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Domain-Invariant Similarity Activation Map Contrastive Learning for Retrieval-Based Long-Term Visual Localization

IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 313-328页

作者： Hanjiang Hu Hesheng Wang Zhe Liu Weidong Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China IEEE Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Department of Computer Science and Technology University of CambridgeCambridge CB30FDUnited Kingdom

Visual localization is a crucial component in the application of mobile robot and autonomous *** retrieval is an efficient and effective technique in image-based localization *** to the drastic variability of environmental conditions,e.g.,illumination changes,retrievalbased visual localization is severely affected and becomes a challenging *** this work,a general architecture is first formulated probabilistically to extract domain-invariant features through multi-domain image ***,a novel gradientweighted similarity activation mapping loss(Grad-SAM)is incorporated for finer localization with high *** also propose a new adaptive triplet loss to boost the contrastive learning of the embedding in a self-supervised *** final coarse-to-fine image retrieval pipeline is implemented as the sequential combination of models with and without Grad-SAM *** experiments have been conducted to validate the effectiveness of the proposed approach on the CMU-Seasons *** strong generalization ability of our approach is verified with the RobotCar dataset using models pre-trained on urban parts of the CMU-Seasons *** performance is on par with or even outperforms the state-of-the-art image-based localization baselines in medium or high precision,especially under challenging environments with illumination variance,vegetation,and night-time ***,real-site experiments have been conducted to validate the efficiency and effectiveness of the coarse-to-fine strategy for localization.

关键词： Deep representation learning place recognition visual localization

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Approximate state estimation with large-scale sensor networks under event-based sensor scheduling strategy 63

Approximate state estimation with large-scale sensor network...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Liu, Xinhui Cheng, Meiqi Shi, Dawei Shi, Ling Beijing Institute of Technology Miit Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong

ISBN: (纸本)9798350316339

In this paper, we investigate the issues of real-time sensor scheduling and state estimator design within large-scale sensor network systems. Specifically, data redundancy sometimes occurs in large-scale sensor arrays due to the excessive proximity of sensing units in the spatial domain, leading to high similarity in their measurement data. Currently, it is difficult to account for such redundancy in sensor scheduling algorithms found in existing literature, where the optimal subset of sensors is generally selected by optimizing objective functions formulated from certain performance criteria. To tackle this problem, we introduce an event-based sensor scheduling strategy, the triggering condition of which is designed founded on the similarity of sensor data, so as to identify the most informative subset of sensors for state estimation. To evaluate the impact of the sensor scheduling protocol on system observability, we propose a new notion of E(varepsilon)-observability, based on which an observability criterion is derived. In addition, we have designed a set-valued state estimation algorithm, which takes into account the intricate measurement information structure inherent within the sensor selection mechanism. The performance enhancement of the proposed estimator is also investigated. Finally, numerical experiments are conducted to validate the effectiveness of the proposed estimation algorithm and to verify the performance improvement. © 2024 IEEE.

关键词： Scheduling algorithms

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Improved Performance by Designing and Building a 1.92 Tbps ROF System Using DWDM with External Modulation and DCF 2

Improved Performance by Designing and Building a 1.92 Tbps R...

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2nd International Conference on Advances in Engineering Science and Technology, AEST 2022

作者： Lazim, Mariam Hammadi, Ali Mahdi Al-Askery, Ali Middle Technical University Department of Computer Engineering Baghdad Iraq Middle Technical University Department of Control and Automation Technical Engineering Baghdad Iraq

ISBN: (纸本)9798350334906

Telecommunication technology is rapidly evolving, accompanied by an increase in service requirements such as higher bandwidth and service accessibility. Transferring data at high speeds and the system performance are second to none. DWDM (Dence Wavelength Division Multiplexing) can be used to meet these requirements, but it is not the only option. Long-distance transmission using DWDM systems often experiences signal degradation, which can degrade the system performance. An EDFA (Erbium-Doped Fiber Amplifier) can be used to overcome signal degradation. OptiSystem 18.0 is the DWDM link model used in this study, with a DWDM design that uses 48 channels at an average bit rate per channel of 40 Gbps. A channel spacing of 200 GHz was used. At a 50-km SMF (single-mode fiber) length, the system quality increased in terms of power and frequency spacing. With the EDFA amplifier, the linkage is 180 km long, 240 km long, and 300 km long. Changes in laser power of 10 dB were used in the study. According to the results of the analysis, power changes affect the performance of the system. DWDM with a laser power of 10 dB complies with the values of the standards for the Q factor (Quality Factor) and the BER Min Bit Error Rate parameters. The highest Q factor at a distance of 180 km is 47.008 and BER is 0 with a wavelength of 1498.213nm. The highest Q factor at a distance of 240 km is 28.19 and BER is 3.32092 ∗ 10-175 and the wavelength is 1554.134nm. The highest Q factor at a distance of 300 km is 24.9, with BER equal to 3.66154 ∗ 10-138, and the wavelength being 1565.495nm. According to this study, the higher the laser power used, the better the performance of the system. © 2022 IEEE.

