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Design and Realization of Unmanned Vehicle Autonomous Navigation System Based on Binocular Camera

Design and Realization of Unmanned Vehicle Autonomous Naviga...

computer science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE International Conference on

作者： Tianxing Guo Lianlei Lin Huanyu Liu Junbao Li Department of Automatic Test and Control School of Electronics and Information Engineering Harbin Institute of Technology Harbin China Information Countermeasure Technique Institute School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Aiming at the navigation problem of unmanned vehicles in extreme environments such as communication interference and limited GPS signals, this study proposes an autonomous navigation method based on binocular cameras. The method enables the unmanned vehicle to complete the task of localization and map building using only binocular images, without the need for other sensors or signal sources. Meanwhile, this study also proposes a local path planning obstacle avoidance method based on depth map, which, when combined with global localization information, can take into account both local obstacle avoidance and global path navigation, and can cope with random environmental changes. The system uses a single sensor for autonomous obstacle avoidance and navigation, which reduces the computational requirements and ensures the low cost of the navigation system. In order to verify the reliability and effectiveness of the system under signal-constrained conditions, the system is evaluated in a simulation environment and a real field scenario, respectively. The experimental results show that the system is able to achieve reliable localization and path planning under signal-constrained conditions.

关键词： Location awareness Navigation Reliability theory Path planning Sensor systems Sensors Collision avoidance

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Machine Learning Based Intrusion Detection System in Cloud Environment 8

Machine Learning Based Intrusion Detection System in Cloud E...

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8th International Conference on Information Technology and Nanotechnology, ITNT 2022

作者： Saeed, Muhammad Salman Saurabh, Raman Bhasme, Sarang Balasaheb Nazarov, Alexey N. Moscow Institute of Physics and Technology Department of Radio Engineering and Cybernetics Moscow Russia Federal Research Center Computer Science and Control of Russian Academy of Sciences Moscow Russia

ISBN: (数字)9781665485715

ISBN: (纸本)9781665485715

Attacks and intrusions on computer networks often have different characteristics and behaviors that require professional help. The number of attacks is growing in line with the development of computer networks. In fact, expert knowledge is declining over time and should be reviewed and made available in the system, making it necessary to hire an experienced person. Cloud computing is an advancement in IT technologies that provide users with the most up-To-date, highly sought-After virtual services with high flexibility, low infrastructure costs, and minimal maintenance. Protection against network intruders is one of the most important security challenges for cloud computing, as it affects the privacy, availability, and integrity of cloud services. Because cloud computing is a shared environment, it can be vulnerable to various threats. Because building strong access systems are essential to maintaining cloud security, but it remains an obscure goal and a major challenge due to the growing number of cyber-Attacks. In this study, a machine-learning based approach was used to propose an intrusion detection system (IDS) based on a network based cloud computing model. During the previous processing phase, we used a feature selection algorithm from the CICDDoS2019 database to select features. We have used the Naive Bayes Classifier, Decision Tree Classifier, Supporting Classifier, Logistic Regression, and Random Forest Classifier, all of which are well-known categories. Simulation results when compared to these five different classifiers, random forest algorithm show improvements in overall accuracy, precision, recall and F1 score. We explain how various characteristics of machine learning techniques can be used to build efficient IDS. The goal of this research is to develop a new method based on intrusion detection systems and their varied designs for improving intrusion detection accuracy in cloud computing. © 2022 IEEE.

关键词： Decision trees

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Some Remarks on Fault-Tolerant Dynamic control Allocation for Weakly Redundant Systems

Some Remarks on Fault-Tolerant Dynamic Control Allocation fo...

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Mediterranean Conference on control and Automation (MED)

作者： Andrea Cristofaro Michelangelo Faleschini Department of Computer Control and Management Engineering Sapienza University of Rome Italy School of Science and Technology - Mathematics Division University of Camerino Italy

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

We consider the problem of control allocation for weakly redundant systems subject to actuator faults. In particular, the design of a suitable allocator will be devised with the aim of compensating for the fault effects while, at the same time, keeping the control burden as low as possible. To this goal, two approaches can be followed for the synthesis of the allocation servomechanism: direct allocation using orthogonal projection and optimization-based allocation. Some numerical examples illustrate and highlight advantages, disadvantages and limitations of both strategies.

