False data injection(FDI) attacks are common in the distributed estimation of multi-task network environments, so an attack detection strategy is designed by combining the generalized maximum correntropy criterion. Ba...False data injection(FDI) attacks are common in the distributed estimation of multi-task network environments, so an attack detection strategy is designed by combining the generalized maximum correntropy criterion. Based on this, we propose a diffusion least-mean-square algorithm based on the generalized maximum correntropy criterion(GMCC-DLMS)for multi-task networks. The algorithm achieves gratifying estimation results. Even more, compared to the related work,it has better robustness when the number of attacked nodes increases. Moreover, the assumption about the number of attacked nodes is relaxed, which is applicable to multi-task environments. In addition, the performance of the proposed GMCC-DLMS algorithm is analyzed in the mean and mean-square senses. Finally, simulation experiments confirm the performance and effectiveness against FDI attacks of the algorithm.展开更多
Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded...Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded computing, communication and related hardware technologies, CPSs have attracted extensive attention and have been widely used in power system, traffic network, refrigeration system and other fields.展开更多
This paper is aimed at the distributed fault estimation issue associated with the potential loss of actuator efficiency for a type of discrete-time nonlinear systems with sensor saturation.For the distributed estimati...This paper is aimed at the distributed fault estimation issue associated with the potential loss of actuator efficiency for a type of discrete-time nonlinear systems with sensor saturation.For the distributed estimation structure under consideration,an estimation center is not necessary,and the estimator derives its information from itself and neighboring nodes,which fuses the state vector and the measurement vector.In an effort to cut down data conflicts in communication networks,the stochastic communication protocol(SCP)is employed so that the output signals from sensors can be selected.Additionally,a recursive security estimator scheme is created since attackers randomly inject malicious signals into the selected data.On this basis,sufficient conditions for a fault estimator with less conservatism are presented which ensure an upper bound of the estimation error covariance and the mean-square exponential boundedness of the estimating error.Finally,a numerical example is used to show the reliability and effectiveness of the considered distributed estimation algorithm.展开更多
This paper proposes a novel approach for identifying distributed dynamic loads in the time domain.Using polynomial andmodal analysis,the load is transformed intomodal space for coefficient identification.This allows t...This paper proposes a novel approach for identifying distributed dynamic loads in the time domain.Using polynomial andmodal analysis,the load is transformed intomodal space for coefficient identification.This allows the distributed dynamic load with a two-dimensional form in terms of time and space to be simultaneously identified in the form of modal force,thereby achieving dimensionality reduction.The Impulse-based Force Estimation Algorithm is proposed to identify dynamic loads in the time domain.Firstly,the algorithm establishes a recursion scheme based on convolution integral,enabling it to identify loads with a long history and rapidly changing forms over time.Secondly,the algorithm introduces moving mean and polynomial fitting to detrend,enhancing its applicability in load estimation.The aforementioned methodology successfully accomplishes the reconstruction of distributed,instead of centralized,dynamic loads on the continuum in the time domain by utilizing acceleration response.To validate the effectiveness of the method,computational and experimental verification were conducted.展开更多
In this paper,we investigate the distributed estimation problem of continuous-time stochastic dynamic systems over sensor networks when both the system order and parameters are unknown.We propose a local information c...In this paper,we investigate the distributed estimation problem of continuous-time stochastic dynamic systems over sensor networks when both the system order and parameters are unknown.We propose a local information criterion(LIC)based on the L_(0)penalty term.By minimizing LIC at the diffusion time instant and utilizing the continuous-time diffusion least squares algorithm,we obtain a distributed estimation algorithm to simultaneously estimate the unknown order and the parameters of the system.By dealing with the effect of the system noises and the coupling relationship between estimation of system orders and parameters,we establish the almost sure convergence results of the proposed distributed estimation algorithm.Furthermore,we give a simulation example to verify the effectiveness of the distributed algorithm in estimating the system order and parameters.展开更多
An improved estimation of distribution algorithm(IEDA)is proposed in this paper for efficient design of metamaterial absorbers.This algorithm establishes a probability model through the selected dominant groups and sa...An improved estimation of distribution algorithm(IEDA)is proposed in this paper for efficient design of metamaterial absorbers.This algorithm establishes a probability model through the selected dominant groups and samples from the model to obtain the next generation,avoiding the problem of building-blocks destruction caused by crossover and mutation.Neighboring search from artificial bee colony algorithm(ABCA)is introduced to enhance the local optimization ability and improved to raise the speed of convergence.The probability model is modified by boundary correction and loss correction to enhance the robustness of the algorithm.The proposed IEDA is compared with other intelligent algorithms in relevant references.The results show that the proposed IEDA has faster convergence speed and stronger optimization ability,proving the feasibility and effectiveness of the algorithm.展开更多
