Fault-Tolerant Cubature Kalman Filter for Engineering Estimation Control Systems.

The cubature Kalman filter (CKF) overcomes the limitations of the Kalman filter in strong nonlinear systems, which has been widely used in many fields. However, in practical engineering, the abnormal measurement information obtained by the sensor causes the measurement noise covariance to change, which may deteriorate the filtering performance and even cause the filter failure. The fault-tolerant filter can deal with the state estimation problem for the systems with abnormal measurements. The key of the fault-tolerant filter is to forcefully correct filter innovation by using a fading factor. The fault-tolerant filter technology has been extensively applied in many practical systems, but it is still lack of reasonable theoretical analysis. To this end, the measurement noise model is established and the magnitude of the noise deviation is analyzed. The filtering performance under abnormal measurement is analyzed by three mean squared errors (MSEs), which are the ideal MSE, the filter calculated MSE and the true MSE. In order to solve the influence of sampling approximation deviation of CKF on fault detection, an improved fault detection algorithm is proposed. The performance of fault-tolerant CKF is analyzed from two views. The first view is about comparing the filter calculated MSEs of CKF and of fault-tolerant CKF, the second view is about comparing the relative closeness of the filter calculated MSE to the true MSE for the two algorithms. Numerical examples further verify these conclusions.

A New Siamese Heterogeneous Convolutional Neural Networks Based on Attention Mechanism and Feature Pyramid.

Accuracy and speed are the most important indexes for evaluating many object tracking algorithms. However, when constructing a deep fully convolutional neural network (CNN), the use of deep network feature tracking will cause tracking drift due to the effects of convolution padding, receptive field (RF), and overall network step size. The speed of the tracker will also decrease. This article proposes a fully convolutional siamese network object tracking algorithm that combines the attention mechanism with the feature pyramid network (FPN), and uses heterogeneous convolution kernels to reduce the amount of calculations (FLOPs) and parameters. The tracker first uses a new fully CNN to extract image features, and introduces a channel attention mechanism in the feature extraction process to improve the representation ability of convolutional features. Then use the FPN to fuse the convolutional features of high and low layers, learn the similarity of the fused features, and train the fully CNNs. Finally, the heterogeneous convolutional kernel is used to replace the standard convolution kernel to improve the speed of the algorithm, thereby making up for the efficiency loss caused by the feature pyramid model. In this article, the tracker is experimentally verified and analyzed on the VOT-2017, VOT-2018, OTB-2013, and OTB-2015 datasets. The results show that our tracker has achieved better results than the state-of-the-art trackers.

A Distributed k-Winners-Take-All Model With Binary Consensus Protocols.

This article concentrates on solving the k -winners-take-all (k WTA) problem with large-scale inputs in a distributed setting. We propose a multiagent system with a relatively simple structure, in which each agent is equipped with a 1-D system and interacts with others via binary consensus protocols. That is, only the signs of the relative state information between neighbors are required. By virtue of differential inclusion theory, we prove that the system converges from arbitrary initial states. In addition, we derive the convergence rate as O(1/t) . Furthermore, in comparison to the existing models, we introduce a novel comparison filter to eliminate the resolution ratio requirement on the input signal, that is, the difference between the k th and (k+1) th largest inputs must be larger than a positive threshold. As a result, the proposed distributed k WTA model is capable of solving the k WTA problem, even when more than two elements of the input signal share the same value. Finally, we validate the effectiveness of the theoretical results through two simulation examples.

Industrial Power Load Forecasting Method Based on Reinforcement Learning and PSO-LSSVM.

Influenced by many complex factors, it is very difficult to obtain high-performance industrial power load forecasting. The industrial power load forecasting is deeply studied by fusing some machine-learning methods for industrial enterprise power consumers. As a result, a novel power load forecasting method is proposed by taking into account the variation of load characteristics in different regions, industries, and production patterns. First, through the improved K -means clustering analysis, the historical load data are classified as the production patterns to which they belong. Then, the prediction algorithm combining reinforcement learning with particle swarm optimization and the least-squares support vector machine is proposed. Finally, the improved algorithm in this article is used for short-term load forecasting separately by the load data in different patterns after the above processing. The forecasting method in this article is based on data driven with real datasets. The results of the simulation experiment show that the improved prediction algorithm can distinguish the changes in different production patterns and identify the load characteristics of different regions and industries with high prediction accuracy, which has practical application value.

