The condition of rotor system must be assessed in order to develop condition-based maintenance for rotating machinery. It is determined by multiple variables such as unbalance degree, misalignment degree, the amount o...The condition of rotor system must be assessed in order to develop condition-based maintenance for rotating machinery. It is determined by multiple variables such as unbalance degree, misalignment degree, the amount of bending deformation of the shaft, occurrence of shaft crack of rotor system and so on. The estimation of the degrees of unbalance and misalignment in flexible coupling-rotor system is discussed. The model-based approach is employed to solve this problem. The models of the equivalent external loads for unbalance and misalignment are derived and analyzed. Then, the degrees of unbalance and misalignment are estimated by analyzing the components of the equivalent external loads of which the frequencies are equal to the 1 and 2 times running frequency respectively. The equivalent external loads are calculated according to the dynamic equation of the original rotor system and the differences between the dynamical responses in normal case and the vibrations when the degree of unbalance or misalignment or both changes. The denoise method based on bandpass filter is used to decrease the effect of noise on the estimation accuracy. The numerical examples are given to show that the proposed approach can estimate the degrees of unbalance and misalignment of the flexible coupling-rotor system accurately.展开更多
This paper focuses on the use of models for increasing the precision of estimators in large-area forest surveys. It is motivated by the increasing availability of remotely sensed data, which facilitates the developmen...This paper focuses on the use of models for increasing the precision of estimators in large-area forest surveys. It is motivated by the increasing availability of remotely sensed data, which facilitates the development of models predicting the variables of interest in forest surveys. We present, review and compare three different estimation frameworks where models play a core role： model-assisted, model-based, and hybrid estimation. The first two are well known, whereas the third has only recently been introduced in forest surveys. Hybrid inference mixes design- based and model-based inference, since it relies on a probability sample of auxiliary data and a model predicting the target variable from the auxiliary data.We review studies on large-area forest surveys based on model-assisted, model- based, and hybrid estimation, and discuss advantages and disadvantages of the approaches. We conclude that no general recommendations can be made about whether model-assisted, model-based, or hybrid estimation should be preferred. The choice depends on the objective of the survey and the possibilities to acquire appropriate field and remotely sensed data. We also conclude that modelling approaches can only be successfully applied for estimating target variables such as growing stock volume or biomass, which are adequately related to commonly available remotely sensed data, and thus purely field based surveys remain important for several important forest parameters.展开更多
In micro-electro-mechanical system based inertial navigation system（MEMS-INS）/global position system（GPS） integrated navigation systems, there exist unknown disturbances and abnormal measurements. In order to obta...In micro-electro-mechanical system based inertial navigation system（MEMS-INS）/global position system（GPS） integrated navigation systems, there exist unknown disturbances and abnormal measurements. In order to obtain high estimation accuracy and enhance detection sensitivity to faults in measurements, this paper deals with the problem of model-based robust estimation（RE） and fault detection（FD）. A filter gain matrix and a post-filter are designed to obtain a RE and FD algorithm with current measurements, which is different from most of the existing priori filters using measurements in one-step delay. With the designed filter gain matrix, the H-infinity norm of the transfer function from noise inputs to estimation error outputs is limited within a certain range; with the designed post-filter, the residual signal is robust to disturbances but sensitive to faults. Therefore, the algorithm can guarantee small estimation errors in the presence of disturbances and have high sensitivity to faults. The proposed method is evaluated in an integrated navigation system, and the simulation results show that it is more effective in position estimation and fault signal detection than priori RE and FD algorithms.展开更多
A robust method is proposed for estimating discrete probability functions for small samples. The proposed approach introduces and minimizes a parameterized objective function that is analogous to free energy functions...A robust method is proposed for estimating discrete probability functions for small samples. The proposed approach introduces and minimizes a parameterized objective function that is analogous to free energy functions in statistical physics. A key feature of the method is a model of the parameter that controls the trade-off between likelihood and robustness in response to the degree of fluctuation. The method thus does not require the value of the parameter to be manually selected. It is proved that the estimator approaches the maximum likelihood estimator at the asymptotic limit. The effectiveness of the method in terms of robustness is demonstrated by experimental studies on point estimation for probability distributions with various entropies.展开更多
A robust face pose estimation approach is proposed by using face shape statistical model approach and pose parameters are represented by trigonometric functions. The face shape statistical model is firstly built by an...A robust face pose estimation approach is proposed by using face shape statistical model approach and pose parameters are represented by trigonometric functions. The face shape statistical model is firstly built by analyzing the face shapes from different people under varying poses. The shape alignment is vital in the process of building the statistical model. Then, six trigonometric functions are employed to represent the face pose parameters. Lastly, the mapping function is constructed between face image and face pose by linearly relating different parameters. The proposed approach is able to estimate different face poses using a few face training samples. Experimental results are provided to demonstrate its efficiency and accuracy.展开更多
Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical robots.This st...Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical robots.This study proposes a novel end-to-end disparity estimation model to address these challenges.Our approach combines a Pseudo-Siamese neural network architecture with pyramid dilated convolutions,integrating multi-scale image information to enhance robustness against lighting interferences.This study introduces a Pseudo-Siamese structure-based disparity regression model that simplifies left-right image comparison,improving accuracy and efficiency.The model was evaluated using a dataset of stereo endoscopic videos captured by the Da Vinci surgical robot,comprising simulated silicone heart sequences and real heart video data.Experimental results demonstrate significant improvement in the network’s resistance to lighting interference without substantially increasing parameters.Moreover,the model exhibited faster convergence during training,contributing to overall performance enhancement.This study advances endoscopic image processing accuracy and has potential implications for surgical robot applications in complex environments.展开更多
