A novel numerical algorithm of fault location estimation for double line to ground fault involving different phases from each of two parallel lines is presented in this paper.It is based on the one terminal voltag...A novel numerical algorithm of fault location estimation for double line to ground fault involving different phases from each of two parallel lines is presented in this paper.It is based on the one terminal voltage and current data.The loop and nodal equations comparing faulted phase with non faulted phase of two parallel lines are introduced in the fault location estimation models,in which the source impedance of a remote end is not involved.The effects of load flow and fault resistance on the accuracy of fault location are effectively eliminated,therefore precise algorithms of locating fault are derived.The algorithm is demonstrated by digital computer simulations.展开更多
In order to improve the performance of the traditional hybrid time-of-arrival（TOA）/angle-of-arrival（AOA）location algorithm in non-line-of-sight（NLOS）environments,a new hybrid TOA/AOA location estimation algorith...In order to improve the performance of the traditional hybrid time-of-arrival（TOA）/angle-of-arrival（AOA）location algorithm in non-line-of-sight（NLOS）environments,a new hybrid TOA/AOA location estimation algorithm by utilizing scatterer information is proposed.The linearized region of the mobile station（MS）is obtained according to the base station（BS）coordinates and the TOA measurements.The candidate points（CPs）of the MS are generated from this region.Then,using the measured TOA and AOA measurements,the radius of each scatterer is computed.Compared with the prior scatterer information,true CPs are obtained among all the CPs.The adaptive fuzzy clustering（AFC）technology is adopted to estimate the position of the MS with true CPs.Finally,simulations are conducted to evaluate the performance of the algorithm.The results demonstrate that the proposed location algorithm can significantly mitigate the NLOS effect and efficiently estimate the MS position.展开更多
In this article,the authors explore the online updating estimation for general estimating equations(EEs)in heterogeneous streaming data settings.The framework is based on more conservative model assumptions,leading to...In this article,the authors explore the online updating estimation for general estimating equations(EEs)in heterogeneous streaming data settings.The framework is based on more conservative model assumptions,leading to more robust estimations and preventing misspecification.The authors establish the standard renewable estimation under blockwise heterogeneity assumption,which can correctly specify model in some sense.To mitigate heterogeneity and enhance estimation accuracy,the authors propose two novel online detection and fusion strategies,with corresponding algorithms provided.Theoretical properties of the proposed methods are demonstrated in the context of small block sizes.Extensive numerical experiments validate the theoretical findings.Real data analysis of the Ford Gobike docked bike-sharing dataset verifies the feasibility and robustness of the proposed methods.展开更多
With the widespread deployment of assembly robots in smart manufacturing,efficiently offloading tasks and allocating resources in highly dynamic industrial environments has become a critical challenge for Mobile Edge ...With the widespread deployment of assembly robots in smart manufacturing,efficiently offloading tasks and allocating resources in highly dynamic industrial environments has become a critical challenge for Mobile Edge Computing(MEC).To address this challenge,this paper constructs a cloud-edge-end collaborative MEC system that enables assembly robots to offload complex workflow tasks via multiple paths(horizontal,vertical,and hybrid collaboration).Tomitigate uncertainties arising frommobility,the location predictionmodule is employed.This enables proactive channel-quality estimation,providing forward-looking insights for offloading decisions.Furthermore,we propose a fairness-aware joint optimization framework.Utilizing an improved Multi-Agent Deep Reinforcement Learning(MADRL)algorithm whose reward function incorporates total system cost,positional reliability,and timeout penalties,the framework aims to balance resource distribution among assembly robots while maximizing system utility.Simulation results demonstrate that the proposed framework outperforms traditional offloading strategies.By integrating predictive mobility management with fairness-aware optimization,the framework offers a robust solution for dynamic industrial MEC environments.展开更多