关键词： Single mode fibers

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Learning Probabilistic Coordinate Fields for Robust Correspondences

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2023年第10期45卷 12004-12021页

作者： Zhao, Weiyue Lu, Hao Ye, Xinyi Cao, Zhiguo Li, Xin Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Wuhan430074 China West Virginia University The Lane Department of Computer Science and Electrical Engineering MorgantownWV26506-6109 United States

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific barycentric coordinate systems (BCS) with affine invariance. To know when and where to trust the encoded coordinates, we implement PCFs in a probabilistic network termed PCF-Net, which parameterizes the distribution of coordinate fields as Gaussian mixture models. By jointly optimizing coordinate fields and their confidence conditioned on dense flows, PCF-Net can work with various feature descriptors when quantifying the reliability of PCFs by confidence maps. An interesting observation of this work is that the learned confidence map converges to geometrically coherent and semantically consistent regions, which facilitates robust coordinate representation. By delivering the confident coordinates to keypoint/feature descriptors, we show that PCF-Net can be used as a plug-in to existing correspondence-dependent approaches. Extensive experiments on both indoor and outdoor datasets suggest that accurate geometric invariant coordinates help to achieve the state of the art in several correspondence problems, such as sparse feature matching, dense image registration, camera pose estimation, and consistency filtering. Further, the interpretable confidence map predicted by PCF-Net can also be leveraged to other novel applications from texture transfer to multi-homography classification. © 1979-2012 IEEE.

关键词： Image registration

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Evaluation of the Energy Efficiency of Software Calculations in the Design of Microcontroller Devices 17

Evaluation of the Energy Efficiency of Software Calculations...

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17th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and computer Engineering, TCSET 2024

作者： Topalov, Andrii Styslo, Taras Tkach, Vitalii Peschanenko, Volodymyr Styslo, Oksana Skrypyuk, Rostyslav Admiral Makarov National University of Shipbuilding Department of computerized control systems Mykolaiv Ukraine King Danylo University Department of IT Ivano-Frankivsk Ukraine Kherson State University Department of computer science and software engineering Ivano-Frankivsk Ukraine Ivano-Frankivsk National Technical University of Oil and Gas Department of automation and computer-integrated technologies Ivano-Frankivsk Ukraine

ISBN: (纸本)9798331520564

The paper presents a study of the effectiveness of software from the point of view of minimizing the energy consumption of microprocessor devices. In this case, the programming of the microcontroller in various programming languages for arithmetic operations, as well as data output through the port, is considered. In the course of the tests, the peculiarities of the application of this or that program and their operation, taking into account the energy saving of the microcontroller, are noted. © 2024 IEEE.

关键词： Microcontrollers

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Use of Elements and Algorithms of Intelligent Support in the automation of Technologies for control and Quality Management of Bulk Materials

Use of Elements and Algorithms of Intelligent Support in the...

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2022 International Conference Automatics and Informatics, ICAI 2022

作者： Kalandarov, Palvan I. Ubaydulayeva, Shakhnoza R. Gaziyeva, Rano T. Nikolov, Nikola N. Alexsandrova, Mariela I. National Research University Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Department Automation and Control of Technology Process in Production Tashkent Uzbekistan Technical University of Varna Faculty of Computer Science and Automation Department of Automation Varna9010 Bulgaria

ISBN: (数字)9781665476256

ISBN: (纸本)9781665476256

The article deals with the choice of criteria for efficiency, applicability in measuring technology, analytical and construction, on the basis of which a methodology for assessing the quality of structures of measuring devices of moisture of materials of the agro-industrial complex is proposed. The standard deviation of the random error characterizing the accuracy of measurements is shown. A complex efficiency criterion is discussed, including the dominant particular parameters: accuracy, reliability, cost, allowing to solve the problem of optimal design of humidity control devices for the materials under consideration. As an optimal option, a differential measuring device is analyzed, which practically eliminates random and systematic errors and makes it possible to design a multiparameter measurement method that considers the features of a heterogeneous environment, such as bulk grain materials of the agro-industrial complex © 2022 IEEE.

关键词： Random errors

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A Deep Learning Approach for Faults Recognition of Dissolved Oxygen Sensor in Wastewater Treatment Plants 28

A Deep Learning Approach for Faults Recognition of Dissolved...