Online estimation of electromechanical oscillation parameters provides essential information to prevent system instability and blackout and helps to identify event categories and locations.We formulate the problem as ...Online estimation of electromechanical oscillation parameters provides essential information to prevent system instability and blackout and helps to identify event categories and locations.We formulate the problem as a state space model and employ the extended Kalman filter to estimate oscillation frequencies and damping factors directly based on data from phasor measurement units.Due to considerations of communication burdens and privacy concerns,a fully distributed algorithm is proposed using diffusion extended Kalman filter.The effectiveness of proposed algorithms is confirmed by both simulated and real data collected during events in State Grid Jiangsu Electric Power Company.展开更多
This paper considers the distributed estimation of a source parameter using quantized sensor observations in a wireless sensor network with noisy channels. Repetition codes are used to transmit quantization bits of se...This paper considers the distributed estimation of a source parameter using quantized sensor observations in a wireless sensor network with noisy channels. Repetition codes are used to transmit quantization bits of sensor observations and a quasi best linear unbiased estimate is constructed to estimate the source parameter. Simulations show that the estimation scheme achieves a better power and spectral efficiency than the previous scheme.展开更多
Distributed state estimation is of paramount importance in many applications involving the large-scale complex systems over spatially deployed networked sensors.This paper provides an overview for analysis of distribu...Distributed state estimation is of paramount importance in many applications involving the large-scale complex systems over spatially deployed networked sensors.This paper provides an overview for analysis of distributed state estimation algorithms for linear time invariant systems.A number of previous works are reviewed and a clear classification of the main approaches in this field are presented,i.e.,Kalman-filter-type methods and Luenberger-observer-type methods.The design and the stability analysis of these methods are discussed.Moreover,a comprehensive comparison of the existing results is provided in terms of some standard metrics including the graph connectivity,system observability,optimality,time scale and so on.Finally,several important and challenging future research directions are discussed.展开更多
This paper describes a distributed estimation scheme （DES） for a bandwidth constrained ad hoc sensor network. The DES is universal in the sense that operations on all sensors are identical and independent of noise d...This paper describes a distributed estimation scheme （DES） for a bandwidth constrained ad hoc sensor network. The DES is universal in the sense that operations on all sensors are identical and independent of noise distribution. The scheme requires each sensor to transmit just a 1-bit message per observation. Simulation results show that the scheme achieves much better mean-squares error （MSE） performance than the simplified isotropic universal DES and even outperforms the isotropic universal DES which requires more than twice the bandwidth of this scheme.展开更多
This paper describes the effect of channel estimation error （CEE） on the performance of distributed estimations of an unknown parameter in a wireless sensor network. Both the classical and Bayesian estimators are de...This paper describes the effect of channel estimation error （CEE） on the performance of distributed estimations of an unknown parameter in a wireless sensor network. Both the classical and Bayesian estimators are derived to mitigate the adverse effects caused by the CEE. Power scheduling among sensors and the power ratio between the training and data transmission at each individual node are optimized by directly minimizing the final average mean squared error to compensate for the CEE. A closed-form power scheduling policy is given for a homogeneous environment, which shows that more than 50% of the power should be allocated to sensor observation transmissions. For an inhomogeneous environment, a multilevel waterfilling type solution is developed for the power scheduling among sensors for only the sum power constraint with a ＂cave＂ waterfilling solution for both the sum and individual power constraints. Simulations show that the proposed power scheduling schemes achieve better performance than the equal power scheduling scheme.展开更多
In this paper, we consider the problem of unknown parameter estimation using a set of nodes that are deployed over an area. The recently proposed distributed adaptive estimation algorithms(also known as adaptive netwo...In this paper, we consider the problem of unknown parameter estimation using a set of nodes that are deployed over an area. The recently proposed distributed adaptive estimation algorithms(also known as adaptive networks) are appealing solutions to the mentioned problem when the statistical information of the underlying process is not available or it varies over time. In this paper, our goal is to develop a new incremental least-mean square(LMS) adaptive network that considers the quality of measurements collected by the nodes. Thus, we use an adaptive combination strategy which assigns each node a step size according to its quality of measurement. The adaptive combination strategy improves the robustness of the proposed algorithm to the spatial variations of signal-to-noise ratio(SNR). The performance of our algorithm is more remarkable in inhomogeneous environments when there are some nodes with low SNRs in the network. The simulation results indicate the efficiency of the proposed algorithm.展开更多