In order to enhance the location estimation performance of mobile station（MS）tracking and positioning, a new method of mobile location optimal estimation based on the federated filtering structure and the simplified...In order to enhance the location estimation performance of mobile station（MS）tracking and positioning, a new method of mobile location optimal estimation based on the federated filtering structure and the simplified unscented Kalman filter （UKF） is presented. The proposed algorithm uses the Singer mobile statement model as the reference system, and the simplified UKF as the subfilters. The subfilters receive the two groups of independently detected time difference of arrival （TDOA） measurement inputs and Doppler measurement inputs, and produce local estimation outputs to the main estimator. Then the main estimator performs the optimal fusion of the local estimation outputs according to the scalar weighted rule, and a global optimal or suboptimal estimation result is achieved. Finally the main estimator gives feedback and reset information to the subfilters and the reference system for next step estimation. In the simulations, the estimation performance of the proposed algorithm is evaluated and compared with the simplified UKF method with TDOA or Doppler measurement alone. The simulation results demonstrate that the proposed algorithm can effectively reduce the location estimation error and variance of the MS, and has favorable performance in both root mean square error（RMSE） and mean error cumulative distribution function（CDF）.展开更多
The diversion effect caused by the linked structure in a metro tunnel with cross-passage complicates the impact of longitudinal fire source location on the smoke backflow layering behavior that has not been clarified,...The diversion effect caused by the linked structure in a metro tunnel with cross-passage complicates the impact of longitudinal fire source location on the smoke backflow layering behavior that has not been clarified,despite the fact that the scenario exists in practice.A series of laboratory-scale experiments were conducted in this study to investigate the smoke back-layering length in a model tunnel with cross-passage.The heat release rate,the velocity of longitudinal air flow,and the location of the fire source were all varied.It was found that the behavior of smoke backflow for the fire source located at the upstream of bifurcation point resembles a single-hole tunnel fire.As the fire source’s position shifts downstream from the bifurcation point,the length of smoke back-layering progressively increases.A competitive interaction exists between airflow diversion and smoke diversion during smoke backflow,significantly affecting the smoke back-layering length in the main tunnel.The dimensionless smoke back-layering length model was formulated in a tunnel featuring a cross-passage,taking into account the positions of longitudinal fire sources.The dimensionless smoke back-layering length exhibits a positive correlation with the 17/18 power of total heat release rate Q and a negative correlation with the 5/2 power of longitudinal ventilation velocity V.展开更多
With the popularization of smart devices,Location-Based Services(LBS)greatly facilitates users’life,but at the same time brings the risk of users’location privacy leakage.Existing location privacy protection methods...With the popularization of smart devices,Location-Based Services(LBS)greatly facilitates users’life,but at the same time brings the risk of users’location privacy leakage.Existing location privacy protection methods are deficient,failing to reasonably allocate the privacy budget for non-outlier location points and ignoring the critical location information that may be contained in the outlier points,leading to decreased data availability and privacy exposure problems.To address these problems,this paper proposes a Mix Location Privacy Preservation Method Based on Differential Privacy with Clustering(MLDP).The method first utilizes the DBSCAN clustering algorithm to classify location points into non-outliers and outliers.For non-outliers,the scoring function is designed by combining geographic information and semantic information,and the privacy budget is allocated according to the heat intensity of the hotspot area;for outliers,the scoring function is constructed to allocate the privacy budget based on their correlation with the hotspot area.By comprehensively considering the geographic information,semantic information,and correlation with hotspot areas of the location points,a reasonable privacy budget is assigned to each location point,andfinallynoise is added throughthe Laplacemechanismto realizeprivacyprotection.Experimental results on tworeal trajectory datasets,Geolife and T-Drive,show that the MLDP approach significantly improves data availability while effectively protecting location privacy.Compared with the comparison methods,the maximum available data ratio of MLDP is 1.Moreover,compared with the RandomNoise method,its execution time is 0.056–0.061 s longer,and the logRE is 0.12951–0.62194 lower;compared with KemeansDP,QTK-DP,DPK-F,IDP-SC,and DPK-Means-up methods,it saves 0.114–0.296 s in execution time,and the logRE is 0.01112–0.38283 lower.展开更多