Premise:The com bined effects of modern healthcare practices which prolong lifespan and declining birthrates have created unprecedented changes in age demographics worldwide that are especially pronounced in Japan,Sou...Premise:The com bined effects of modern healthcare practices which prolong lifespan and declining birthrates have created unprecedented changes in age demographics worldwide that are especially pronounced in Japan,South Korea,Europe,and North America.Since old age is the most significant predictor of dementia,global healthcare systems must rise to the challenge of providing care for those with neurodegenerative disorders.展开更多
Developing sensorless techniques for estimating battery expansion is essential for effective mechanical state monitoring,improving the accuracy of digital twin simulation and abnormality detection.Therefore,this paper...Developing sensorless techniques for estimating battery expansion is essential for effective mechanical state monitoring,improving the accuracy of digital twin simulation and abnormality detection.Therefore,this paper presents a data-driven approach to expansion estimation using electromechanical coupled models with machine learning.The proposed method integrates reduced-order impedance models with data-driven mechanical models,coupling the electrochemical and mechanical states through the state of charge(SOC)and mechanical pressure within a state estimation framework.The coupling relationship was established through experimental insights into pressure-related impedance parameters and the nonlinear mechanical behavior with SOC and pressure.The data-driven model was interpreted by introducing a novel swelling coefficient defined by component stiffnesses to capture the nonlinear mechanical behavior across various mechanical constraints.Sensitivity analysis of the impedance model shows that updating model parameters with pressure can reduce the mean absolute error of simulated voltage by 20 mV and SOC estimation error by 2%.The results demonstrate the model's estimation capabilities,achieving a root mean square error of less than 1 kPa when the maximum expansion force is from 30 kPa to 120 kPa,outperforming calibrated stiffness models and other machine learning techniques.The model's robustness and generalizability are further supported by its effective handling of SOC estimation and pressure measurement errors.This work highlights the importance of the proposed framework in enhancing state estimation and fault diagnosis for lithium-ion batteries.展开更多
The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational per...The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational performance. Despite numerous data-driven methods reported in existing research for battery SOH estimation, these methods often exhibit inconsistent performance across different application scenarios. To address this issue and overcome the performance limitations of individual data-driven models,integrating multiple models for SOH estimation has received considerable attention. Ensemble learning(EL) typically leverages the strengths of multiple base models to achieve more robust and accurate outputs. However, the lack of a clear review of current research hinders the further development of ensemble methods in SOH estimation. Therefore, this paper comprehensively reviews multi-model ensemble learning methods for battery SOH estimation. First, existing ensemble methods are systematically categorized into 6 classes based on their combination strategies. Different realizations and underlying connections are meticulously analyzed for each category of EL methods, highlighting distinctions, innovations, and typical applications. Subsequently, these ensemble methods are comprehensively compared in terms of base models, combination strategies, and publication trends. Evaluations across 6 dimensions underscore the outstanding performance of stacking-based ensemble methods. Following this, these ensemble methods are further inspected from the perspectives of weighted ensemble and diversity, aiming to inspire potential approaches for enhancing ensemble performance. Moreover, addressing challenges such as base model selection, measuring model robustness and uncertainty, and interpretability of ensemble models in practical applications is emphasized. Finally, future research prospects are outlined, specifically noting that deep learning ensemble is poised to advance ensemble methods for battery SOH estimation. The convergence of advanced machine learning with ensemble learning is anticipated to yield valuable avenues for research. Accelerated research in ensemble learning holds promising prospects for achieving more accurate and reliable battery SOH estimation under real-world conditions.展开更多
Remote sensing(RS)facilitates forest inventory across a wide range of variables required by the UNFCCC as well as by other agreements and processes.The Conventional model-based(CMB)estimator supports wall-to-wall RS d...Remote sensing(RS)facilitates forest inventory across a wide range of variables required by the UNFCCC as well as by other agreements and processes.The Conventional model-based(CMB)estimator supports wall-to-wall RS data,while Hybrid estimators support surveys where RS data are available as a sample.However,the connection between these two types of monitoring procedures has been unclear,hindering the reconciliation of wall-to-wall and non-wall-to-wall use of RS data in practical applications and thus potentially impeding cost-efficient deployment of high-end sensing instruments for large area monitoring.Consequently,our objectives are to(1)shed further light on the connections between different types of Hybrid estimators,and between CMB and Hybrid estimators,through mathematical analyses and Monte Carlo simulations;and(2)compare the effects and explore the tradeoffs related to the RS sampling design,coverage rate,and cluster size on estimation precision.Primary findings are threefold:(1)the CMB estimator represents a special case of Hybrid estimators,signifying that wallto-wall RS data is a particular instance of sample-based RS data;(2)the precision of estimators in forest inventory can be greater for stratified non-wall-to-wall RS data compared to wall-to-wall RS data;(3)otherwise costprohibitive sensing,such as LiDAR and UAV,can support large scale monitoring through collecting RS data as a sample.These conclusions may reconcile different perspectives regarding choice of RS instruments,data acquisition,and cost for continuous observations,particularly in the context of surveys aiming at providing data for mitigating climate change.展开更多
Interference significantly impacts the performance of the Global Navigation Satellite Systems(GNSS),highlighting the need for advanced interference localization technology to bolster anti-interference and defense capa...Interference significantly impacts the performance of the Global Navigation Satellite Systems(GNSS),highlighting the need for advanced interference localization technology to bolster anti-interference and defense capabilities.The Uniform Circular Array(UCA)enables concurrent estimation of the Direction of Arrival(DOA)in both azimuth and elevation.Given the paramount importance of stability and real-time performance in interference localization,this work proposes an innovative approach to reduce the complexity and increase the robustness of the DOA estimation.The proposed method reduces computational complexity by selecting a reduced number of array elements to reconstruct a non-uniform sparse array from a UCA.To ensure DOA estimation accuracy,minimizing the Cramér-Rao Bound(CRB)is the objective,and the Spatial Correlation Coefficient(SCC)is incorporated as a constraint to mitigate side-lobe.The optimization model is a quadratic fractional model,which is solved by Semi-Definite Relaxation(SDR).When the array has perturbations,the mathematical expressions for CRB and SCC are re-derived to enhance the robustness of the reconstructed array.Simulation and hardware experiments validate the effectiveness of the proposed method in estimating interference DOA,showing high robustness and reductions in hardware and computational costs associated with DOA estimation.展开更多