Data consistency method of heterogeneous power IOT based on hybrid model.

The data of the power Internet of Things (IOT) system is transferred from the IaaS layer to the SaaS layer. The general data preprocessing method mainly solves the problem of big data anomalies and missing at the PaaS layer, but it still lacks the ability to judge the high error data that meets the timing characteristics, making it difficult to deal with heterogeneous power inconsistent issues. This paper shows this phenomenon and its physical mechanism, showing the difficulty of building a quantitative model forward. A data-driven method is needed to form a hybrid model to correct the data. The research object is the electricity meter data on both sides of a commercial building transformer, which comes from different power IOT systems. The low-voltage side was revised based on the high-voltage side. Compared with the correction method based on purely using neural networks, the combined method, Linear Regression (LS) + Differential Evolution (DE) + Extreme Learning Machine (ELM), further reduces the deviation from approximately 4% to 1%.

Genetic Algorithm-Based Sensor Allocation With Nonlinear Centralized Fusion Observable Degree.

As the main performance self-evaluation index of the Kalman filter, the estimation error covariance (EEC) has been used to design the allocation cost function of task and resources for sensor tracking networks. For nonlinear systems, the sensor allocation method based on the EEC needs to adjust the allocation plans after obtaining the filtering results. Meanwhile, recent investigations have indicated that the self-evaluation function EEC of the Kalman filtering is universally inapplicable in practical applications, for which the estimation models are generally mismatched due to difficulty in accurately training parameters and approximation of nonlinear systems. Thereby, the sensors cannot be properly allocated by using the EEC as a preliminary criterion. Alternatively, observable degree (OD) is a naturally quantitative measure on observability and can be utilized to effectively measure the estimation performance. In this paper, the OD analysis with scale transform invariance for nonlinear systems is studied by using the unscented Kalman filter, the pseudostate transition matrix, and the pseudo observation matrix on the basis of the results of linear systems. Afterward, the OD of nonlinear fusion systems, the sensor utilization efficiency, the priority of tasks, and the sensor performance and sensitivity are jointly considered to formulate the optimization problem for sensor allocation. The genetic algorithm with intelligent learning function is employed to solve the optimization problem. Moreover, extensive simulation demonstrates the feasibility of the proposed approach.

Observable Degree Analysis for Multi-Sensor Fusion System.

Multi-sensor fusion system has many advantages, such as reduce error and improve filtering accuracy. The observability of the system state is an important index to test the convergence accuracy and speed of the designed Kalman filter. In this paper, we evaluate different multi-sensor fusion systems from the perspective of observability. To adjust and optimize the filter performance before filtering, in this paper, we derive the expression form of estimation error covariance of three different fusion methods and discussed both observable degree of fusion center and local filter of fusion step. Based on the ODAEPM, we obtained their discriminant matrix of observable degree and the relationship among different fusion methods is given by mathematical proof. To confirm mathematical conclusion, the simulation analysis is done for multi-sensor CV model. The result demonstrates our theory and verifies the advantage of information fusion system.

Flexible Fusion Structure-Based Performance Optimization Learning for Multisensor Target Tracking.

Compared with the fixed fusion structure, the flexible fusion structure with mixed fusion methods has better adjustment performance for the complex air task network systems, and it can effectively help the system to achieve the goal under the given constraints. Because of the time-varying situation of the task network system induced by moving nodes and non-cooperative target, and limitations such as communication bandwidth and measurement distance, it is necessary to dynamically adjust the system fusion structure including sensors and fusion methods in a given adjustment period. Aiming at this, this paper studies the design of a flexible fusion algorithm by using an optimization learning technology. The purpose is to dynamically determine the sensors' numbers and the associated sensors to take part in the centralized and distributed fusion processes, respectively, herein termed sensor subsets selection. Firstly, two system performance indexes are introduced. Especially, the survivability index is presented and defined. Secondly, based on the two indexes and considering other conditions such as communication bandwidth and measurement distance, optimization models for both single target tracking and multi-target tracking are established. Correspondingly, solution steps are given for the two optimization models in detail. Simulation examples are demonstrated to validate the proposed algorithms.