The orthogonal time frequency space(OTFS)modulation is a novel modulation scheme that can effectively cope with the high Doppler expansion caused by high mobility.Since it modulates data on delay-Doppler(DD)domain and...The orthogonal time frequency space(OTFS)modulation is a novel modulation scheme that can effectively cope with the high Doppler expansion caused by high mobility.Since it modulates data on delay-Doppler(DD)domain and makes full use of the sparse characteristics of DD domain,it has been widely studied to design efficient channel estimation and signal detection schemes.In this paper,we design a novel superimposed pilot pattern with transition band,which replaces the traditional embedded pilot(EP)guard zero-symbols,and perform a two-stage channel estimation.In the first stage,we fully utilize the dispersion characteristics of OTFS signal in DD domain,and use threshold decision to make coarse channel estimation.In the second stage,we use the results of the coarse estimation for iterative signal detection and accurate channel estimation.During the second stage,we make full use of the sparsity of the channel in DD domain,remodel the received signal into the form of sparse channel vector multiplied by channel coefficient matrix,and introduce Doppler index segmentation factor(DISF)to subdivide the Doppler index to solve the problem of fractional Doppler.Simulations reveal that,the scheme proposed in this paper has higher spectral efficiency compared with traditional EP scheme and lower peak-to-average power ratio(PAPR)compared with traditional superimposed pilot scheme.展开更多
Real-time multi-person pose estimation(MPE)built upon neural network architectures aims to simultaneously detect multiple human instances and regress joint coordinates in dynamic scenes.However,due to factors such as ...Real-time multi-person pose estimation(MPE)built upon neural network architectures aims to simultaneously detect multiple human instances and regress joint coordinates in dynamic scenes.However,due to factors such as high model complexity and limited expression of keypoint information,both the efficiency and accuracy of real-time MPE remain to be improved.To mitigate the adverse impacts caused by the aforementioned issues,this work develops FSEM-Pose,a real-time MPE model rooted in the YOLOv10 framework.In detail,first,FSEM-Pose upgrades the backbone module of the baseline network by introducing the Feature Shuffling-Convolution(FS-Conv),which effectively reduces the backbone size while maximizing the retention of spatial information from the input image.Second,FSEM-Pose incorporates a Feature Saliency Enhancement Module(FSEM)to strengthen the feature encoding of human keypoints,thereby improving the accuracy of pose estimation.Finally,FSEM-Pose further enhances inference efficiency via a lightweight optimization of the head using shared convolutional layers.Our method achieves competitive results across multiple accuracy and efficiency metrics on the MS COCO 2017 and CrowdPose datasets.While being lightweight in design,it improves average precision(AP)by 2.1%and 2.5%,respectively.展开更多
Traveling wave(TW)fault location technology has been widely used in transmission systems due to its high accuracy and simplicity.Recently,there has been growing interest in applying this technology to medium voltage(M...Traveling wave(TW)fault location technology has been widely used in transmission systems due to its high accuracy and simplicity.Recently,there has been growing interest in applying this technology to medium voltage(MV)distribution lines.However,current practices in its deployment,signal measurement,and threshold setting are usually from the application experiences in transmission lines,despite significant differences in fault-induced wave characteristics between transmission and distribution systems.To address these issues,this paper investigates the feasibility and applicability of TW fault technology in MV overhead distribution lines through characteristic analysis of fault-induced TWs.The propagation characteristics of aerial mode and zero mode TWs on overhead distribution lines are studied.Furthermore,it evaluates the influence of critical distri-bution network components including distribution transformers,multi-branch configurations,and busbar structures on wave propagation characteristics.Deployment strategies for traveling wave fault location(TWFL)devices is proposed to address the unique challenges of distribution networks,while the fault location method is also improved.Field test results demonstrate the effectiveness of the proposed methodology,showing improved fault detection accuracy and system reliability in distri-bution network applications.This research provides practical implementation suggestions for TWFL technology in distribution networks.展开更多