Previous multi-view 3D human pose estimation methods neither correlate different human joints in each view nor model learnable correlations between the same joints in different views explicitly,meaning that skeleton s...Previous multi-view 3D human pose estimation methods neither correlate different human joints in each view nor model learnable correlations between the same joints in different views explicitly,meaning that skeleton structure information is not utilized and multi-view pose information is not completely fused.Moreover,existing graph convolutional operations do not consider the specificity of different joints and different views of pose information when processing skeleton graphs,making the correlation weights between nodes in the graph and their neighborhood nodes shared.Existing Graph Convolutional Networks(GCNs)cannot extract global and deeplevel skeleton structure information and view correlations efficiently.To solve these problems,pre-estimated multiview 2D poses are designed as a multi-view skeleton graph to fuse skeleton priors and view correlations explicitly to process occlusion problem,with the skeleton-edge and symmetry-edge representing the structure correlations between adjacent joints in each viewof skeleton graph and the view-edge representing the view correlations between the same joints in different views.To make graph convolution operation mine elaborate and sufficient skeleton structure information and view correlations,different correlation weights are assigned to different categories of neighborhood nodes and further assigned to each node in the graph.Based on the graph convolution operation proposed above,a Residual Graph Convolution(RGC)module is designed as the basic module to be combined with the simplified Hourglass architecture to construct the Hourglass-GCN as our 3D pose estimation network.Hourglass-GCNwith a symmetrical and concise architecture processes three scales ofmulti-viewskeleton graphs to extract local-to-global scale and shallow-to-deep level skeleton features efficiently.Experimental results on common large 3D pose dataset Human3.6M and MPI-INF-3DHP show that Hourglass-GCN outperforms some excellent methods in 3D pose estimation accuracy.展开更多
The emergence of next generation networks(NextG),including 5G and beyond,is reshaping the technological landscape of cellular and mobile networks.These networks are sufficiently scaled to interconnect billions of user...The emergence of next generation networks(NextG),including 5G and beyond,is reshaping the technological landscape of cellular and mobile networks.These networks are sufficiently scaled to interconnect billions of users and devices.Researchers in academia and industry are focusing on technological advancements to achieve highspeed transmission,cell planning,and latency reduction to facilitate emerging applications such as virtual reality,the metaverse,smart cities,smart health,and autonomous vehicles.NextG continuously improves its network functionality to support these applications.Multiple input multiple output(MIMO)technology offers spectral efficiency,dependability,and overall performance in conjunctionwithNextG.This article proposes a secure channel estimation technique in MIMO topology using a norm-estimation model to provide comprehensive insights into protecting NextG network components against adversarial attacks.The technique aims to create long-lasting and secure NextG networks using this extended approach.The viability of MIMO applications and modern AI-driven methodologies to combat cybersecurity threats are explored in this research.Moreover,the proposed model demonstrates high performance in terms of reliability and accuracy,with a 20%reduction in the MalOut-RealOut-Diff metric compared to existing state-of-the-art techniques.展开更多
The reuse of liquid propellant rocket engines has increased the difficulty of their control and estimation.State and parameter Moving Horizon Estimation(MHE)is an optimization-based strategy that provides the necessar...The reuse of liquid propellant rocket engines has increased the difficulty of their control and estimation.State and parameter Moving Horizon Estimation(MHE)is an optimization-based strategy that provides the necessary information for model predictive control.Despite the many advantages of MHE,long computation time has limited its applications for system-level models of liquid propellant rocket engines.To address this issue,we propose an asynchronous MHE method called advanced-multi-step MHE with Noise Covariance Estimation(amsMHE-NCE).This method computes the MHE problem asynchronously to obtain the states and parameters and can be applied to multi-threaded computations.In the background,the state and covariance estimation optimization problems are computed using multiple sampling times.In real-time,sensitivity is used to quickly approximate state and parameter estimates.A covariance estimation method is developed using sensitivity to avoid redundant MHE problem calculations in case of sensor degradation during engine reuse.The amsMHE-NCE is validated through three cases based on the space shuttle main engine system-level model,and we demonstrate that it can provide more accurate real-time estimates of states and parameters compared to other commonly used estimation methods.展开更多
Numerous clustering algorithms are valuable in pattern recognition in forest vegetation,with new ones continually being proposed.While some are well-known,others are underutilized in vegetation science.This study comp...Numerous clustering algorithms are valuable in pattern recognition in forest vegetation,with new ones continually being proposed.While some are well-known,others are underutilized in vegetation science.This study compares the performance of practical iterative reallocation algorithms with model-based clustering algorithms.The data is from forest vegetation in Virginia(United States),the Hyrcanian Forest(Asia),and European beech forests.Practical iterative reallocation algorithms were applied as non-hierarchical methods and Finite Gaussian mixture modeling was used as a model-based clustering method.Due to limitations on dimensionality in model-based clustering,principal coordinates analysis was employed to reduce the dataset’s dimensions.A log transformation was applied to achieve a normal distribution for the pseudo-species data before calculating the Bray-Curtis dissimilarity.The findings indicate that the reallocation of misclassified objects based on silhouette width(OPTSIL)with Flexible-β(-0.25)had the highest mean among the tested clustering algorithms with Silhouette width 1(REMOS1)with Flexible-β(-0.25)second.However,model-based clustering performed poorly.Based on these results,it is recommended using OPTSIL with Flexible-β(-0.25)and REMOS1 with Flexible-β(-0.25)for forest vegetation classification instead of model-based clustering particularly for heterogeneous datasets common in forest vegetation community data.展开更多