关键词： Fault tolerance Actuators Automation Fault tolerant systems Dynamic scheduling Resource management Servomechanisms

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UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-generation Framework

arXiv

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arXiv 2023年

作者： Amer, Abdelhakim Álvarez-Tuñón, Olaya Ugurlu, Halil Ibrahim le Fevre Sejersen, Jonas Brodskiy, Yury Kayacan, Erdal The Department of Electrical Engineering and Computer Engineering Aarhus University Aarhus8200 Denmark EIVA a/s Skanderborg8660 Denmark The Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting their ability to transfer algorithms from simulation to real-world applications. To address this limitation, we introduce UNav-Sim, which, to the best of our knowledge, is the first simulator to incorporate the efficient, high-detail rendering of Unreal Engine 5 (UE5). UNav-Sim is open-source1 and includes an autonomous vision-based navigation stack. By supporting standard robotics tools like ROS, UNav-Sim enables researchers to develop and test algorithms for underwater environments efficiently. © 2023, CC BY.

关键词： Data visualization

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Detection of DDoS Attacks with Gaussian Mixture Model 9

Detection of DDoS Attacks with Gaussian Mixture Model

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9th Scholar's Yearly Symposium of Technology, engineering and Mathematics, SYSTEM 2023

作者： Cecchetto, Alessandro Conte, Giuseppa Napoli, Christian Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Roma00185 Italy Institute for Systems Analysis and Computer Science Italian National Research Council Via dei Taurini 19 Roma00185 Italy Department of Computational Intelligence Czestochowa University of Technology Czestochowa42-201 Poland

A Distributed Denial of Service (DDoS) is an attack which aim is to stop or tamper with an online service incapacitating a server with a flood of packages or requests, using internet or intranet. The main aim of the DDoS attack is to collapse the network or server with abnormal traffic to make the service unavailable for the legitimate users. This problem is particularly profound, due to the development of emerging technologies, such as cloud computing, the Internet of Things or artificial intelligence techniques, from which attackers can take advantage by launching a huge volume of DDoS attacks at a lower cost, and it is much harder to detect and prevent DDoS attacks, because DDoS traffic is similar to normal traffic. In this paper we implement a novel technique implementing an unsupervised Gaussian Mixture Model (GMM) based algorithm. Using a real traffic dataset, the CIC-DDoS2019, for benchmark, the proposed GMM can achieve recall, precision, and accuracy up to 99%. Experiments reveal that this can be a promising solution for the detection of DDoS attacks. © 2023 Copyright for this paper by its authors.

关键词： Denial-of-service attack

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Trends and Challenges of Sustainable Agriculture in the Iraqi Environment

Trends and Challenges of Sustainable Agriculture in the Iraq...

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2022 IEEE International Conference on Blockchain, Smart Healthcare and Emerging Technologies, SmartBlock4Health 2022

作者： Al-Asadi, Hanan Hussein Goga, Maria Ali, Haider Abdullah Popa, Ramona Cristina Oludele, Awodele University POLITEHNICA of Bucharest Faculty of Automatic Control and Computers Bucharest Romania University of Technology-Iraq Baghdad Iraq Technical University of Civil Engineering of Bucharest UTCB Department for Training of Teaching Personnel Bucharest Romania Madenat Alelem University College Baghdad Iraq Babcock University Computer Science Department Ogun State Nigeria

ISBN: (纸本)9781665460149

The use of Agriculture Intelligent Systems (AISs) in Iraq has become popular among farmers. The greenhouse is a solution for plant growth, which uses an effective microclimate to simulate seasons and to use alternative energy sources like solar, thermal, and photovoltaic systems for microclimate control. Greenhouses are considered a successful solution with developments and achievements in the technology of this field. However, problems like high costs, difficulties in installation and maintenance, or the need for some procedures should be considered. Because Iraq is close to the equator (3669 km), it receives sufficient solar power. It also has large areas available for the building of solar greenhouse systems. The farmers need an affordable and functional smart greenhouse to enable and encourage them to use the environment efficiently. We intend to develop low-cost, accurate, and easy-to-use greenhouse systems controlled by artificial intelligence algorithms. Farmers will be able to control the greenhouse by using simple commands. Machine learning algorithms provide real-time and effective analysis that could support farmers in decision-making and provide relevant data for researchers and policymakers. AISs algorithms can lead to a sustainable and productive agriculture system. The system can be used in Iraq with sufficient government support and subsidy. © 2022 IEEE.

