In this paper, a novel LiDAR-Camera Alignment (LCA) method using homogeneous local-global spatial aware representation is proposed. Compared with the state-of-the-art methods (e.g., LCCNet), our proposition holds 2 ma...
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In this paper, a novel LiDAR-Camera Alignment (LCA) method using homogeneous local-global spatial aware representation is proposed. Compared with the state-of-the-art methods (e.g., LCCNet), our proposition holds 2 main superiorities. First, homogeneous multi-modality representation learned with a uniform CNN model is applied along the iterative prediction stages, instead of the state-of-the-art heterogeneous counterparts extracted from the separated modality-wise CNN models within each stage. In this way, the model size can be significantly decreased (e.g., 12.39M (ours) vs. 333.75M (LCCNet)). Meanwhile, within our proposition the interaction between LiDAR and camera data is built during feature learning to better exploit the descriptive clues, which has not been well concerned by the existing approaches. Secondly, we propose to equip the learned LCA representation with local-global spatial aware capacity via encoding CNN's local convolutional features with Transformer's non-local self-attention manner. Accordingly, the local fine details and global spatial context can be jointly captured by the encoded local features. And, they will be jointly used for LCA. On the other hand, the existing methods generally choose to reveal the global spatial property via intuitively concatenating the local features. Additionally at the initial LCA stage, LiDAR is roughly aligned with camera by our pre-alignment method, according to the point distribution characteristics of its 2D projection version with the initial extrinsic parameters. Although its structure is simple, it can essentially alleviate LCA's difficulty for the consequent stages. To better optimize LCA, a novel loss function that builds the correlation between translation and rotation loss items is also proposed. The experiments on KITTI data verifies the superiority of our proposition both on effectiveness and efficiency. The source code will be released at https://***/Zaf233/Light-weight-LCA upon acceptance.
To extract the household attribute information from the large volume of smart meter data, this study proposes a resident characteristics estimator. Such an estimator enables energy suppliers to provide personalized se...
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To extract the household attribute information from the large volume of smart meter data, this study proposes a resident characteristics estimator. Such an estimator enables energy suppliers to provide personalized services whereas to assist customers to reduce energy consumption. By leveraging the potential connections among different characteristics, a deep convolutional neural network-based cross-task transfer learning scheme is designed, which makes full use of the knowledge learned from one characteristic (such as retirement status)-based classification to estimate another relevant characteristics (such as age). Extensive experiments are conducted on the Irish dataset with 4232 households to substantiate the superiority of the proposed scheme compared with conventional deep convolutional neural networks-based learning methods.
Accurate segmentation of abdominal organs on MRI is crucial for computer-aided surgery and computer-aided diagnosis. Most state-of-the-art methods for MRI segmentation employ an encoder-decoder structure, with skip co...
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Accurate segmentation of abdominal organs on MRI is crucial for computer-aided surgery and computer-aided diagnosis. Most state-of-the-art methods for MRI segmentation employ an encoder-decoder structure, with skip connections concatenating shallow features from the encoder and deep features from the decoder. In this work, we noticed that simply concatenating shallow and deep features was insufficient for segmentation due to the feature gap between shallow features and deep features. To mitigate this problem, we quantified the feature gap from spatial and semantic aspects and proposed a spatial loss and a semantic loss to bridge the feature gap. The spatial loss enhanced spatial details in deep features, and the semantic loss introduced semantic information into shallow features. The proposed method successfully aggregated the complementary information between shallow and deep features by formulating and bridging the feature gap. Experiments on two abdominal MRI datasets demonstrated the effectiveness of the proposed method, which improved the segmentation performance over a baseline with nearly zero additional parameters. Particularly, the proposed method has advantages for segmenting organs with blurred boundaries or in a small scale, achieving superior performance than state-of-the-art methods.
This study investigated the peer-to-peer (P2P) trading price and strategy based on market-driven methods within a residential microgrid consists of two prosumers (i.e., P1 and P2) and one consumer (i.e., C1), which es...
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This study investigated the peer-to-peer (P2P) trading price and strategy based on market-driven methods within a residential microgrid consists of two prosumers (i.e., P1 and P2) and one consumer (i.e., C1), which establishes a diverse microgrid trading market in terms of peer characteristics (e.g., system configurations and electrical load profile). Five cases are proposed in this study considering different electricity market types (i.e., peer-to-grid and P2P markets), retail tariff systems (i.e., progressive and time-of-use (ToU) tariff systems) as well as market-driven P2P trading pricing models (i.e., uniform and individual pricing models). Peer electrical load data are collected from three typical four-person households in Hong Kong along with their domestic electrical appliance utilization pattern. The results indicate that the individual pricing model has led to the dynamics of P2P electricity trading price than the uniform pricing model, and P2P trading is more economically efficient under the ToU tariff system. The maximum electricity bill saving of the entire microgrid can be achieved by 31.33% in summer and by 43.02% in winter. Besides, it is observed that the installation of battery energy storage system (BESS) has facilitated the self-consumption ratio of the renewable energy system to 91.98% in summer and 100% in winter. This implies that the BESS plays a pivotal role in improving the flexibility in managing the P2P trading strategy, and enhancing the efficiency in electricity dispatching within the microgrid. This study contributes to the novelty in science since it provides a comprehensive framework that can adapt to changing market conditions.
When encountering the distribution shift between the source(training) and target(test) domains, domain adaptation attempts to adjust the classifiers to be capable of dealing with different domains. Previous domain ada...