The beyond fifth-generation Internet of Things requires more capable channel coding schemes to achieve high-reliability,low-complexity and lowlatency communications.The theoretical analysis of error-correction perform...The beyond fifth-generation Internet of Things requires more capable channel coding schemes to achieve high-reliability,low-complexity and lowlatency communications.The theoretical analysis of error-correction performance of channel coding functions as a significant way of optimizing the transmission reliability and efficiency.In this paper,the efficient estimation methods of the block error rate(BLER)performance for rate-compatible polar codes(RCPC)are proposed under several scenarios.Firstly,the BLER performance of RCPC is generally evaluated in the additive white Gaussian noise channels.That is further extended into the Rayleigh fading channel case using an equivalent estimation method.Moreover,with respect to the powerful decoder such as successive cancellation list decoding,the performance estimation is derived analytically based on the polar weight spectrum and BLER upper bounds.Theoretical evaluation and numerical simulation results show that the estimated performance can fit well the practical simulated results of RCPC under the objective conditions,verifying the validity of our proposed performance estimation methods.Furthermore,the application designs of the reliability estimation of RCPC are explored,particularly in the advantages of the signal-to-noise(SNR)estimation and throughput efficiency optimization of polar coded hybrid automatic repeat request.展开更多
Precise and robust three-dimensional object detection(3DOD)presents a promising opportunity in the field of mobile robot(MR)navigation.Monocular 3DOD techniques typically involve extending existing twodimensional obje...Precise and robust three-dimensional object detection(3DOD)presents a promising opportunity in the field of mobile robot(MR)navigation.Monocular 3DOD techniques typically involve extending existing twodimensional object detection(2DOD)frameworks to predict the three-dimensional bounding box(3DBB)of objects captured in 2D RGB images.However,these methods often require multiple images,making them less feasible for various real-time scenarios.To address these challenges,the emergence of agile convolutional neural networks(CNNs)capable of inferring depth froma single image opens a new avenue for investigation.The paper proposes a novel ELDENet network designed to produce cost-effective 3DBounding Box Estimation(3D-BBE)froma single image.This novel framework comprises the PP-LCNet as the encoder and a fast convolutional decoder.Additionally,this integration includes a Squeeze-Exploit(SE)module utilizing the Math Kernel Library for Deep Neural Networks(MKLDNN)optimizer to enhance convolutional efficiency and streamline model size during effective training.Meanwhile,the proposed multi-scale sub-pixel decoder generates high-quality depth maps while maintaining a compact structure.Furthermore,the generated depthmaps provide a clear perspective with distance details of objects in the environment.These depth insights are combined with 2DOD for precise evaluation of 3D Bounding Boxes(3DBB),facilitating scene understanding and optimal route planning for mobile robots.Based on the estimated object center of the 3DBB,the Deep Reinforcement Learning(DRL)-based obstacle avoidance strategy for MRs is developed.Experimental results demonstrate that our model achieves state-of-the-art performance across three datasets:NYU-V2,KITTI,and Cityscapes.Overall,this framework shows significant potential for adaptation in intelligent mechatronic systems,particularly in developing knowledge-driven systems for mobile robot navigation.展开更多
Self-supervised monocular depth estimation has emerged as a major research focus in recent years,primarily due to the elimination of ground-truth depth dependence.However,the prevailing architectures in this domain su...Self-supervised monocular depth estimation has emerged as a major research focus in recent years,primarily due to the elimination of ground-truth depth dependence.However,the prevailing architectures in this domain suffer from inherent limitations:existing pose network branches infer camera ego-motion exclusively under static-scene and Lambertian-surface assumptions.These assumptions are often violated in real-world scenarios due to dynamic objects,non-Lambertian reflectance,and unstructured background elements,leading to pervasive artifacts such as depth discontinuities(“holes”),structural collapse,and ambiguous reconstruction.To address these challenges,we propose a novel framework that integrates scene dynamic pose estimation into the conventional self-supervised depth network,enhancing its ability to model complex scene dynamics.Our contributions are threefold:(1)a pixel-wise dynamic pose estimation module that jointly resolves the pose transformations of moving objects and localized scene perturbations;(2)a physically-informed loss function that couples dynamic pose and depth predictions,designed to mitigate depth errors arising from high-speed distant objects and geometrically inconsistent motion profiles;(3)an efficient SE(3)transformation parameterization that streamlines network complexity and temporal pre-processing.Extensive experiments on the KITTI and NYU-V2 benchmarks show that our framework achieves state-of-the-art performance in both quantitative metrics and qualitative visual fidelity,significantly improving the robustness and generalization of monocular depth estimation under dynamic conditions.展开更多
Unlike traditional propeller-driven underwater vehicles,blended-wing-body underwater gliders(BWBUGs)achieve zigzag gliding through periodic adjustments of their net buoyancy,enhancing their cruising capabilities while...Unlike traditional propeller-driven underwater vehicles,blended-wing-body underwater gliders(BWBUGs)achieve zigzag gliding through periodic adjustments of their net buoyancy,enhancing their cruising capabilities while mini-mizing energy consumption.However,enhancing gliding performance is challenging due to the complex system design and limited design experience.To address this challenge,this paper introduces a model-based,multidisciplinary system design optimization method for BWBUGs at the conceptual design stage.First,a model-based,multidisciplinary co-simulation design framework is established to evaluate both system-level and disciplinary indices of BWBUG performance.A data-driven,many-objective multidisciplinary optimization is subsequently employed to explore the design space,yielding 32 Pareto optimal solutions.Finally,a model-based physical system simulation,which represents the design with the largest hyper-volume contribution among the 32 final designs,is established.Its gliding perfor-mance,validated by component behavior,lays the groundwork for constructing the entire system’s digital prototype.In conclusion,this model-based,multidisciplinary design optimization method effectively generates design schemes for innovative underwater vehicles,facilitating the development of digital prototypes.展开更多
基金supported by National Natural Science Foundation of China(Grant No. 10772061)Heilongjiang Provincial Natural Science Foundation of China(Grant No. ZJG0704)
文摘The condition of rotor system must be assessed in order to develop condition-based maintenance for rotating machinery. It is determined by multiple variables such as unbalance degree, misalignment degree, the amount of bending deformation of the shaft, occurrence of shaft crack of rotor system and so on. The estimation of the degrees of unbalance and misalignment in flexible coupling-rotor system is discussed. The model-based approach is employed to solve this problem. The models of the equivalent external loads for unbalance and misalignment are derived and analyzed. Then, the degrees of unbalance and misalignment are estimated by analyzing the components of the equivalent external loads of which the frequencies are equal to the 1 and 2 times running frequency respectively. The equivalent external loads are calculated according to the dynamic equation of the original rotor system and the differences between the dynamical responses in normal case and the vibrations when the degree of unbalance or misalignment or both changes. The denoise method based on bandpass filter is used to decrease the effect of noise on the estimation accuracy. The numerical examples are given to show that the proposed approach can estimate the degrees of unbalance and misalignment of the flexible coupling-rotor system accurately.
