoT technology is crucial for advancing smart automation in electric vehicles (EVs). Interest in smart grids has surged due to the growth of distributed generation, the aging infrastructure of the existing grid, and the push for network modernization. As accurate usage predictions gain importance, so does the need for efficient energy storage systems, particularly for electrical energy. Green electrical energy storage systems are common in EVs due to their excellent electrical properties and adaptability, but the grid faces challenges from potential battery damage caused by overcharging, deep discharging, and high load surges. In this project, hardware utilizing GPS and IoT technology was developed to monitor and manage both the EV and its battery systems. A Battery Management System (BMS) with real-time monitoring and GPS tracking capabilities estimates the State of Charge (SoC) using coulomb counting techniques, alongside an MQTT protocol for message-based communication. The proposed BMS is implemented on a hardware platform utilizing the Arduino environment, a central processor, suitable sensing technologies, and interface devices. Project code was developed in the Arduino IDE and applied to the hardware system. © 2024 ieee.

关键词： Battery management systems

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Data-Driven Design for Parity Space-Based Replay Attack Detection 22

Data-Driven Design for Parity Space-Based Replay Attack Dete...

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22nd ieee international conference on Industrial Informatics, INDIN 2024

作者： Song, Tianyi Sun, Tieliang Lv, Feng Zhao, Dong Li, Yafeng School of Cyber Science and Technology Beihang University Beijing China Oil and Gas Control Center PipeChina Beijing China

ISBN: (纸本)9798331527471

This article studies the data-driven design of parity space based replay attack detection method for cyber-physical systems. By utilizing the input and output data, the proposed data-driven detection can uncover stealthy replay attacks. First, the replay attack detector is formulated by following the parity space method. Subsequently, data-driven parity space identification, residual quantification, and parity matrix optimization are presented to support data-driven residual generation and evaluation for the detector. To enhance detection performance, an integration of attack defense model information and process data is presented, and the data-driven detector design is proposed. Finally, simulations are conducted to testify the performance of our schemes. © 2024 ieee.

关键词： Embedded systems

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Variability-Driven Knowledge Discovery in IEC 61499 systems 29

Variability-Driven Knowledge Discovery in IEC 61499 Systems

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29th ieee international conference on Emerging Technologies and Factory automation, ETFA 2024

作者： Hager, Anna-Lena Sharma, Shubham Sonnleithner, Lisa Cdl VaSiCS Linz Austria Johannes Kepler University Linz Lit Cps Lab Linz Austria

ISBN: (纸本)9798350361230

cyber-physical production systems (CPPSs) are advanced manufacturing systems that integrate the latest information technology techniques to enable flexible and adaptive production processes. The IEC 61499 standard defines a domain-specific modeling language for developing control software for distributed CPPSs. In CPPS, as well as in other domains, variability must be managed. However, effective management first requires the identification and extraction of this variability. Thus, this paper aims to explore and implement machine learning-based Knowledge Discovery techniques within the IEC 61499 standard. By employing a first case study, we demonstrate how to extract variability in IEC 61499-based applications. Our approach leverages techniques such as Term Frequency Inverse Document Frequency (TF-IDF) vectorization and cosine similarity to identify and cluster variations in software components. In the future, we plan to apply this approach to a greater scope of the IEC 61499 standard and develop evaluation methods to validate and improve our methodology. From the first results, integrating machine learning-based Knowledge Discovery techniques into the IEC 61499 standard shows potential for effectively extracting variability from control software. © 2024 ieee.

关键词： Flexible manufacturing systems

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Asychronous controller Design for Markov Jump interconnected systems with Output Quantization 5

Asychronous Controller Design for Markov Jump interconnected...

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5th international conference on Mechatronics technology and intelligent Manufacturing (ICMTIM)

作者： Yan, Wen-Xiu Li, Li-Wei Nanjing Tech Univ Coll Elect Engn & Control Sci Nanjing Peoples R China

ISBN: (纸本)9798350363272;9798350363265

In this paper, decentralized asynchronous output feedback controllers is proposed for Markov jump interconnected systems with general bounded transition rates. The designed asynchronous output feedback controllers are independent of the system mode, which means that it has sustainable control behavior for the unavailable systems mode. In the controller design, the small-gain condition and the Shure compensation are used to deal with unknown interconnections and nonlinear problem. In addition, the existing conditions of the controller are obtained by using linear matrix inequalities. Finally, a simulation is given to verify the feasibility of the controller.

关键词： Asychronous control interconnected systems Markov jump systems output quantization

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Vulnerability Testing on IoT Networks Using Machine Learning Algorithm

Vulnerability Testing on IoT Networks Using Machine Learning...

