Pub Date : 2024-07-17DOI: 10.1109/JSYST.2024.3425541
Baya Cherif;Hakim Ghazzai;Ahmad Alsharoa
Light detection and ranging (LiDAR) technology's expansion within the autonomous vehicles industry has rapidly motivated its application in numerous growing areas, such as smart cities, agriculture, and renewable energy. In this article, we propose an innovative approach for enhancing aerial traffic monitoring solutions through the application of LiDAR technology. The objective is to achieve precise and real-time object detection and tracking from aerial perspectives by integrating unmanned aerial vehicles with LiDAR sensors, thereby creating a potent Aerial LiDAR (A-LiD) solution for traffic monitoring. First, we develop a novel deep learning algorithm based on pointvoxel-region-based convolutional neural network (RCNN) to conduct road user detection. Then, we implement advanced LiDAR fusion techniques, including raw data fusion and decision data fusion, in an endeavor to improve detection performance through the combined analysis of multiple A-LiD systems. Finally, we employ the unscented Kalman Filter for object tracking and position estimation. We present selected simulation outcomes to demonstrate the effectiveness of our proposed solution. A comparison between the two fusion methods shows that raw point cloud fusion provides better detection performance than decision fusion.
{"title":"LiDAR From the Sky: UAV Integration and Fusion Techniques for Advanced Traffic Monitoring","authors":"Baya Cherif;Hakim Ghazzai;Ahmad Alsharoa","doi":"10.1109/JSYST.2024.3425541","DOIUrl":"10.1109/JSYST.2024.3425541","url":null,"abstract":"Light detection and ranging (LiDAR) technology's expansion within the autonomous vehicles industry has rapidly motivated its application in numerous growing areas, such as smart cities, agriculture, and renewable energy. In this article, we propose an innovative approach for enhancing aerial traffic monitoring solutions through the application of LiDAR technology. The objective is to achieve precise and real-time object detection and tracking from aerial perspectives by integrating unmanned aerial vehicles with LiDAR sensors, thereby creating a potent Aerial LiDAR (A-LiD) solution for traffic monitoring. First, we develop a novel deep learning algorithm based on pointvoxel-region-based convolutional neural network (RCNN) to conduct road user detection. Then, we implement advanced LiDAR fusion techniques, including raw data fusion and decision data fusion, in an endeavor to improve detection performance through the combined analysis of multiple A-LiD systems. Finally, we employ the unscented Kalman Filter for object tracking and position estimation. We present selected simulation outcomes to demonstrate the effectiveness of our proposed solution. A comparison between the two fusion methods shows that raw point cloud fusion provides better detection performance than decision fusion.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"18 3","pages":"1639-1650"},"PeriodicalIF":4.0,"publicationDate":"2024-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141737276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Detection systems based on computer vision play important roles in Large-Scale Multiagent Systems. In particular, it can automatically locate and identify key objects and enhance intelligent collaboration and coordination among multiple agents. However, classification and localization in object detection may produce inconsistent prediction results due to different learning focus. Therefore, we propose a Spatial Decoupling and Boundary Feature Aggregation Network (SDBA-Net) to achieve spatial decoupling and task alignment. SDBA-Net includes a spatially sensitive region-aware module (SSRM) and a boundary feature aggregation module (BFAM). SSRM predicts sensitive regions for each task while minimizing computational cost. BFAM extracts valuable boundary features within sensitive regions and aligns them with corresponding anchors. These two modules are combined to spatially decouple and align the features of two tasks. In addition, a significance dependency complementary module (SDCM) is introduced. It enables SSRM to quickly adjust the sensitive region of the classification task to the significant feature region. Experiments are conducted on a large-scale complex real-world dataset MS COCO (Lin et al., 2014). The results show that SDBA-Net achieves better results than the baselines. Using the ResNet-50 backbone, our method improves the average precision (AP) of the single-stage detector VFNet by 1.0 point (from 41.3 to 42.3). In particular, when using the Res2Net-101-DCN backbone, SDBA-Net achieves an AP of 51.8 on the MS COCO test-dev.
