Deep learning anomaly detection is important in distributed optical fiber acoustic sensing (DAS). However, anomaly detection is more challenging than traditional learning tasks, due to the scarcity of true-positive data and the vast imbalance and irregularity within datasets. Furthermore, it is impossible to catalog all types of anomalies, therefore, the direct application of supervised learning is deficient. To overcome these problems, an unsupervised deep learning method that only learns the normal data features from ordinary events is proposed. First, a convolutional autoencoder is used to extract DAS signal features. A clustering algorithm then locates the feature center of the normal data, and the distance to the new signal is used to determine whether it is an anomaly. The efficacy of the proposed method was evaluated in a real high-speed rail intrusion scenario, and considered all behaviors that may threaten the normal operation of high-speed trains as abnormal. The results show that the threat detection rate of this method reaches 91.5%, which is 5.9% higher than that of the state-of-the-art supervised network and, at 7.2%, the false alarm rate is 0.8% lower than the supervised network. Moreover, using a shallow autoencoder reduces the parameters to 1.34 K, which is significantly lower than the 79.55 K of the state-of-the-art supervised network.

Distributed optical fiber acoustic sensing (DAS) is promising for long-distance intrusion-anomaly detection tasks. However, realistic settings suffer from high-intensity interference noise, compromising the detection performance of DAS systems. To address this issue, we propose STNet, an intrusion detection network based on the Stockwell transform (S-transform), for DAS systems, considering the advantages of the S-transform in terms of noise resistance and ability to detect disturbances. Specifically, the signal detected by a DAS system is divided into space–time data matrices using a sliding window. Subsequently, the S-transform extracts the time-frequency features channel by channel. The extracted features are combined into a multi-channel time-frequency feature matrix and presented to STNet. Finally, a non-maximum suppression algorithm (NMS), suitable for locating intrusions, is used for the post-processing of the detection results. To evaluate the effectiveness of the proposed method, experiments were conducted using a realistic high-speed railway environment with high-intensity noise. The experimental results validated the satisfactory performance of the proposed method. Thus, the proposed method offers an effective solution for achieving high intrusion detection rates and low false alarm rates in complex environments.

This paper proposes a new trajectory tracking control scheme for the four mecanums wheel omnidirectional mobile robot (FM-OMR). Considering the influence of uncertainty on tracking accuracy, a self-organizing fuzzy neural network approximator (SOT1FNNA) is proposed to estimate the uncertainty. In particular, since the structure of traditional approximation network is preset, it will cause problems such as input constraints and rule redundancy, resulting in low adaptability of the controller. Therefore, a self-organizing algorithm including rule growth and local access is designed according to the tracking control requirements of omnidirectional mobile robots. In addition, a preview strategy (PS) based on Bezier curve trajectory re-planning is proposed to solve the problem of tracking curve instability caused by the lag of tracking starting point. Finally, the simulation verifies the effectiveness of this method in tracking and trajectory starting point optimization.