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LiDAR From the Sky: UAV Integration and Fusion Techniques for Advanced Traffic Monitoring 来自天空的激光雷达:用于高级交通监控的无人机集成与融合技术
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-07-17 DOI: 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.
光探测与测距(LiDAR)技术在自动驾驶汽车行业中的扩展迅速推动了其在智能城市、农业和可再生能源等众多不断增长的领域中的应用。在本文中,我们提出了一种通过应用激光雷达技术来增强空中交通监控解决方案的创新方法。其目的是通过将无人驾驶飞行器与激光雷达传感器相结合,从空中实现精确、实时的目标检测和跟踪,从而为交通监控创造一个强大的空中激光雷达(A-LiD)解决方案。首先,我们开发了一种基于点象素区域卷积神经网络(RCNN)的新型深度学习算法来进行道路使用者检测。然后,我们采用先进的激光雷达融合技术,包括原始数据融合和决策数据融合,努力通过对多个 A-LiD 系统的综合分析来提高检测性能。最后,我们采用无特征卡尔曼滤波器进行目标跟踪和位置估计。我们展示了部分模拟结果,以证明我们提出的解决方案的有效性。两种融合方法的比较表明,原始点云融合比决策融合具有更好的检测性能。
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引用次数: 0
Multiagent Detection System Based on Spatial Adaptive Feature Aggregation 基于空间自适应特征聚合的多代理检测系统
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-07-15 DOI: 10.1109/JSYST.2024.3423752
Hongbo Wang;He Wang;Xin Zhang;Runze Ruan;Yueyun Wang;Yuyu Yin
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。
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引用次数: 0
RESP: A Real-Time Early Stage Prediction Mechanism for Cascading Failures in Smart Grid Systems RESP:智能电网系统级联故障的早期实时预测机制
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-07-08 DOI: 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.
网络攻击导致的连锁故障是智能电网系统的主要问题之一。机器学习(ML)算法的使用在识别和预测此类级联故障方面变得越来越重要。在本文中,我们开发了一种实时早期机制 (RESP),利用有监督的 ML 算法预测智能电网系统中网络攻击导致的级联故障。我们采用一种现实的方法创建数据集来训练算法,并预测故障传播后系统所有组件的状态。我们利用极端梯度提升(XGBoost)算法,并考虑了电力和通信网络的特征,以提高故障预测的准确性。我们使用实时数字模拟器(RTDS)来模拟电力系统,使系统更加适用。我们使用 IEEE 14 总线系统评估了该机制的有效性,结果显示 XGBoost 算法在随机攻击中的预测准确率达到 96.25%。我们的研究表明,RESP 可以利用实时数据在故障传播的早期阶段准确预测电力系统的状态。此外,我们还证明了 RESP 能够识别初始故障位置,从而有助于进一步的保护计划和决策。
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引用次数: 0
Heterogeneous Unknown Multiagent Systems of Different Relative Degrees: A Distributed Optimal Coordination Design 不同相对度的异构未知多代理系统:分布式优化协调设计
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-07-01 DOI: 10.1109/JSYST.2024.3417255
Hossein Noorighanavati Zadeh;Reza Naseri;Mohammad Bagher Menhaj;Amir Abolfazl Suratgar
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.
本研究深入探讨了分布式最优协调(DOC)问题,在该问题中,网络由具有不同相对度的代理组成。每个代理都有一个私人成本函数。目标是引导这些代理最小化全局成本函数,全局成本函数汇总了他们各自的成本。现有文献通常依赖于已知的代理动态,但这可能无法忠实地反映真实世界的场景。为了缩小这一差距,我们深入研究了线性时变(LTI)代理网络中的 DOC 问题,在该网络中,系统矩阵仍是完全未知的。我们提出的解决方案引入了一种新颖的分布式双层控制策略:顶层努力寻找最小值,并为每个代理生成量身定制的参考信号,而底层则为每个代理配备自适应控制器,以跟踪这些参考信号。关键假设包括具有局部 Lipschitz 梯度的强凸私人成本函数。在这些条件下,我们的控制策略能保证在网络内就全局最小化达成渐近共识。此外,该控制策略完全分布式运行,仅依靠私人信息和邻居信息来执行。我们通过模拟,包括涉及多运动网络速度控制的数值和实际例子,证实了我们的理论见解,从而肯定了我们的方法在实际环境中的有效性。
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引用次数: 0
Interval-Partitioned and Correlated Uncertainty Set Based Robust Optimization of Microgrid 基于区间划分和相关不确定性集的微电网鲁棒优化
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-06-26 DOI: 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 $C & CG$ method and Big-M method. However, this method requires the introduction of a large number of auxiliary variables and related constraints, significantly increasing the computation burden. To tackle this problem, an efficient solution method, Improved-$C & CG$, is developed by integrating an outer approximation method into the $C & CG$ method. Finally, case studies verify the effectiveness of the proposed model, uncertainty set, and solution methods.