In GNSS-denied environments,signals of opportunity(SOP)offer an efficient and passive solution for navigation and positioning by utilizing ambient signals.Nevertheless,conventional SOP techniques face significant chal...In GNSS-denied environments,signals of opportunity(SOP)offer an efficient and passive solution for navigation and positioning by utilizing ambient signals.Nevertheless,conventional SOP techniques face significant challenges in real-time processing,especially under sub-Nyquist sampling conditions,due to high data acquisition rates and offgrid errors.To address this,this paper proposes the signal reconstruction and kernel sparse encoding(SRKSE)model,a novel general framework for high-precision parameter estimation.By combining compressed sensing with a deep unfolding network,the SRKSE model not only achieves robust signal reconstruction but also effectively reduces quantization errors.Key innovations of SRKSE include dual crossattention mechanisms for enhanced feature extraction,sinc sparse kernel encoding to minimize quantization errors,and a custom loss function for balanced optimization.With these advancements,SRKSE achieves up to a 650-fold improvement in time of arrival(TOA)estimation accuracy while operating at just 1%of the Nyquist sampling rate.The SRKSE surpasses both conventional and deep learning-based techniques in accuracy and efficiency,especially when operating under sub-Nyquist sampling conditions.Simulations and real-world experiments confirm the reliability and potential of SRKSE for real-time applications in IoT and wireless communication.展开更多
Lithium-ion(Li-ion)batteries stand as the dominant energy storage solution,despite their widespread adoption,precisely determining the state of charge(SOC)continues to pose significant difficulties,with direct implica...Lithium-ion(Li-ion)batteries stand as the dominant energy storage solution,despite their widespread adoption,precisely determining the state of charge(SOC)continues to pose significant difficulties,with direct implications for battery safety,operational reliability,and overall performance.Current SOC estimation techniques often demonstrate limited accuracy,particularly when confronted with complex operational scenarios and wide temperature variations,where their generalization capacity and dynamic adaptation prove insufficient.To address these shortcomings,this work presents a PSO-TCN-Transformer network model for SOC estimation.This research uses the Particle Swarm Optimization(PSO)method to automatically configure the architectural parameters of the Temporal Convolutional Network(TCN)and Transformer components.This automated optimization enhances the model’s ability to represent the dynamically evolving nature of SOC.Additionally,this integrated framework significantly increases the model’s capacity to capture SOC dynamics in complex operational scenarios.During training and evaluation using a comprehensive dataset that covers complex operating conditions and a broad temperature spanning from−20℃ to 40℃,the proposed model achieves a root mean square error(RMSE)of less than 0.6%,a maximum absolute error(MAXE)below 4.0%,and a coefficient of determination(R^(2))of 99.99%.Additional comparative experiments on data from an energy storage company further verify the model’s superior performance,with an RMSE of 1.18%and an MAXE of 1.95%.The implications of this work extend to the development of optimization strategies and hybrid architectures,providing insights that can be adapted for state estimation across a range of complex dynamic systems.展开更多
The growing use of lithium-ion batteries in electric transportation and grid-scale storage systems has intensified the need for accurate and highly generalizable state-of-health(SOH)estimation.Conventional approaches ...The growing use of lithium-ion batteries in electric transportation and grid-scale storage systems has intensified the need for accurate and highly generalizable state-of-health(SOH)estimation.Conventional approaches often suffer from reduced accuracy under dynamically uncertain state-of-charge(SOC)operating ranges and heterogeneous aging stresses.This study presents a unified SOH estimation framework that integrates physics-informed modeling,subspace identification,and Transformer-based learning.A reduced-order model is derived from simplified electrochemical dynamics,providing an interpretable and computationally efficient representation of battery behavior.Subspace identification across a wide SOC and SOH range yields degradation-sensitive features,which the Transformer uses to capture long-range aging dynamics via multi-head self-attention.Experiments