文摘This paper focuses on the use of models for increasing the precision of estimators in large-area forest surveys. It is motivated by the increasing availability of remotely sensed data, which facilitates the development of models predicting the variables of interest in forest surveys. We present, review and compare three different estimation frameworks where models play a core role： model-assisted, model-based, and hybrid estimation. The first two are well known, whereas the third has only recently been introduced in forest surveys. Hybrid inference mixes design- based and model-based inference, since it relies on a probability sample of auxiliary data and a model predicting the target variable from the auxiliary data.We review studies on large-area forest surveys based on model-assisted, model- based, and hybrid estimation, and discuss advantages and disadvantages of the approaches. We conclude that no general recommendations can be made about whether model-assisted, model-based, or hybrid estimation should be preferred. The choice depends on the objective of the survey and the possibilities to acquire appropriate field and remotely sensed data. We also conclude that modelling approaches can only be successfully applied for estimating target variables such as growing stock volume or biomass, which are adequately related to commonly available remotely sensed data, and thus purely field based surveys remain important for several important forest parameters.
基金co-supported by the National Natural Science Foundation of China(No.61153002)the Aeronautical Science Foundation of China(No.20130153002)
文摘In micro-electro-mechanical system based inertial navigation system（MEMS-INS）/global position system（GPS） integrated navigation systems, there exist unknown disturbances and abnormal measurements. In order to obtain high estimation accuracy and enhance detection sensitivity to faults in measurements, this paper deals with the problem of model-based robust estimation（RE） and fault detection（FD）. A filter gain matrix and a post-filter are designed to obtain a RE and FD algorithm with current measurements, which is different from most of the existing priori filters using measurements in one-step delay. With the designed filter gain matrix, the H-infinity norm of the transfer function from noise inputs to estimation error outputs is limited within a certain range; with the designed post-filter, the residual signal is robust to disturbances but sensitive to faults. Therefore, the algorithm can guarantee small estimation errors in the presence of disturbances and have high sensitivity to faults. The proposed method is evaluated in an integrated navigation system, and the simulation results show that it is more effective in position estimation and fault signal detection than priori RE and FD algorithms.
文摘A robust method is proposed for estimating discrete probability functions for small samples. The proposed approach introduces and minimizes a parameterized objective function that is analogous to free energy functions in statistical physics. A key feature of the method is a model of the parameter that controls the trade-off between likelihood and robustness in response to the degree of fluctuation. The method thus does not require the value of the parameter to be manually selected. It is proved that the estimator approaches the maximum likelihood estimator at the asymptotic limit. The effectiveness of the method in terms of robustness is demonstrated by experimental studies on point estimation for probability distributions with various entropies.
基金Supported by Fundamental Project of Committee of Science and Technology of Shanghai (No.03DZ14015)
文摘A robust face pose estimation approach is proposed by using face shape statistical model approach and pose parameters are represented by trigonometric functions. The face shape statistical model is firstly built by analyzing the face shapes from different people under varying poses. The shape alignment is vital in the process of building the statistical model. Then, six trigonometric functions are employed to represent the face pose parameters. Lastly, the mapping function is constructed between face image and face pose by linearly relating different parameters. The proposed approach is able to estimate different face poses using a few face training samples. Experimental results are provided to demonstrate its efficiency and accuracy.
基金Supported by Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004)Supported by the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korean government(MSIT)(No.RS-2022-00155885,Artificial Intelligence Convergence Innovation Human Resources Development(Hanyang University ERICA)).
文摘Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical robots.This study proposes a novel end-to-end disparity estimation model to address these challenges.Our approach combines a Pseudo-Siamese neural network architecture with pyramid dilated convolutions,integrating multi-scale image information to enhance robustness against lighting interferences.This study introduces a Pseudo-Siamese structure-based disparity regression model that simplifies left-right image comparison,improving accuracy and efficiency.The model was evaluated using a dataset of stereo endoscopic videos captured by the Da Vinci surgical robot,comprising simulated silicone heart sequences and real heart video data.Experimental results demonstrate significant improvement in the network’s resistance to lighting interference without substantially increasing parameters.Moreover,the model exhibited faster convergence during training,contributing to overall performance enhancement.This study advances endoscopic image processing accuracy and has potential implications for surgical robot applications in complex environments.
基金funded by the Natural Sciences and Engineering Research Council of Canada(RGPIN:2016-05964&2023-04283 to JHK)the University of Manitoba Tri-Agency Bridge Funding(#57289 to JHK)the Ricard Foundation’s Baxter Bursary(to JP)。
文摘Premise:The com bined effects of modern healthcare practices which prolong lifespan and declining birthrates have created unprecedented changes in age demographics worldwide that are especially pronounced in Japan,South Korea,Europe,and North America.Since old age is the most significant predictor of dementia,global healthcare systems must rise to the challenge of providing care for those with neurodegenerative disorders.