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

作者： Mohandas, R. Prasanna, D.S.John Deva Baiju, B.V. Nathiya, S. Rajkumar, T. Dhiliphan Sivashankar, C. Srm Institiute Of Science And Technology Department Of Computational Intelligence Chennai Kattankulathur India Srm Institiute Of Science And Technology Department Of Datascience And Business Systems Chennai Kattankulathur India Vit University TamilNadu Vellore India Prince Shri Venkateshwara Padmavathi Engineering College Department Of Electronics And Communication Engineering Ponmar Chennai India Kalasalingam Academy Of Research And Education Dept. Of Computer Science And Engineering Tamilnadu Krishnankovil India Department Of Computer Science And Engineering Chennai India

ISBN: (纸本)9798350364828

The increasing growth of Internet of Things (IoT) devices has created a wide attack surface for cyber criminals to carry out more destructive cyber attacks;therefore, the number of cyber attacks in the information security industry is increasing rapidly. As attackers use new and innovative methods to launch cyber-oriented attacks, many of these strikes have succeeded in their malicious goals. Anomaly-based intrusion detection systems (IDS) use machine learning techniques to detect and classify attacks on IoT networks. Faced with unpredictable network technologies and various infiltration methods, traditional machine learning technologies are powerless. In abounding areas of research, kernel learning methods prove that they accurately determine pathological abilities. © 2024 ieee.

关键词： Internet of things

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Gait tracking control of biped robot based on adaptive gait switching algorithm 12

Gait tracking control of biped robot based on adaptive gait ...

引用

12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Yu, Jianjun Li, Ruiqi Gong, Daoxiong Liu, Yixin Liu, Peng Beijing Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology Beijing100020 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In order to make the walking gait of biped robot more human like, this paper takes the human walking data as the expected gait of robot, and uses the periodic characteristics of gait, proposes a gait tracking control strategy of Biped Robot Based on adaptive gait switching algorithm. Firstly, this paper establishes the complete dynamic models of left leg support phase (LSP) and right leg support phase (RSP) based on Lagrange method, then designs the corresponding LQR gait tracking control strategy, and uses the adaptive weighted particle swarm algorithm (A WPSO) to obtain the optimal controller parameters. Finally, the threshold range of plantar contact force in two periods are estimated based on the adaptive mechanism, and the occurrence of gait switching is detected according to the defined decision rules, thus trigger the control strategy in the next stage to realize the walking tracking control of biped robot. The experimental results show that only two LQR controllers to realize the accurate tracking of the desired gait of the biped robot, and the maximum gait speed reaches two steps/s, which is close to the human gait speed. Compared with other methods, the gait is more human like. © 2022 ieee.

关键词： Robots

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A Novel Diversified API Recommendation for Power System Sensors 17

A Novel Diversified API Recommendation for Power System Sens...

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ieee Congress on cybermatics: 17th ieee international conference on Internet of Things, iThings 2024, 20th ieee international conference on Green Computing and Communications, GreenCom 2024, 17th ieee international conference on cyber, Physical and Social Computing, CPSCom 2024, 10th ieee international conference on Smart Data, SmartData 2024

作者： Zhu, Minhao Gu, Huanhuan Che, Xun Chen, Jingfei Zhao, Qian Liu, Fan Zheng, Yu Nari Group Corporation Nanjing China Nanjing University of Science and Technology School of Cyber Science and Engineering Nanjing China Nanjing University of Science and Technology School of Computer Science and Engineering Nanjing China Guodian Nanjing Automation Co. Ltd. Nanjing China

ISBN: (纸本)9798350351637

The collaborative interaction between power systems and the Internet of Things (IoT) is strengthening, with IoT devices facilitating real-time monitoring and governance of the power grid, pushing power systems to the next frontier: the smart grid. Nevertheless, the reliance of power systems on a vast array of IoT devices, each with its unique API, makes the development of a unified smart grid software solution extremely complex. Most existing research focuses on accuracy in recommendations, thus neglecting users' needs for functional diversity. To address this issue, we propose a diversified API recommendation approach that suggests a variety of functional APIs from power system sensors to users. We start by converting API labels into feature vectors based on a pre-trained language model and calculate the similarity between APIs through clustering. Subsequently, we construct an API graph to model the functional similarity relationships between APIs. Finally, we generate a minimum weighted tree to obtain a combination of APIs that meets the requirements and ensures diversity. We demonstrate the advantages of our proposed method in terms of diversity through a case study. © 2024 ieee.

关键词： Power systems computer aided design

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Robotic Visual Inspection and Positioning Method for Flexible Wire Coating Operation 12

Robotic Visual Inspection and Positioning Method for Flexibl...

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12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Rao, Chenglong Song, Yifeng Wang, Hongguang Wang, Junpeng Jing, Fengren Shenyang University of Chemical Technology Shenyang110142 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Overhead bare wire is not protected by insulating sheaths, and is prone to safety accidents. It is of great practical significance to use coating robots to insulate bare wires. During the robotic coating operation, the flexible wire is much deformed due to the robot gravity, this paper proposes a robot vision inspection and positioning method for flexible wire coating operation. The offset distance of the calibration plate is defined in the image space to characterize the change in the robot's working posture, and the target position tracking control law based on the PID method is designed. Since the target in the flexible wire environment will change with the flexible wire, the technical means of hand-eye calibration and camera calibration are used to locate and track the dynamically changing target in real-time. The experimental results show that the method can effectively inspect and locate the target, and adapt to the semi-structural environment. © 2022 ieee.

关键词： Inspection

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