In this paper,we present a distributed framework for the lidar-based relative state estimator which achieves highly accurate,real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs)in GPS-denied envi...In this paper,we present a distributed framework for the lidar-based relative state estimator which achieves highly accurate,real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs)in GPS-denied environments.The system builds atop a factor graph,and only on-board sensors and computing power are utilized.Benefiting from the keyframe strategy,each UAV performs relative state estimation individually and broadcasts very partial information without exchanging raw data.The complete system runs in real-time and is evaluated with three experiments in different environments.Experimental results show that the proposed distributed approach offers comparable performance with a centralized method in terms of accuracy and real-time performance.The flight test demonstrates that the proposed relative state estimation framework is able to be used for aggressive flights over 5 m/s.展开更多
This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to ...This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.展开更多
This paper addresses the problem of distributed secure state estimation for multi-agent systems under homologous sensor attacks.Two types of secure Luenberger-like distributed observers are proposed to estimate the sy...This paper addresses the problem of distributed secure state estimation for multi-agent systems under homologous sensor attacks.Two types of secure Luenberger-like distributed observers are proposed to estimate the system state and attack signal simultaneously.Specifically,the proposed two observers are applicable to deal with the cases in the presence and absence of time delays during network communication.It is also shown that the proposed observers can ensure the attack estimations from different agents asymptotically converge to the same value.Sufficient conditions for guaranteeing the asymptotic convergence of the estimation errors are derived.Simulation examples are finally provided to demonstrate the effectiveness of the proposed results.展开更多
Taking into account the whole system structure and the component reliability estimation uncertainty, a system reliability estimation method based on probability and statistical theory for distributed monitoring system...Taking into account the whole system structure and the component reliability estimation uncertainty, a system reliability estimation method based on probability and statistical theory for distributed monitoring systems is presented. The variance and confidence intervals of the system reliability estimation are obtained by expressing system reliability as a linear sum of products of higher order moments of component reliability estimates when the number of component or system survivals obeys binomial distribution. The eigenfunction of binomial distribution is used to determine the moments of component reliability estimates, and a symbolic matrix which can facilitate the search of explicit system reliability estimates is proposed. Furthermore, a case of application is used to illustrate the procedure, and with the help of this example, various issues such as the applicability of this estimation model, and measures to improve system reliability of monitoring systems are discussed.展开更多
In this paper,distributed estimation of high-dimensional sparse precision matrix is proposed based on the debiased D-trace loss penalized lasso and the hard threshold method when samples are distributed into different...In this paper,distributed estimation of high-dimensional sparse precision matrix is proposed based on the debiased D-trace loss penalized lasso and the hard threshold method when samples are distributed into different machines for transelliptical graphical models.At a certain level of sparseness,this method not only achieves the correct selection of non-zero elements of sparse precision matrix,but the error rate can be comparable to the estimator in a non-distributed setting.The numerical results further prove that the proposed distributed method is more effective than the usual average method.展开更多
The privacy-preserving problem for distributed fusion estimation scheme is concerned in this paper.When legitimate user wants to obtain consistent information from multiple sensors,it always employs a fusion center(FC...The privacy-preserving problem for distributed fusion estimation scheme is concerned in this paper.When legitimate user wants to obtain consistent information from multiple sensors,it always employs a fusion center(FC)to gather local data and compute distributed fusion estimates(DFEs).Due to the existence of potential eavesdropper,the data exchanged among sensors,FC and user imperatively require privacy preservation.Hence,we propose a distributed confidentiality fusion structure against eavesdropper by using Paillier homomorphic encryption approach.In this case,FC cannot acquire real values of local state estimates,while it only helps calculate encrypted DFEs.Then,the legitimate user can successfully obtain the true values of DFEs according to the encrypted information and secret keys,which is based on the homomorphism of encryption.Finally,an illustrative example is provided to verify the effectiveness of the proposed methods.展开更多