基金Fund supported this work for Excellent Youth Scholars of China(Grant No.52222708)the National Natural Science Foundation of China(Grant No.51977007)+1 种基金Part of this work is supported by the research project“SPEED”(03XP0585)at RWTH Aachen Universityfunded by the German Federal Ministry of Education and Research(BMBF)。
文摘Developing sensorless techniques for estimating battery expansion is essential for effective mechanical state monitoring,improving the accuracy of digital twin simulation and abnormality detection.Therefore,this paper presents a data-driven approach to expansion estimation using electromechanical coupled models with machine learning.The proposed method integrates reduced-order impedance models with data-driven mechanical models,coupling the electrochemical and mechanical states through the state of charge(SOC)and mechanical pressure within a state estimation framework.The coupling relationship was established through experimental insights into pressure-related impedance parameters and the nonlinear mechanical behavior with SOC and pressure.The data-driven model was interpreted by introducing a novel swelling coefficient defined by component stiffnesses to capture the nonlinear mechanical behavior across various mechanical constraints.Sensitivity analysis of the impedance model shows that updating model parameters with pressure can reduce the mean absolute error of simulated voltage by 20 mV and SOC estimation error by 2%.The results demonstrate the model's estimation capabilities,achieving a root mean square error of less than 1 kPa when the maximum expansion force is from 30 kPa to 120 kPa,outperforming calibrated stiffness models and other machine learning techniques.The model's robustness and generalizability are further supported by its effective handling of SOC estimation and pressure measurement errors.This work highlights the importance of the proposed framework in enhancing state estimation and fault diagnosis for lithium-ion batteries.
基金National Natural Science Foundation of China (52075420)Fundamental Research Funds for the Central Universities (xzy022023049)National Key Research and Development Program of China (2023YFB3408600)。
文摘The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational performance. Despite numerous data-driven methods reported in existing research for battery SOH estimation, these methods often exhibit inconsistent performance across different application scenarios. To address this issue and overcome the performance limitations of individual data-driven models,integrating multiple models for SOH estimation has received considerable attention. Ensemble learning(EL) typically leverages the strengths of multiple base models to achieve more robust and accurate outputs. However, the lack of a clear review of current research hinders the further development of ensemble methods in SOH estimation. Therefore, this paper comprehensively reviews multi-model ensemble learning methods for battery SOH estimation. First, existing ensemble methods are systematically categorized into 6 classes based on their combination strategies. Different realizations and underlying connections are meticulously analyzed for each category of EL methods, highlighting distinctions, innovations, and typical applications. Subsequently, these ensemble methods are comprehensively compared in terms of base models, combination strategies, and publication trends. Evaluations across 6 dimensions underscore the outstanding performance of stacking-based ensemble methods. Following this, these ensemble methods are further inspected from the perspectives of weighted ensemble and diversity, aiming to inspire potential approaches for enhancing ensemble performance. Moreover, addressing challenges such as base model selection, measuring model robustness and uncertainty, and interpretability of ensemble models in practical applications is emphasized. Finally, future research prospects are outlined, specifically noting that deep learning ensemble is poised to advance ensemble methods for battery SOH estimation. The convergence of advanced machine learning with ensemble learning is anticipated to yield valuable avenues for research. Accelerated research in ensemble learning holds promising prospects for achieving more accurate and reliable battery SOH estimation under real-world conditions.
基金supported by the National Social Science Fund of China(No.22BTJ005)the Key Project of National Key Research and Development Plan(No.2023YFF1304002-05)+1 种基金supported by the National Natural Science Foundation of China(No.32001252)the International Center for Bamboo and Rattan(Nos.1632022024,1632020029,1632021024).
文摘Remote sensing(RS)facilitates forest inventory across a wide range of variables required by the UNFCCC as well as by other agreements and processes.The Conventional model-based(CMB)estimator supports wall-to-wall RS data,while Hybrid estimators support surveys where RS data are available as a sample.However,the connection between these two types of monitoring procedures has been unclear,hindering the reconciliation of wall-to-wall and non-wall-to-wall use of RS data in practical applications and thus potentially impeding cost-efficient deployment of high-end sensing instruments for large area monitoring.Consequently,our objectives are to(1)shed further light on the connections between different types of Hybrid estimators,and between CMB and Hybrid estimators,through mathematical analyses and Monte Carlo simulations;and(2)compare the effects and explore the tradeoffs related to the RS sampling design,coverage rate,and cluster size on estimation precision.Primary findings are threefold:(1)the CMB estimator represents a special case of Hybrid estimators,signifying that wallto-wall RS data is a particular instance of sample-based RS data;(2)the precision of estimators in forest inventory can be greater for stratified non-wall-to-wall RS data compared to wall-to-wall RS data;(3)otherwise costprohibitive sensing,such as LiDAR and UAV,can support large scale monitoring through collecting RS data as a sample.These conclusions may reconcile different perspectives regarding choice of RS instruments,data acquisition,and cost for continuous observations,particularly in the context of surveys aiming at providing data for mitigating climate change.