on LiFePO4 cells under joint-cell training show consistently accurate SOH estimation,with a maximum error of 1.39%,demonstrating the framework’s effectiveness in decoupling SOC and SOH effects.In cross-cell validation,where training and validation are performed on different cells,the model maintains a maximum error of 2.06%,confirming strong generalization to unseen aging trajectories.Comparative experiments on LiFePO_(4)and public LiCoO_(2)datasets confirm the framework’s cross-chemistry applicability.By extracting low-dimensional,physically interpretable features via subspace identification,the framework significantly reduces training cost while maintaining high SOH estimation accuracy,outperforming conventional data-driven models lacking physical guidance.展开更多
Presented in this study is a novel method for estimating the depth of single underwater source in shallow water,utilizing vector sensors.The approach leverages the depth distribution of the broadband Stokes parameters...Presented in this study is a novel method for estimating the depth of single underwater source in shallow water,utilizing vector sensors.The approach leverages the depth distribution of the broadband Stokes parameters to estimate source depth accurately.Unlike traditional matched field processing(MFP)and matched mode processing(MMP),the proposed approach can estimate source depth directly from the data received by sensors without requiring complete environmental information.Firstly,the broadband Stokes parameters(BSP)are established using the normal mode theory.Then the nonstationary phase approximation is used to simplify the theoretical derivation,which is necessary when dealing with broadband integrals.Additionally,range terms of the BSP are eliminated by normalization.By analyzing the depth distribution of the normalized broadband Stokes parameters(NBSP),it is found that the NBSP exhibit extreme values at the source depth,which can be used for source depth estimation.So the proposed depth estimation method is based on searching the peaks of the NBSP.Simulations show that this method is effective in relatively simple shallow water environments.Finally,the effect of source range,frequency bandwidth,sound speed profile(SSP),water depth,and signal-to-noise ratio(SNR)are studied.The findings indicate that the proposed method can accurately estimate the source depth when the SNR is greater than-5 d B and does not need to consider model mismatch issues.Additionally,variations in environmental parameters have minimal impact on estimation accuracy.Compared to MFP,the proposed method requires a higher SNR,but demonstrates superior robustness against fluctuations in environmental parameters.展开更多
Considering the impact of terminal impact time constraints and the state information of maneuvering targets on the guidance accuracy in multi-UAV cooperative guidance,this paper proposes an impact time cooperative con...Considering the impact of terminal impact time constraints and the state information of maneuvering targets on the guidance accuracy in multi-UAV cooperative guidance,this paper proposes an impact time cooperative control guidance law(ITCCG)that combines the optimal error dynamics with an improved adaptive cubature Kalman filter(IACKF)algorithm.First,a terminal impact time feedback term is introduced into proportional navigation guidance based on the relative virtual guidance model,and terminal time control is achieved through optimal error dynamics.Then,the Huber loss function is used to reduce the impact of measurement outliers,and the diagonal decomposition is applied to address the issue of non-positive definite matrices that cannot undergo Cholesky decomposition.Finally,the ITCCG and IACKF algorithms combined achieve multi-UAV time-cooperated guidance based on maneuvering target state estimation.Simulation results show that the proposed algorithm effectively reduces the target state estimation error and achieves cooperative guidance within the desired time frame.展开更多
This paper aims to develop a unified Bayesian approach for clustered data analysis when observations are subject to missingness at random.The authors consider a general framework in which the parameters of interest ar...This paper aims to develop a unified Bayesian approach for clustered data analysis when observations are subject to missingness at random.The authors consider a general framework in which the parameters of interest are defined through estimating equations,and the probability of missingness follows a general parametric form.The generalized method of moments framework is employed to derive an optimal combination of inverse-probability-weighted estimating equations for the parameters of interest and score equations for propensity score.Using this framework,the authors develop a quasi-Bayesian analysis for clustered samples with missing values.A unified model selection approach is also proposed to compare models characterized by different moment conditions.The authors systematically evaluate the large-sample properties of the proposed quasi-posterior density with both fixed and shrinking priors and establish the selection consistency of the proposed model selection criterion.The proposed results are valid under very mild conditions and offer significant advantages for parameters defined through non-smooth estimating functions.Extensive numerical studies demonstrate that the proposed method performs exceptionally well in finite samples.展开更多