The facies distribution of a reservoir is one of the biggest concerns for geologists,geophysicists,reservoir modelers,and reservoir engineers due to its high importance in the setting of any reliable decisionmaking/op...The facies distribution of a reservoir is one of the biggest concerns for geologists,geophysicists,reservoir modelers,and reservoir engineers due to its high importance in the setting of any reliable decisionmaking/optimization of field development planning.The approach for parameterizing the facies distribution as a random variable comes naturally through using the probability fields.Since the prior probability fields of facies come either from a seismic inversion or from other sources of geologic information,they are not conditioned to the data observed from the cores extracted from the wells.This paper presents a regularized element-free Galerkin(R-EFG)method for conditioning facies probability fields to facies observation.The conditioned probability fields respect all the conditions of the probability theory(i.e.all the values are between 0 and 1,and the sum of all fields is a uniform field of 1).This property achieves by an optimization procedure under equality and inequality constraints with the gradient projection method.The conditioned probability fields are further used as the input in the adaptive pluri-Gaussian simulation(APS)methodology and coupled with the ensemble smoother with multiple data assimilation(ES-MDA)for estimation and uncertainty quantification of the facies distribution.The history-matching of the facies models shows a good estimation and uncertainty quantification of facies distribution,a good data match and prediction capabilities.展开更多
The secure and normal operation of distributed networks is crucial for accurate parameter estimation.However,distributed networks are frequently susceptible to Byzantine attacks.Considering real-life scenarios,this pa...The secure and normal operation of distributed networks is crucial for accurate parameter estimation.However,distributed networks are frequently susceptible to Byzantine attacks.Considering real-life scenarios,this paper investigates a probability Byzantine(PB)attack,utilizing a Bernoulli distribution to simulate the attack probability.Historically,additional detection mechanisms are used to mitigate such attacks,leading to increased energy consumption and burdens on distributed nodes,consequently diminishing operational efficiency.Differing from these approaches,an adaptive updating distributed estimation algorithm is proposed to mitigate the impact of PB attacks.In the proposed algorithm,a penalty strategy is initially incorporated during data updates to weaken the influence of the attack.Subsequently,an adaptive fusion weight is employed during data fusion to merge the estimations.Additionally,the reason why this penalty term weakens the attack has been analyzed,and the performance of the proposed algorithm is validated through simulation experiments.展开更多
文摘False data injection(FDI) attacks are common in the distributed estimation of multi-task network environments, so an attack detection strategy is designed by combining the generalized maximum correntropy criterion. Based on this, we propose a diffusion least-mean-square algorithm based on the generalized maximum correntropy criterion(GMCC-DLMS)for multi-task networks. The algorithm achieves gratifying estimation results. Even more, compared to the related work,it has better robustness when the number of attacked nodes increases. Moreover, the assumption about the number of attacked nodes is relaxed, which is applicable to multi-task environments. In addition, the performance of the proposed GMCC-DLMS algorithm is analyzed in the mean and mean-square senses. Finally, simulation experiments confirm the performance and effectiveness against FDI attacks of the algorithm.
基金supported by the National Natural Science Foundation of China(62303273,62373226)the National Research Foundation,Singapore through the Medium Sized Center for Advanced Robotics Technology Innovation(WP2.7)
文摘Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded computing, communication and related hardware technologies, CPSs have attracted extensive attention and have been widely used in power system, traffic network, refrigeration system and other fields.
基金supported in part by the National Natural Science Foundation of China(62073189,62173207)the Taishan Scholar Project of Shandong Province(tsqn202211129)。
文摘This paper is aimed at the distributed fault estimation issue associated with the potential loss of actuator efficiency for a type of discrete-time nonlinear systems with sensor saturation.For the distributed estimation structure under consideration,an estimation center is not necessary,and the estimator derives its information from itself and neighboring nodes,which fuses the state vector and the measurement vector.In an effort to cut down data conflicts in communication networks,the stochastic communication protocol(SCP)is employed so that the output signals from sensors can be selected.Additionally,a recursive security estimator scheme is created since attackers randomly inject malicious signals into the selected data.On this basis,sufficient conditions for a fault estimator with less conservatism are presented which ensure an upper bound of the estimation error covariance and the mean-square exponential boundedness of the estimating error.Finally,a numerical example is used to show the reliability and effectiveness of the considered distributed estimation algorithm.