基金the financial support from the National Key Research and Development Program of China(No.2023YFB3907001)the National Natural Science Foundation of China(Nos.U2233217,62371029)the UK Engineering and Physical Sciences Research Council(EPSRC),China(Nos.EP/M026981/1,EP/T021063/1 and EP/T024917/)。
文摘Interference significantly impacts the performance of the Global Navigation Satellite Systems(GNSS),highlighting the need for advanced interference localization technology to bolster anti-interference and defense capabilities.The Uniform Circular Array(UCA)enables concurrent estimation of the Direction of Arrival(DOA)in both azimuth and elevation.Given the paramount importance of stability and real-time performance in interference localization,this work proposes an innovative approach to reduce the complexity and increase the robustness of the DOA estimation.The proposed method reduces computational complexity by selecting a reduced number of array elements to reconstruct a non-uniform sparse array from a UCA.To ensure DOA estimation accuracy,minimizing the Cramér-Rao Bound(CRB)is the objective,and the Spatial Correlation Coefficient(SCC)is incorporated as a constraint to mitigate side-lobe.The optimization model is a quadratic fractional model,which is solved by Semi-Definite Relaxation(SDR).When the array has perturbations,the mathematical expressions for CRB and SCC are re-derived to enhance the robustness of the reconstructed array.Simulation and hardware experiments validate the effectiveness of the proposed method in estimating interference DOA,showing high robustness and reductions in hardware and computational costs associated with DOA estimation.
基金supported in part by the National Natural Science Foundation of China under Grants 61973065,U20A20197,61973063.
文摘Previous multi-view 3D human pose estimation methods neither correlate different human joints in each view nor model learnable correlations between the same joints in different views explicitly,meaning that skeleton structure information is not utilized and multi-view pose information is not completely fused.Moreover,existing graph convolutional operations do not consider the specificity of different joints and different views of pose information when processing skeleton graphs,making the correlation weights between nodes in the graph and their neighborhood nodes shared.Existing Graph Convolutional Networks(GCNs)cannot extract global and deeplevel skeleton structure information and view correlations efficiently.To solve these problems,pre-estimated multiview 2D poses are designed as a multi-view skeleton graph to fuse skeleton priors and view correlations explicitly to process occlusion problem,with the skeleton-edge and symmetry-edge representing the structure correlations between adjacent joints in each viewof skeleton graph and the view-edge representing the view correlations between the same joints in different views.To make graph convolution operation mine elaborate and sufficient skeleton structure information and view correlations,different correlation weights are assigned to different categories of neighborhood nodes and further assigned to each node in the graph.Based on the graph convolution operation proposed above,a Residual Graph Convolution(RGC)module is designed as the basic module to be combined with the simplified Hourglass architecture to construct the Hourglass-GCN as our 3D pose estimation network.Hourglass-GCNwith a symmetrical and concise architecture processes three scales ofmulti-viewskeleton graphs to extract local-to-global scale and shallow-to-deep level skeleton features efficiently.Experimental results on common large 3D pose dataset Human3.6M and MPI-INF-3DHP show that Hourglass-GCN outperforms some excellent methods in 3D pose estimation accuracy.
基金funding from King Saud University through Researchers Supporting Project number(RSP2024R387),King Saud University,Riyadh,Saudi Arabia.
文摘The emergence of next generation networks(NextG),including 5G and beyond,is reshaping the technological landscape of cellular and mobile networks.These networks are sufficiently scaled to interconnect billions of users and devices.Researchers in academia and industry are focusing on technological advancements to achieve highspeed transmission,cell planning,and latency reduction to facilitate emerging applications such as virtual reality,the metaverse,smart cities,smart health,and autonomous vehicles.NextG continuously improves its network functionality to support these applications.Multiple input multiple output(MIMO)technology offers spectral efficiency,dependability,and overall performance in conjunctionwithNextG.This article proposes a secure channel estimation technique in MIMO topology using a norm-estimation model to provide comprehensive insights into protecting NextG network components against adversarial attacks.The technique aims to create long-lasting and secure NextG networks using this extended approach.The viability of MIMO applications and modern AI-driven methodologies to combat cybersecurity threats are explored in this research.Moreover,the proposed model demonstrates high performance in terms of reliability and accuracy,with a 20%reduction in the MalOut-RealOut-Diff metric compared to existing state-of-the-art techniques.
基金supported by the National Natural Science Foundation of China(Nos.62120106003 and 62173301)。
文摘The reuse of liquid propellant rocket engines has increased the difficulty of their control and estimation.State and parameter Moving Horizon Estimation(MHE)is an optimization-based strategy that provides the necessary information for model predictive control.Despite the many advantages of MHE,long computation time has limited its applications for system-level models of liquid propellant rocket engines.To address this issue,we propose an asynchronous MHE method called advanced-multi-step MHE with Noise Covariance Estimation(amsMHE-NCE).This method computes the MHE problem asynchronously to obtain the states and parameters and can be applied to multi-threaded computations.In the background,the state and covariance estimation optimization problems are computed using multiple sampling times.In real-time,sensitivity is used to quickly approximate state and parameter estimates.A covariance estimation method is developed using sensitivity to avoid redundant MHE problem calculations in case of sensor degradation during engine reuse.The amsMHE-NCE is validated through three cases based on the space shuttle main engine system-level model,and we demonstrate that it can provide more accurate real-time estimates of states and parameters compared to other commonly used estimation methods.
基金financially supported by the vice chancellor for research and technology of Urmia University
文摘Numerous clustering algorithms are valuable in pattern recognition in forest vegetation,with new ones continually being proposed.While some are well-known,others are underutilized in vegetation science.This study compares the performance of practical iterative reallocation algorithms with model-based clustering algorithms.The data is from forest vegetation in Virginia(United States),the Hyrcanian Forest(Asia),and European beech forests.Practical iterative reallocation algorithms were applied as non-hierarchical methods and Finite Gaussian mixture modeling was used as a model-based clustering method.Due to limitations on dimensionality in model-based clustering,principal coordinates analysis was employed to reduce the dataset’s dimensions.A log transformation was applied to achieve a normal distribution for the pseudo-species data before calculating the Bray-Curtis dissimilarity.The findings indicate that the reallocation of misclassified objects based on silhouette width(OPTSIL)with Flexible-β(-0.25)had the highest mean among the tested clustering algorithms with Silhouette width 1(REMOS1)with Flexible-β(-0.25)second.However,model-based clustering performed poorly.Based on these results,it is recommended using OPTSIL with Flexible-β(-0.25)and REMOS1 with Flexible-β(-0.25)for forest vegetation classification instead of model-based clustering particularly for heterogeneous datasets common in forest vegetation community data.