The 6D pose estimation of objects is of great significance for the intelligent assembly and sorting of industrial parts.In the industrial robot production scenarios,the 6D pose estimation of industrial parts mainly fa...The 6D pose estimation of objects is of great significance for the intelligent assembly and sorting of industrial parts.In the industrial robot production scenarios,the 6D pose estimation of industrial parts mainly faces two challenges:one is the loss of information and interference caused by occlusion and stacking in the sorting scenario,the other is the difficulty of feature extraction due to the weak texture of industrial parts.To address the above problems,this paper proposes an attention-based pixel-level voting network for 6D pose estimation of weakly textured industrial parts,namely CB-PVNet.On the one hand,the voting scheme can predict the keypoints of affected pixels,which improves the accuracy of keypoint localization even in scenarios such as weak texture and partial occlusion.On the other hand,the attention mechanism can extract interesting features of the object while suppressing useless features of surroundings.Extensive comparative experiments were conducted on both public datasets(including LINEMOD,Occlusion LINEMOD and T-LESS datasets)and self-made datasets.The experimental results indicate that the proposed network CB-PVNet can achieve accuracy of ADD(-s)comparable to state-of-the-art using only RGB images while ensuring real-time performance.Additionally,we also conducted robot grasping experiments in the real world.The balance between accuracy and computational efficiency makes the method well-suited for applications in industrial automation.展开更多
Quantile regression(QR)has become an important tool to measure dependence of response variable's quantiles on a number of predictors for heterogeneous data,especially heavy-tailed data and outliers.However,it is q...Quantile regression(QR)has become an important tool to measure dependence of response variable's quantiles on a number of predictors for heterogeneous data,especially heavy-tailed data and outliers.However,it is quite challenging to make statistical inference on distributed high-dimensional QR with missing data due to the distributed nature,sparsity and missingness of data and nondifferentiable quantile loss function.To overcome the challenge,this paper develops a communicationefficient method to select variables and estimate parameters by utilizing a smooth function to approximate the non-differentiable quantile loss function and incorporating the idea of the inverse probability weighting and the penalty function.The proposed approach has three merits.First,it is both computationally and communicationally efficient because only the first-and second-order information of the approximate objective function are communicated at each iteration.Second,the proposed estimators possess the oracle property after a limited number of iterations without constraint on the number of machines.Third,the proposed method simultaneously selects variables and estimates parameters within a distributed framework,ensuring robustness to the specified response probability or propensity score function of the missing data mechanism.Simulation studies and a real example are used to illustrate the effectiveness of the proposed methodologies.展开更多
(Quasi-)closed-form results for the statistical properties of unmanned aerial vehicle(UAV)airto-ground channels are derived for the first time using a novel spatial-vector-based method from a threedimensional(3-D)arbi...(Quasi-)closed-form results for the statistical properties of unmanned aerial vehicle(UAV)airto-ground channels are derived for the first time using a novel spatial-vector-based method from a threedimensional(3-D)arbitrary-elevation one-cylinder model.The derived results include a closed-form expression for the space-time correlation function and some quasi-closed-form ones for the space-Doppler power spectrum density,the level crossing rate,and the average fading duration,which are shown to be the generalizations of those previously obtained from the two-dimensional(2-D)one-ring model and the 3-D low-elevation one-cylinder model for terrestrial mobile-to-mobile channels.The close agreements between the theoretical results and the simulations as well as the measurements validate the utility of the derived channel statistics.Based on the derived expressions,the impacts of some parameters on the channel characteristics are investigated in an effective,efficient,and explicable way,which leads to a general guideline on the manual parameter estimation from the measurement description.展开更多