文摘This paper proposes a novel approach for identifying distributed dynamic loads in the time domain.Using polynomial andmodal analysis,the load is transformed intomodal space for coefficient identification.This allows the distributed dynamic load with a two-dimensional form in terms of time and space to be simultaneously identified in the form of modal force,thereby achieving dimensionality reduction.The Impulse-based Force Estimation Algorithm is proposed to identify dynamic loads in the time domain.Firstly,the algorithm establishes a recursion scheme based on convolution integral,enabling it to identify loads with a long history and rapidly changing forms over time.Secondly,the algorithm introduces moving mean and polynomial fitting to detrend,enhancing its applicability in load estimation.The aforementioned methodology successfully accomplishes the reconstruction of distributed,instead of centralized,dynamic loads on the continuum in the time domain by utilizing acceleration response.To validate the effectiveness of the method,computational and experimental verification were conducted.
基金supported by the National Key R&D Program of China(No.2018YFA0703800)the Natural Science Foundation of China(No.T2293770)+1 种基金the Strategic Priority Research Program of Chinese Academy of Sciences(No.XDA27000000)the National Science Foundation of Shandong Province(No.ZR2020ZD26).
文摘In this paper,we investigate the distributed estimation problem of continuous-time stochastic dynamic systems over sensor networks when both the system order and parameters are unknown.We propose a local information criterion(LIC)based on the L_(0)penalty term.By minimizing LIC at the diffusion time instant and utilizing the continuous-time diffusion least squares algorithm,we obtain a distributed estimation algorithm to simultaneously estimate the unknown order and the parameters of the system.By dealing with the effect of the system noises and the coupling relationship between estimation of system orders and parameters,we establish the almost sure convergence results of the proposed distributed estimation algorithm.Furthermore,we give a simulation example to verify the effectiveness of the distributed algorithm in estimating the system order and parameters.
基金supported by the National Key Research and Development Program(2021YFB3502500).
文摘An improved estimation of distribution algorithm(IEDA)is proposed in this paper for efficient design of metamaterial absorbers.This algorithm establishes a probability model through the selected dominant groups and samples from the model to obtain the next generation,avoiding the problem of building-blocks destruction caused by crossover and mutation.Neighboring search from artificial bee colony algorithm(ABCA)is introduced to enhance the local optimization ability and improved to raise the speed of convergence.The probability model is modified by boundary correction and loss correction to enhance the robustness of the algorithm.The proposed IEDA is compared with other intelligent algorithms in relevant references.The results show that the proposed IEDA has faster convergence speed and stronger optimization ability,proving the feasibility and effectiveness of the algorithm.
基金This work is supported by the Science and Technology Project of State Grid Corporation(No.5455HJ160007).
文摘Online estimation of electromechanical oscillation parameters provides essential information to prevent system instability and blackout and helps to identify event categories and locations.We formulate the problem as a state space model and employ the extended Kalman filter to estimate oscillation frequencies and damping factors directly based on data from phasor measurement units.Due to considerations of communication burdens and privacy concerns,a fully distributed algorithm is proposed using diffusion extended Kalman filter.The effectiveness of proposed algorithms is confirmed by both simulated and real data collected during events in State Grid Jiangsu Electric Power Company.
文摘This paper considers the distributed estimation of a source parameter using quantized sensor observations in a wireless sensor network with noisy channels. Repetition codes are used to transmit quantization bits of sensor observations and a quasi best linear unbiased estimate is constructed to estimate the source parameter. Simulations show that the estimation scheme achieves a better power and spectral efficiency than the previous scheme.
基金supported by the National Natural Science Foundation of China (No. 61790573)supported by the National Natural Science Foundation of China (Nos. 61890924, 61991404)Liao Ning Revitalization Talents Program (No. XLYC1907087)
文摘Distributed state estimation is of paramount importance in many applications involving the large-scale complex systems over spatially deployed networked sensors.This paper provides an overview for analysis of distributed state estimation algorithms for linear time invariant systems.A number of previous works are reviewed and a clear classification of the main approaches in this field are presented,i.e.,Kalman-filter-type methods and Luenberger-observer-type methods.The design and the stability analysis of these methods are discussed.Moreover,a comprehensive comparison of the existing results is provided in terms of some standard metrics including the graph connectivity,system observability,optimality,time scale and so on.Finally,several important and challenging future research directions are discussed.