基金supported by National Natural Science Foundation of China(No.62201596)Research Planning Project of National University of Defense Technology(ZK22-45).
文摘The beyond fifth-generation Internet of Things requires more capable channel coding schemes to achieve high-reliability,low-complexity and lowlatency communications.The theoretical analysis of error-correction performance of channel coding functions as a significant way of optimizing the transmission reliability and efficiency.In this paper,the efficient estimation methods of the block error rate(BLER)performance for rate-compatible polar codes(RCPC)are proposed under several scenarios.Firstly,the BLER performance of RCPC is generally evaluated in the additive white Gaussian noise channels.That is further extended into the Rayleigh fading channel case using an equivalent estimation method.Moreover,with respect to the powerful decoder such as successive cancellation list decoding,the performance estimation is derived analytically based on the polar weight spectrum and BLER upper bounds.Theoretical evaluation and numerical simulation results show that the estimated performance can fit well the practical simulated results of RCPC under the objective conditions,verifying the validity of our proposed performance estimation methods.Furthermore,the application designs of the reliability estimation of RCPC are explored,particularly in the advantages of the signal-to-noise(SNR)estimation and throughput efficiency optimization of polar coded hybrid automatic repeat request.
文摘Precise and robust three-dimensional object detection(3DOD)presents a promising opportunity in the field of mobile robot(MR)navigation.Monocular 3DOD techniques typically involve extending existing twodimensional object detection(2DOD)frameworks to predict the three-dimensional bounding box(3DBB)of objects captured in 2D RGB images.However,these methods often require multiple images,making them less feasible for various real-time scenarios.To address these challenges,the emergence of agile convolutional neural networks(CNNs)capable of inferring depth froma single image opens a new avenue for investigation.The paper proposes a novel ELDENet network designed to produce cost-effective 3DBounding Box Estimation(3D-BBE)froma single image.This novel framework comprises the PP-LCNet as the encoder and a fast convolutional decoder.Additionally,this integration includes a Squeeze-Exploit(SE)module utilizing the Math Kernel Library for Deep Neural Networks(MKLDNN)optimizer to enhance convolutional efficiency and streamline model size during effective training.Meanwhile,the proposed multi-scale sub-pixel decoder generates high-quality depth maps while maintaining a compact structure.Furthermore,the generated depthmaps provide a clear perspective with distance details of objects in the environment.These depth insights are combined with 2DOD for precise evaluation of 3D Bounding Boxes(3DBB),facilitating scene understanding and optimal route planning for mobile robots.Based on the estimated object center of the 3DBB,the Deep Reinforcement Learning(DRL)-based obstacle avoidance strategy for MRs is developed.Experimental results demonstrate that our model achieves state-of-the-art performance across three datasets:NYU-V2,KITTI,and Cityscapes.Overall,this framework shows significant potential for adaptation in intelligent mechatronic systems,particularly in developing knowledge-driven systems for mobile robot navigation.
基金supported in part by the National Natural Science Foundation of China under Grants 62071345。
文摘Self-supervised monocular depth estimation has emerged as a major research focus in recent years,primarily due to the elimination of ground-truth depth dependence.However,the prevailing architectures in this domain suffer from inherent limitations:existing pose network branches infer camera ego-motion exclusively under static-scene and Lambertian-surface assumptions.These assumptions are often violated in real-world scenarios due to dynamic objects,non-Lambertian reflectance,and unstructured background elements,leading to pervasive artifacts such as depth discontinuities(“holes”),structural collapse,and ambiguous reconstruction.To address these challenges,we propose a novel framework that integrates scene dynamic pose estimation into the conventional self-supervised depth network,enhancing its ability to model complex scene dynamics.Our contributions are threefold:(1)a pixel-wise dynamic pose estimation module that jointly resolves the pose transformations of moving objects and localized scene perturbations;(2)a physically-informed loss function that couples dynamic pose and depth predictions,designed to mitigate depth errors arising from high-speed distant objects and geometrically inconsistent motion profiles;(3)an efficient SE(3)transformation parameterization that streamlines network complexity and temporal pre-processing.Extensive experiments on the KITTI and NYU-V2 benchmarks show that our framework achieves state-of-the-art performance in both quantitative metrics and qualitative visual fidelity,significantly improving the robustness and generalization of monocular depth estimation under dynamic conditions.
基金supported by the Postdoctoral Fellowship Program of CPSF(Grant No.GZC20242194)the National Natural Science Foundation of China(Grant Nos.52175251 and 52205268)+1 种基金the Industry Key Technology Research Fund Project of Northwestern Polytechnical University(Grant No.HYGJXM202318)the National Basic Scientific Research Program(Grant No.JCKY2021206B005).
文摘Unlike traditional propeller-driven underwater vehicles,blended-wing-body underwater gliders(BWBUGs)achieve zigzag gliding through periodic adjustments of their net buoyancy,enhancing their cruising capabilities while mini-mizing energy consumption.However,enhancing gliding performance is challenging due to the complex system design and limited design experience.To address this challenge,this paper introduces a model-based,multidisciplinary system design optimization method for BWBUGs at the conceptual design stage.First,a model-based,multidisciplinary co-simulation design framework is established to evaluate both system-level and disciplinary indices of BWBUG performance.A data-driven,many-objective multidisciplinary optimization is subsequently employed to explore the design space,yielding 32 Pareto optimal solutions.Finally,a model-based physical system simulation,which represents the design with the largest hyper-volume contribution among the 32 final designs,is established.Its gliding perfor-mance,validated by component behavior,lays the groundwork for constructing the entire system’s digital prototype.In conclusion,this model-based,multidisciplinary design optimization method effectively generates design schemes for innovative underwater vehicles,facilitating the development of digital prototypes.