基于计算机视觉的检测系统在大规模多智能体系统中占有重要地位。特别是,它可以自动定位和识别关键对象,增强多个agent之间的智能协作和协调。然而,在目标检测中的分类和定位,由于学习重点的不同,可能会产生不一致的预测结果。为此,我们提出了一种空间解耦和边界特征聚合网络(SDBA-Net)来实现空间解耦和任务对齐。SDBA-Net包括一个空间敏感区域感知模块(SSRM)和一个边界特征聚合模块(BFAM)。SSRM预测每个任务的敏感区域,同时最小化计算成本。BFAM提取敏感区域内有价值的边界特征,并将其与相应的锚点对齐。将这两个模块结合起来,对两个任务的特征进行空间解耦和对齐。此外,还引入了显著性依赖互补模块(SDCM)。它使SSRM能够快速地将分类任务的敏感区域调整到显著特征区域。实验是在大规模复杂的现实世界数据集MS COCO上进行的(Lin et al., 2014)。结果表明,SDBA-Net取得了比基线更好的效果。利用ResNet-50骨干网,将单级探测器VFNet的平均精度(AP)提高了1.0点(从41.3提高到42.3)。特别是,当使用Res2Net-101-DCN骨干网时,SDBA-Net在MS COCO测试开发上实现了51.8的AP。
{"title":"Multiagent Detection System Based on Spatial Adaptive Feature Aggregation","authors":"Hongbo Wang;He Wang;Xin Zhang;Runze Ruan;Yueyun Wang;Yuyu Yin","doi":"10.1109/JSYST.2024.3423752","DOIUrl":"10.1109/JSYST.2024.3423752","url":null,"abstract":"Detection systems based on computer vision play important roles in Large-Scale Multiagent Systems. In particular, it can automatically locate and identify key objects and enhance intelligent collaboration and coordination among multiple agents. However, classification and localization in object detection may produce inconsistent prediction results due to different learning focus. Therefore, we propose a Spatial Decoupling and Boundary Feature Aggregation Network (SDBA-Net) to achieve spatial decoupling and task alignment. SDBA-Net includes a spatially sensitive region-aware module (SSRM) and a boundary feature aggregation module (BFAM). SSRM predicts sensitive regions for each task while minimizing computational cost. BFAM extracts valuable boundary features within sensitive regions and aligns them with corresponding anchors. These two modules are combined to spatially decouple and align the features of two tasks. In addition, a significance dependency complementary module (SDCM) is introduced. It enables SSRM to quickly adjust the sensitive region of the classification task to the significant feature region. Experiments are conducted on a large-scale complex real-world dataset MS COCO (Lin et al., 2014). The results show that SDBA-Net achieves better results than the baselines. Using the ResNet-50 backbone, our method improves the average precision (AP) of the single-stage detector VFNet by 1.0 point (from 41.3 to 42.3). In particular, when using the Res2Net-101-DCN backbone, SDBA-Net achieves an AP of 51.8 on the MS COCO test-dev.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"18 4","pages":"1849-1859"},"PeriodicalIF":4.0,"publicationDate":"2024-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141718853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-08DOI: 10.1109/JSYST.2024.3420950
Ali Salehpour;Irfan Al-Anbagi
Cascading failures resulting from cyberattacks are one of the main concerns in smart grid systems. The use of machine learning (ML) algorithms has become more relevant in identifying and forecasting such cascading failures. In this article, we develop a real-time early stage mechanism (RESP) to predict cascading failures due to cyberattacks in smart grid systems using supervised ML algorithms. We use a realistic methodology to create a dataset to train the algorithms and predict the state of all components of the system after failure propagation. We utilize the extreme gradient boosting (XGBoost) algorithm and consider the features of both the power and communication networks to improve the failure prediction accuracy. We use the real-time digital simulator (RTDS) to simulate the power system and make the system more applicable. We evaluate the mechanism's effectiveness using the IEEE 14-bus system, which results in the XGBoost algorithm achieving a 96.25% prediction accuracy rate in random attacks. We show that RESP can accurately predict the state of a power system in the early stages of failure propagation using real-time data. Furthermore, we show that RESP can identify the initial failure locations, which can aid in further protection plans and decisions.