关键词： Intelligent systems

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A 180-Degree Phase Difference Output of Wilkinson Power Divider Using Microstrip Parallel Coupled Lines 6

A 180-Degree Phase Difference Output of Wilkinson Power Divi...

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6th International Conference on Power, Energy and Innovations, ICPEI 2024

作者： Phanomupatum, Pratya Phromloungsri, Ravee Tama, Rachata Pongthavornkamol, Tiwat Wongpatsa, Decha Sonasang, Somchat Nakhon Phanom University Faculty Industrial Technology Department of Electronics Nakhon Phanom Thailand Udon Thani Rajabhat University Computer and Communication Engineering Faculty of Technology Udon Thani Thailand National Electronic and Computer Technology Center National Science and Technology Development Agency Location and Automatic Identification System Research Team Communication and Network Research Group Pathumthani Thailand Faculty Industrial Technology Nakhon Phanom Thailand

ISBN: (纸本)9798350356779

The design of a 180° output phase difference Wilkinson power divider for L-band applications is detailed in this article. The Wilkinson power is generated through the utilization of the parallel coupler's phase shifter. To showcase the potential of the suggested power divider, an FR4 microwave substrate is fabricated with a narrow band of 1.6 GHz to accommodate radio astronomy systems. The insertion loss, return loss, and isolation loss for the power divider's difference phase are accurately simulated at the operational frequency. © 2024 IEEE.

关键词： Radio astronomy

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Resilient Routing Table Computation Based on Connectivity Preserving Graph Sequences 42

Resilient Routing Table Computation Based on Connectivity Pr...

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42nd IEEE International Conference on computer Communications, INFOCOM 2023

作者： Tapolcai, Janos Babarczi, Peter Ho, Pin-Han Ronyai, Lajos Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Telecommunications and Media Informatics BudapestH-1111 Hungary University of Waterloo Deptartment of Electrical and Computer Engineering Canada Institute for Computer Science and Control Eötvös Loránd Research Networkand Department of Algebra Hungary Institute of Mathematics Budapest University of Technology and Economics BudapestH-1111 Hungary

ISBN: (纸本)9798350334142

Fast reroute (FRR) mechanisms that can instantly handle network failures in the data plane are gaining attention in packet-switched networks. In FRR no notification messages are required as the nodes adjacent to the failure are prepared with a routing table such that the packets are re-routed only based on local information. However, designing the routing algorithm for FRR is challenging because the number of possible sets of failed network links and nodes can be extremely high, while the algorithm should keep track of which nodes are aware of the failure. In this paper, we propose a generic algorithmic framework that combines the benefits of Integer Linear Programming (ILP) and an effective approach from graph theory related to constructive graph characterization of k-connected graphs, i.e., edge splitting-off. We illustrate these benefits through arborescence design for FRR and show that (i) due to the ILP we have great flexibility in defining the routing problem, while (ii) the problem can still be solved very fast. We demonstrate through simulations that our framework outperforms state-of-the-art FRR mechanisms and provides better resilience with shorter paths in the arborescences. © 2023 IEEE.

关键词： Graph theory

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

Optimal Linear Deception Attacks on Remote State Estimation ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

关键词：

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Fractional Order Darwinian Pigeon-Inspired Optimization for Multi-UAV Swarm controller

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Guidance, Navigation and control 2022年第2期2卷 80-98页

作者： Bingda Tong Chen Wei Yuhui Shi Science and Technology on Aircraft Control Laboratory Beihang University37 Xueyuan RoadHaidian DistrictBeijing 100191P.R.China Department of Computer Science and Engineering College of EngineeringSouthern University of Science and Technology1088 Xueyuan AvenueShenzhen 518055P.R.China

This paper presents a novel multiple unmanned aerial vehicde(UAV)swarm cotoller based on the fractional alculus *** controller i designed baed on fractional order Darwinian pigeon-inepired optimization(F 0DPI0)and PID *** comparative simulations are conducted in the *** simulation results reveal that FODPIObased muli-UAV formation controller is superior to the basic PIO and dilTerential evolution(DE)*** fractional oelfcdent in F ODPIO algorithm makes it eflective optimbation with fast convergence rate,small oversboot,and better ***,the contnoller propoeed in this paper is fessible and robust.

关键词： Pigeon-inspired optimization(PIO) fractional order Darwinian pigeon-inspired optimization(FODPIO) unmanned aerial vehicle(UAV) formation control

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