基金Supported by the Basic Research Foundation of Tsinghua National Laboratory for Information Science and Technology (TNList)the Major Program of the National Natural Science Foundation of China (No. 60496311)
文摘This paper describes a distributed estimation scheme （DES） for a bandwidth constrained ad hoc sensor network. The DES is universal in the sense that operations on all sensors are identical and independent of noise distribution. The scheme requires each sensor to transmit just a 1-bit message per observation. Simulation results show that the scheme achieves much better mean-squares error （MSE） performance than the simplified isotropic universal DES and even outperforms the isotropic universal DES which requires more than twice the bandwidth of this scheme.
文摘This paper describes the effect of channel estimation error （CEE） on the performance of distributed estimations of an unknown parameter in a wireless sensor network. Both the classical and Bayesian estimators are derived to mitigate the adverse effects caused by the CEE. Power scheduling among sensors and the power ratio between the training and data transmission at each individual node are optimized by directly minimizing the final average mean squared error to compensate for the CEE. A closed-form power scheduling policy is given for a homogeneous environment, which shows that more than 50% of the power should be allocated to sensor observation transmissions. For an inhomogeneous environment, a multilevel waterfilling type solution is developed for the power scheduling among sensors for only the sum power constraint with a ＂cave＂ waterfilling solution for both the sum and individual power constraints. Simulations show that the proposed power scheduling schemes achieve better performance than the equal power scheduling scheme.
文摘In this paper, we consider the problem of unknown parameter estimation using a set of nodes that are deployed over an area. The recently proposed distributed adaptive estimation algorithms(also known as adaptive networks) are appealing solutions to the mentioned problem when the statistical information of the underlying process is not available or it varies over time. In this paper, our goal is to develop a new incremental least-mean square(LMS) adaptive network that considers the quality of measurements collected by the nodes. Thus, we use an adaptive combination strategy which assigns each node a step size according to its quality of measurement. The adaptive combination strategy improves the robustness of the proposed algorithm to the spatial variations of signal-to-noise ratio(SNR). The performance of our algorithm is more remarkable in inhomogeneous environments when there are some nodes with low SNRs in the network. The simulation results indicate the efficiency of the proposed algorithm.
基金supported by the National Key Research and Development Program of China(No.2018AAA0102401)the National Natural Science Foundation of China(Nos.62022060,61773278,61873340).
文摘In this paper,we present a distributed framework for the lidar-based relative state estimator which achieves highly accurate,real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs)in GPS-denied environments.The system builds atop a factor graph,and only on-board sensors and computing power are utilized.Benefiting from the keyframe strategy,each UAV performs relative state estimation individually and broadcasts very partial information without exchanging raw data.The complete system runs in real-time and is evaluated with three experiments in different environments.Experimental results show that the proposed distributed approach offers comparable performance with a centralized method in terms of accuracy and real-time performance.The flight test demonstrates that the proposed relative state estimation framework is able to be used for aggressive flights over 5 m/s.
文摘This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.
基金supported by the Fundamental Research Funds for the Central Universities(buctrc202201)High Performance Computing Platform,College of Information Science and Technology,Beijing University of Chemical Technology。
文摘This paper addresses the problem of distributed secure state estimation for multi-agent systems under homologous sensor attacks.Two types of secure Luenberger-like distributed observers are proposed to estimate the system state and attack signal simultaneously.Specifically,the proposed two observers are applicable to deal with the cases in the presence and absence of time delays during network communication.It is also shown that the proposed observers can ensure the attack estimations from different agents asymptotically converge to the same value.Sufficient conditions for guaranteeing the asymptotic convergence of the estimation errors are derived.Simulation examples are finally provided to demonstrate the effectiveness of the proposed results.
基金This project is supported by National Natural Science Foundation of China(No.50335020,No.50205009)Laboratory of Intelligence Manufacturing Technology of Ministry of Education of China(No.J100301).