{"title":"RESP: A Real-Time Early Stage Prediction Mechanism for Cascading Failures in Smart Grid Systems","authors":"Ali Salehpour;Irfan Al-Anbagi","doi":"10.1109/JSYST.2024.3420950","DOIUrl":"10.1109/JSYST.2024.3420950","url":null,"abstract":"Cascading failures resulting from cyberattacks are one of the main concerns in smart grid systems. The use of machine learning (ML) algorithms has become more relevant in identifying and forecasting such cascading failures. In this article, we develop a real-time early stage mechanism (RESP) to predict cascading failures due to cyberattacks in smart grid systems using supervised ML algorithms. We use a realistic methodology to create a dataset to train the algorithms and predict the state of all components of the system after failure propagation. We utilize the extreme gradient boosting (XGBoost) algorithm and consider the features of both the power and communication networks to improve the failure prediction accuracy. We use the real-time digital simulator (RTDS) to simulate the power system and make the system more applicable. We evaluate the mechanism's effectiveness using the IEEE 14-bus system, which results in the XGBoost algorithm achieving a 96.25% prediction accuracy rate in random attacks. We show that RESP can accurately predict the state of a power system in the early stages of failure propagation using real-time data. Furthermore, we show that RESP can identify the initial failure locations, which can aid in further protection plans and decisions.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"18 3","pages":"1593-1604"},"PeriodicalIF":4.0,"publicationDate":"2024-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141570300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This study delves into the distributed optimal coordination (DOC) problem, where a network comprises agents with different relative degrees. Each agent is equipped with a private cost function. The goal is to steer these agents towards minimizing the global cost function, which aggregates their individual costs. Existing literature often leans on known agent dynamics, which may not faithfully represent real-world scenarios. To bridge this gap, we delve into the DOC problem within a network of linear time-invariant (LTI) agents, where the system matrices remain entirely unknown. Our proposed solution introduces a novel distributed two-layer control policy: the top layer endeavors to find the minimizer and generates tailored reference signals for each agent, while the bottom layer equips each agent with an adaptive controller to track these references. Key assumptions include strongly convex private cost functions with local Lipschitz gradients. Under these conditions, our control policy guarantees asymptotic consensus on the global minimizer within the network. Moreover, the control policy operates fully distributedly, relying solely on private and neighbor information for execution. Theoretical insights are substantiated through simulations, encompassing both numerical and practical examples involving speed control of a multimotor network, thereby affirming the efficacy of our approach in practical settings.
{"title":"Heterogeneous Unknown Multiagent Systems of Different Relative Degrees: A Distributed Optimal Coordination Design","authors":"Hossein Noorighanavati Zadeh;Reza Naseri;Mohammad Bagher Menhaj;Amir Abolfazl Suratgar","doi":"10.1109/JSYST.2024.3417255","DOIUrl":"10.1109/JSYST.2024.3417255","url":null,"abstract":"This study delves into the distributed optimal coordination (DOC) problem, where a network comprises agents with different relative degrees. Each agent is equipped with a private cost function. The goal is to steer these agents towards minimizing the global cost function, which aggregates their individual costs. Existing literature often leans on known agent dynamics, which may not faithfully represent real-world scenarios. To bridge this gap, we delve into the DOC problem within a network of linear time-invariant (LTI) agents, where the system matrices remain entirely unknown. Our proposed solution introduces a novel distributed two-layer control policy: the top layer endeavors to find the minimizer and generates tailored reference signals for each agent, while the bottom layer equips each agent with an adaptive controller to track these references. Key assumptions include strongly convex private cost functions with local Lipschitz gradients. Under these conditions, our control policy guarantees asymptotic consensus on the global minimizer within the network. Moreover, the control policy operates fully distributedly, relying solely on private and neighbor information for execution. Theoretical insights are substantiated through simulations, encompassing both numerical and practical examples involving speed control of a multimotor network, thereby affirming the efficacy of our approach in practical settings.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"18 3","pages":"1570-1580"},"PeriodicalIF":4.0,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141503104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-06-26DOI: 10.1109/JSYST.2024.3406698
Zuqing Zheng;Guo Chen;Zixiang Shen
The dramatic increase in renewable energy sources has created significant uncertainties in the operation of power systems. This article investigates a day-ahead economic dispatch problem for a typical microgrid, considering the uncertainties of renewable energy sources and load demand. An interval-partitioned and temporal-correlated uncertainty set based robust optimization model is proposed, which allows a more accurate characterization of the distribution of uncertainties. The proposed robust optimization model can reduce the conservativeness of the optimal solution by avoiding scenarios that are low-probability or even impossible in reality. The model is then decomposed into a master problem and a nonlinear bi-level subproblem and solved by the $C & CG$