Human pose estimation is crucial across diverse applications,from healthcare to human-computer interaction.Integrating inertial measurement units(IMUs)with monocular vision methods holds great potential for leveraging...Human pose estimation is crucial across diverse applications,from healthcare to human-computer interaction.Integrating inertial measurement units(IMUs)with monocular vision methods holds great potential for leveraging complementary modalities;however,existing approaches are often limited by IMU drift,noise,and underutilization of visual information.To address these limitations,we propose a novel dual-stream feature extraction framework that effectively combines temporal IMU data and single-view image features for improved pose estimation.Short-term dependencies in IMU sequences are captured with convolutional layers,while a Transformerbased architecture models long-range temporal dynamics.To mitigate IMU drift and inter-sensor inconsistencies,a complementary filtering module is introduced alongside a cross-channel interaction mechanism.Features from the IMU and image streams are then fused via a dedicated fusion module and further refined utilizing a high-precision regression head for accurate pose prediction.Experimental results on benchmark datasets demonstrate that our method significantly outperforms existing techniques in terms of estimation,accuracy,and robustness,validating the effectiveness of our dual-stream architecture.展开更多
基金Supported by Science Foundation of Guangdong(No.990 577)
文摘A novel numerical algorithm of fault location estimation for double line to ground fault involving different phases from each of two parallel lines is presented in this paper.It is based on the one terminal voltage and current data.The loop and nodal equations comparing faulted phase with non faulted phase of two parallel lines are introduced in the fault location estimation models,in which the source impedance of a remote end is not involved.The effects of load flow and fault resistance on the accuracy of fault location are effectively eliminated,therefore precise algorithms of locating fault are derived.The algorithm is demonstrated by digital computer simulations.
基金The National High Technology Research and Development Program of China(863Program)(No.2008AA01Z227)the National Natural Science Foundation of China(No.60872075)
文摘In order to improve the performance of the traditional hybrid time-of-arrival（TOA）/angle-of-arrival（AOA）location algorithm in non-line-of-sight（NLOS）environments,a new hybrid TOA/AOA location estimation algorithm by utilizing scatterer information is proposed.The linearized region of the mobile station（MS）is obtained according to the base station（BS）coordinates and the TOA measurements.The candidate points（CPs）of the MS are generated from this region.Then,using the measured TOA and AOA measurements,the radius of each scatterer is computed.Compared with the prior scatterer information,true CPs are obtained among all the CPs.The adaptive fuzzy clustering（AFC）technology is adopted to estimate the position of the MS with true CPs.Finally,simulations are conducted to evaluate the performance of the algorithm.The results demonstrate that the proposed location algorithm can significantly mitigate the NLOS effect and efficiently estimate the MS position.
基金supported in part by the National Natural Science Foundation of China under Grant No.12471281in part by the National Statistical Science Research Project under Grant No.2022LD03。
文摘In this article,the authors explore the online updating estimation for general estimating equations(EEs)in heterogeneous streaming data settings.The framework is based on more conservative model assumptions,leading to more robust estimations and preventing misspecification.The authors establish the standard renewable estimation under blockwise heterogeneity assumption,which can correctly specify model in some sense.To mitigate heterogeneity and enhance estimation accuracy,the authors propose two novel online detection and fusion strategies,with corresponding algorithms provided.Theoretical properties of the proposed methods are demonstrated in the context of small block sizes.Extensive numerical experiments validate the theoretical findings.Real data analysis of the Ford Gobike docked bike-sharing dataset verifies the feasibility and robustness of the proposed methods.