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When encountering the distribution shift between the source(training) and target(test) domains, domain adaptation attempts to adjust the classifiers to be capable of dealing with different domains. Previous domain adaptation research has achieved a lot of success both in theory and practice under the assumption that all the examples in the source domain are welllabeled and of high quality. However, the methods consistently lose robustness in noisy settings where data from the source domain have corrupted labels or features which is common in reality. Therefore, robust domain adaptation has been introduced to deal with such problems. In this paper, we attempt to solve two interrelated problems with robust domain adaptation:distribution shift across domains and sample noises of the source domain. To disentangle these challenges, an optimal transport approach with low-rank constraints is applied to guide the domain adaptation model training process to avoid noisy information influence. For the domain shift problem, the optimal transport mechanism can learn the joint data representations between the source and target domains using a measurement of discrepancy and preserve the discriminative information. The rank constraint on the transport matrix can help recover the corrupted subspace structures and eliminate the noise to some extent when dealing with corrupted source data. The solution to this relaxed and regularized optimal transport framework is a convex optimization problem that can be solved using the Augmented Lagrange Multiplier method, whose convergence can be mathematically proved. The effectiveness of the proposed method is evaluated through extensive experiments on both synthetic and real-world datasets.
Cancer-associated biomarker genes play an indispensable role in the intricate tapestry of cancer development and manifestation. The expression of biomarkers in different types of tumor cells has beneficial implication...
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Accurately predicting the performance degradation trend of fuel cells helps take measures in advance and prolong the stack's service life, leading to a novel hybrid forecasting approach. The first grey model predi...
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Accurately predicting the performance degradation trend of fuel cells helps take measures in advance and prolong the stack's service life, leading to a novel hybrid forecasting approach. The first grey model prediction method based on residual exponential smoothing optimization (ES-R-GM) can capture the voltage deterioration trend. We explore the integration of two different ES techniques, specifically the double ES (ES2) and cubic ES (ES3), to investigate their effect on enhancing the predictive accuracy of the GM model. The second method of the adaptive network fuzzy inference system (ANFIS) can characterize local nonlinear behavior. We utilize the simulated annealing (SA) algorithm to optimize ANFIS results under different fuzzy rule selection strategies. The outcomes of the two prediction methods mentioned above are combined to create a hybrid prediction using the data fusion method and the moving window technique. Various hybrid methods are evaluated under general conditions and further detailed optimization. The data collected from the experimental platform confirms the suggested hybrid framework. The results show that the hybrid ES3-R-GM + ANFIS-SC method outperformed the single models in final prediction accuracy and can effectively track both global trends and local changes. Simultaneously, it takes less time to calculate than the literature. Moreover, when applied to consistent public datasets, the hybrid approach maintains its robustness and accuracy compared with other hybrid prognostic methods.
This brief proposed a cluster space control method to help the operator of manned aerial vehicles (MAVs) to coordinate with unmanned aerial vehicles (UAVs) more efficiently. The operator of the MAV could change the st...
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This brief proposed a cluster space control method to help the operator of manned aerial vehicles (MAVs) to coordinate with unmanned aerial vehicles (UAVs) more efficiently. The operator of the MAV could change the states of the whole heterogeneous team only by issuing a single command. To verify its application performance, the method is employed to conduct search tasks under a complex environment with static and dynamic unknown targets. The receding horizon control (RHC) and backstepping control methods are utilized to complete the search task. Simulation results show the feasibility and efficiency of the proposed method and give a strong foundation for man-machine coordination in related fields.
The safety protection of process control systems plays a crucial role in the overall safety of critical *** have increased the complexity of existing safety protection analysis. Traditional safety analysis methods fal...
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The safety protection of process control systems plays a crucial role in the overall safety of critical *** have increased the complexity of existing safety protection analysis. Traditional safety analysis methods fall short in accounting for cyberattack factors, making it challenging to conduct safety protection analysis under cyberattacks. To address this issue, this paper presents a new safety protection analysis method that considers multiple safety factors explicitly including cyberattacks using formal verification. The method consists of three main components: exhaustive system safety specifications,formal models, and system safety validation. The system safety specification component adds a cyberattack factor to system safety requirements based on the system theory process analysis(STPA) method. The formal model component considers the system's dynamic operation process, and safety protection behaviors under typical attack behaviors. The system safety validation component validates the effectiveness of system safety protection under cyberattacks by the UPPAAL tool, from the perspective of whether system safety constraints are triggered and whether the change curve of process variables is compliant. Finally, the effectiveness of the presented approach is carried out for a simplified fluid catalytic cracking(FCC) fractionating system.
This study addresses the complexities of orchestrating multi-target transportation tasks within multi-agent systems, constrained by load capacity. The primary objective is to engineer an advanced path planning framewo...
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ISBN:
(数字)9798350356618
ISBN:
(纸本)9798350356625
This study addresses the complexities of orchestrating multi-target transportation tasks within multi-agent systems, constrained by load capacity. The primary objective is to engineer an advanced path planning framework that assures collision avoidance and optimal load distribution. Diverging from conventional single-path strategies, this research incorporates load factors and requires continuous dynamic multi-target point and path planning to ensure agents can efficiently navigate through a series of predetermined key points. To address this complex requirement, a two-stage multi-agent task allocation and path planning method is proposed. First, an initial solution is obtained using a suboptimal algorithm, followed by optimization iterations using the large neighborhood search algorithm to improve task allocation. In the second stage, an accelerated algorithm based on priority search is used to plan optimal paths for each agent in a predetermined order. The proposed algorithm's effectiveness is comprehensively evaluated through a series of experimental evaluations and comparisons with the commercial solver Gurobi within a limited time. The results show that the proposed method achieves optimality in both running time and minimum path cost while ensuring the load balance of agents.
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