文摘Taking into account the whole system structure and the component reliability estimation uncertainty, a system reliability estimation method based on probability and statistical theory for distributed monitoring systems is presented. The variance and confidence intervals of the system reliability estimation are obtained by expressing system reliability as a linear sum of products of higher order moments of component reliability estimates when the number of component or system survivals obeys binomial distribution. The eigenfunction of binomial distribution is used to determine the moments of component reliability estimates, and a symbolic matrix which can facilitate the search of explicit system reliability estimates is proposed. Furthermore, a case of application is used to illustrate the procedure, and with the help of this example, various issues such as the applicability of this estimation model, and measures to improve system reliability of monitoring systems are discussed.
基金partly supported by National Natural Science Foundation of China(Grant Nos.12031016,11971324,11471223)Foundations of Science and Technology Innovation Service Capacity Building,Interdisciplinary Construction of Bioinformatics and Statistics,and Academy for Multidisciplinary Studies,Capital Normal University,Beijing。
文摘In this paper,distributed estimation of high-dimensional sparse precision matrix is proposed based on the debiased D-trace loss penalized lasso and the hard threshold method when samples are distributed into different machines for transelliptical graphical models.At a certain level of sparseness,this method not only achieves the correct selection of non-zero elements of sparse precision matrix,but the error rate can be comparable to the estimator in a non-distributed setting.The numerical results further prove that the proposed distributed method is more effective than the usual average method.
基金supported in part by the National Natural Sci-ence Foundation of China(No.61973277)in part by the Zhejiang Provincial Natural Science Foundation of China(No.LR20F030004)in part by the Major Key Project of PCL(No.PCL2021A09).
文摘The privacy-preserving problem for distributed fusion estimation scheme is concerned in this paper.When legitimate user wants to obtain consistent information from multiple sensors,it always employs a fusion center(FC)to gather local data and compute distributed fusion estimates(DFEs).Due to the existence of potential eavesdropper,the data exchanged among sensors,FC and user imperatively require privacy preservation.Hence,we propose a distributed confidentiality fusion structure against eavesdropper by using Paillier homomorphic encryption approach.In this case,FC cannot acquire real values of local state estimates,while it only helps calculate encrypted DFEs.Then,the legitimate user can successfully obtain the true values of DFEs according to the encrypted information and secret keys,which is based on the homomorphism of encryption.Finally,an illustrative example is provided to verify the effectiveness of the proposed methods.
文摘The facies distribution of a reservoir is one of the biggest concerns for geologists,geophysicists,reservoir modelers,and reservoir engineers due to its high importance in the setting of any reliable decisionmaking/optimization of field development planning.The approach for parameterizing the facies distribution as a random variable comes naturally through using the probability fields.Since the prior probability fields of facies come either from a seismic inversion or from other sources of geologic information,they are not conditioned to the data observed from the cores extracted from the wells.This paper presents a regularized element-free Galerkin(R-EFG)method for conditioning facies probability fields to facies observation.The conditioned probability fields respect all the conditions of the probability theory(i.e.all the values are between 0 and 1,and the sum of all fields is a uniform field of 1).This property achieves by an optimization procedure under equality and inequality constraints with the gradient projection method.The conditioned probability fields are further used as the input in the adaptive pluri-Gaussian simulation(APS)methodology and coupled with the ensemble smoother with multiple data assimilation(ES-MDA)for estimation and uncertainty quantification of the facies distribution.The history-matching of the facies models shows a good estimation and uncertainty quantification of facies distribution,a good data match and prediction capabilities.
文摘The secure and normal operation of distributed networks is crucial for accurate parameter estimation.However,distributed networks are frequently susceptible to Byzantine attacks.Considering real-life scenarios,this paper investigates a probability Byzantine(PB)attack,utilizing a Bernoulli distribution to simulate the attack probability.Historically,additional detection mechanisms are used to mitigate such attacks,leading to increased energy consumption and burdens on distributed nodes,consequently diminishing operational efficiency.Differing from these approaches,an adaptive updating distributed estimation algorithm is proposed to mitigate the impact of PB attacks.In the proposed algorithm,a penalty strategy is initially incorporated during data updates to weaken the influence of the attack.Subsequently,an adaptive fusion weight is employed during data fusion to merge the estimations.Additionally,the reason why this penalty term weakens the attack has been analyzed,and the performance of the proposed algorithm is validated through simulation experiments.