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28th IEEE International Conference on Emerging Technologies and Factory automation, ETFA 2023

作者： Ghinea, Liliana Maria Miron, Mihaela Ratnaweera, Harsha Electrical Engineering and Electronics Faculty of Automation Computers Department of Automatic Control and Electrical Engineering Department Galaţi Romania Computers Electrical Engineering and Electronics Faculty of Automation Department of Computer Science and Information Technology Galaţi Romania Norwegian University of Life Sciences Faculty of Science and Technology Oslo Norway

ISBN: (纸本)9798350339918

Fault diagnosis in wastewater treatment plants (WWTPs) is important to protect communities and ecosystems from toxic elements discharged into water. In this sense, fault identification of sensors plays an important role as they are the key components of the water plants control, especially because environmental legislation is very strict when referring to failures or anomalies in WWTPs. This paper analyzes the performances of two Deep Learning models, a Feedforward Neural Network (FFNN) and a 1D Convolution Neural Network (1DCNN) for identifying five operating states of the dissolved oxygen (DO) sensor: normal and faulty (bias, stuck, spike and precision degradation faults). The experiments were conducted on the Benchmark Simulator Model No 2 (BSM2) developed by the IWA Task Group. The performance of the Deep Learning (DL) classifiers was evaluated via accuracy, precision, recall, and F1-score metrics. The best overall classification accuracy was obtained by FFNN, 98.32% for training and 98.30% for testing. © 2023 IEEE.

关键词： Wastewater treatment

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On a novel tracking differentiator design based on iterative learning in a moving window

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control Theory and Technology 2023年第1期21卷 46-55页

作者： Xiangyang Li Rafal Madonski Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Network Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510641China Energy and Electricity Research Center Jinan UniversityZhuhai 519070China Department of Electrical and Computer Science Cleveland State UniversityClevelandOH 44115USA

Differential signals are key in control engineering as they anticipate future behavior of process variables and therefore are critical in formulating control laws such as proportional-integral-derivative(PID).The practical challenge,however,is to extract such signals from noisy measurements and this difficulty is addressed first by *** in the form of linear and nonlinear tracking differentiator(TD).While improvements were made,TD did not completely resolve the conflict between the noise sensitivity and the accuracy and timeliness of the *** two approaches proposed in this paper start with the basic linear TD,but apply iterative learning mechanism to the historical data in a moving window(MW),to form two new iterative learning tracking differentiators(IL-TD):one is a parallel IL-TD using an iterative ladder network structure which is implementable in analog circuits;the other a serial IL-TD which is implementable digitally on any computer *** algorithms are validated in simulations which show that the proposed two IL-TDs have better tracking differentiation and de-noise performance compared to the existing linear TD.

关键词： Tracking differentiator(TD) Iterative learning Iterative learning tracking differentiator(IL-TD) Active disturbance rejection control(ADRC)-Two-dimensional system(2-D system)

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State controller with Improved Response Speed for Linear Discrete SISO Systems

State Controller with Improved Response Speed for Linear Dis...

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2022 International Conference Automatics and Informatics, ICAI 2022

作者： Nikolov, Nikola Alexandrova, Mariela Gaziyeva, Rano Ubaydullayeva, Shakhnoza Technical University of Varna Faculty of Computer Sciences and Automation Department of Automation Varna9010 Bulgaria National Research University Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Department Automation and Control of Technology Process in Production Tashkent100000 Uzbekistan

ISBN: (数字)9781665476256

ISBN: (纸本)9781665476256

This paper presents an opportunity to create a linear discrete system (LDS) with a modal state controller for Single Input Single Output objects control. The created controller has an integrating element and a relationship between the set point (SP) and the control object (CO), implemented with an inverse model on the object. The proposed system guarantees handling of the perturbances and providing an improvement in the system performance as in PID-controller systems. In structure proposed, an LQR state controller could be used instead of the MSC. © 2022 IEEE.

关键词： Three term control systems

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Methods of Reducing the Energy Consumption of Digital-Analog Converters and Increasing Their Metrological Reliability 17

Methods of Reducing the Energy Consumption of Digital-Analog...

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17th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and computer Engineering, TCSET 2024

作者： Zastavnyy, Oleg Kochan, Orest Bykovyy, Pavlo Sachenko, Anatoliy Kochan, Roman Kochan, Volodymyr West Ukrainian National University Department of Specialized Computer Systems Termopil Ukraine Lviv Polytechnic National University Department of Information and Measurement Technologies Automation and Metrology Lviv Ukraine West Ukrainian National University Department of Information Computer Systems and Control Termopil Ukraine Research Institute for Intelligent Computer Systems West Ukrainian National University Termopil Ukraine Kazimierz Pulaski University of Radom Department of Teleinformatics Radom Poland Lviv Polytechnic National University Department of Specialized Computer Systems Lviv Ukraine

ISBN: (纸本)9798331520564

This work analyzes the possibility of reducing the energy consumption of digital-to-analog converters by minimizing the energy consumption of the elements that ensure their operation. Due to the fact that such decisions can lead to an increase in the temperature and time drift of the output voltage of the digital-to-analog converter, a method of its in-situ calibration during operation is proposed. The method also allows carrying out calibration of high-speed analog-digital converters. © 2024 IEEE.

关键词： Voltage-source converters

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