可再生能源的急剧增加给电力系统的运行带来了巨大的不确定性。考虑到可再生能源和负荷需求的不确定性,本文研究了典型微电网的日前经济调度问题。本文提出了一种基于区间划分和时间相关不确定性集的鲁棒优化模型,可以更准确地描述不确定性的分布。所提出的稳健优化模型可以避免现实中低概率甚至不可能发生的情况,从而降低最优解的保守性。然后,该模型被分解为一个主问题和一个非线性双级子问题,并通过 $C & CG$ 方法和 Big-M 方法求解。然而,这种方法需要引入大量辅助变量和相关约束条件,大大增加了计算负担。为了解决这个问题,我们在 $C & CG$ 方法中集成了一种外逼近方法,从而开发出了一种高效的求解方法--Improved-$C & CG$。最后,案例研究验证了所提出的模型、不确定性集和求解方法的有效性。
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引用次数: 0
IEEE Systems Journal Information for Authors IEEE 系统期刊作者信息
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-06-20 DOI: 10.1109/JSYST.2024.3380721
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引用次数: 0
IEEE Systems Journal Publication Information IEEE 系统期刊出版信息
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-06-20 DOI: 10.1109/JSYST.2024.3380715
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引用次数: 0
IEEE Systems Council Information 电气和电子工程师学会系统理事会信息
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-06-20 DOI: 10.1109/JSYST.2024.3380719
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引用次数: 0
Editorial GDOP-Based Low-Complexity LEO Satellite Subset Selection for Positioning 编辑本段 基于 GDOP 的低复杂度低地轨道卫星定位子集选择
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-06-20 DOI: 10.1109/JSYST.2024.3407428
Amir Aghdam
There have been many events and much news since our first issue last March. Notably, the 2024 IEEE Systems Journal Best Paper Award was selected. As stated on the journal's website, the Systems Journal Best Paper Award is given annually to the papers deemed the best among those published in the IEEE Systems Journal during the preceding calendar year. The journal's Editorial Board participates in the selection process. This year, the paper by Klar et al., [A1] published in the first issue of 2023, was selected; the award was presented by Walter Downing, President of the IEEE Systems Council, to one of the authors of the paper at the 2024 IEEE SysCon in Montreal.
自去年 3 月创刊以来,我们经历了许多事件,也获得了许多消息。值得注意的是,2024 年 IEEE 系统期刊最佳论文奖已经选出。正如期刊网站上所述,系统期刊最佳论文奖每年颁发给上一日历年发表在 IEEE 系统期刊上的最佳论文。期刊编辑委员会参与评选过程。今年,发表在 2023 年第一期的 Klar 等人的论文[A1]入选;IEEE 系统委员会主席 Walter Downing 在蒙特利尔举行的 2024 年 IEEE 系统大会上向论文作者之一颁发了该奖项。
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引用次数: 0
Distributed Coordination of Multi-microgrids in Active Distribution Networks for Provisioning Ancillary Services 主动配电网中多微网的分布式协调以提供辅助服务
IF 4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Pub Date : 2024-06-17 DOI: 10.1109/JSYST.2024.3404600
Arghya Mallick;Abhishek Mishra;Ashish R. Hota;Prabodh Bajpai
With the phenomenal growth in renewable energy generation, the conventional synchronous generator-based power plants are gradually getting replaced by renewable energy sources-based microgrids. Such transition gives rise to the challenges of procuring various ancillary services from microgrids. We propose a distributed optimization framework that coordinates multiple microgrids in an active distribution network for provisioning passive voltage support-based ancillary services while satisfying operational constraints. Specifically, we exploit the reactive power support capability of the inverters and the flexibility offered by storage systems available with microgrids for provisioning ancillary service support to the transmission grid. We develop novel mixed-integer inequalities to represent the set of feasible active and reactive power exchange with the transmission grid that ensures passive voltage support. The proposed alternating direction method of multipliers-based algorithm is fully distributed, and does not require the presence of a centralized entity to achieve coordination among the microgrids. We present detailed numerical results on the IEEE 33-bus distribution test system to demonstrate the effectiveness of the proposed approach and examine the scalability and convergence behavior of the distributed algorithm for different choice of hyperparameters and network sizes.
随着可再生能源发电的迅猛发展,传统的同步发电机发电厂正逐渐被可再生能源微电网所取代。这种转变带来了从微电网采购各种辅助服务的挑战。我们提出了一种分布式优化框架,它能协调主动配电网络中的多个微电网,在满足运行约束的同时提供基于无源电压支持的辅助服务。具体来说,我们利用逆变器的无功功率支持能力和微电网储能系统提供的灵活性,为输电网提供辅助服务支持。我们开发了新颖的混合整数不等式来表示与输电网之间可行的有功和无功功率交换集,以确保无源电压支持。所提出的基于乘法器的交替方向法算法是完全分布式的,不需要中央实体来实现微电网之间的协调。我们展示了 IEEE 33 总线配电测试系统的详细数值结果,以证明所提方法的有效性,并检验了分布式算法在选择不同超参数和网络规模时的可扩展性和收敛行为。
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引用次数: 0
期刊
IEEE Systems Journal
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