基金supported by the National Key R&D Program of China under Grant Nos.2024YFD2400200 and 2024YFD2400204supported in part by the Science and Technology Development Program for the Two Zones under Grant No.2023LQ02004.
文摘With the widespread deployment of assembly robots in smart manufacturing,efficiently offloading tasks and allocating resources in highly dynamic industrial environments has become a critical challenge for Mobile Edge Computing(MEC).To address this challenge,this paper constructs a cloud-edge-end collaborative MEC system that enables assembly robots to offload complex workflow tasks via multiple paths(horizontal,vertical,and hybrid collaboration).Tomitigate uncertainties arising frommobility,the location predictionmodule is employed.This enables proactive channel-quality estimation,providing forward-looking insights for offloading decisions.Furthermore,we propose a fairness-aware joint optimization framework.Utilizing an improved Multi-Agent Deep Reinforcement Learning(MADRL)algorithm whose reward function incorporates total system cost,positional reliability,and timeout penalties,the framework aims to balance resource distribution among assembly robots while maximizing system utility.Simulation results demonstrate that the proposed framework outperforms traditional offloading strategies.By integrating predictive mobility management with fairness-aware optimization,the framework offers a robust solution for dynamic industrial MEC environments.
基金The Cultivation Fund of the Key Scientific and Technical Innovation Project of Ministry of Education of China(No.706028)
文摘In order to enhance the location estimation performance of mobile station（MS）tracking and positioning, a new method of mobile location optimal estimation based on the federated filtering structure and the simplified unscented Kalman filter （UKF） is presented. The proposed algorithm uses the Singer mobile statement model as the reference system, and the simplified UKF as the subfilters. The subfilters receive the two groups of independently detected time difference of arrival （TDOA） measurement inputs and Doppler measurement inputs, and produce local estimation outputs to the main estimator. Then the main estimator performs the optimal fusion of the local estimation outputs according to the scalar weighted rule, and a global optimal or suboptimal estimation result is achieved. Finally the main estimator gives feedback and reset information to the subfilters and the reference system for next step estimation. In the simulations, the estimation performance of the proposed algorithm is evaluated and compared with the simplified UKF method with TDOA or Doppler measurement alone. The simulation results demonstrate that the proposed algorithm can effectively reduce the location estimation error and variance of the MS, and has favorable performance in both root mean square error（RMSE） and mean error cumulative distribution function（CDF）.
基金funded by the National Natural Science Foundation of China(NSFC)under Grant No.52278415the National Key Research and Development Program of China under Grant No.2022YFC3801104+2 种基金Hebei Provincial Department of Education Project under Grant No.QN2025304the Innovation Fund Project of Hebei University of Engineering under Grant No.SJ2401002066the Sichuan Science and Technology Program under Grant No.2023YFS0407。
文摘The diversion effect caused by the linked structure in a metro tunnel with cross-passage complicates the impact of longitudinal fire source location on the smoke backflow layering behavior that has not been clarified,despite the fact that the scenario exists in practice.A series of laboratory-scale experiments were conducted in this study to investigate the smoke back-layering length in a model tunnel with cross-passage.The heat release rate,the velocity of longitudinal air flow,and the location of the fire source were all varied.It was found that the behavior of smoke backflow for the fire source located at the upstream of bifurcation point resembles a single-hole tunnel fire.As the fire source’s position shifts downstream from the bifurcation point,the length of smoke back-layering progressively increases.A competitive interaction exists between airflow diversion and smoke diversion during smoke backflow,significantly affecting the smoke back-layering length in the main tunnel.The dimensionless smoke back-layering length model was formulated in a tunnel featuring a cross-passage,taking into account the positions of longitudinal fire sources.The dimensionless smoke back-layering length exhibits a positive correlation with the 17/18 power of total heat release rate Q and a negative correlation with the 5/2 power of longitudinal ventilation velocity V.
基金supported in part by the National Natural Science Foundation of China(Grant No.61971291)the Basic Scientific Research Project of the Liaoning Provincial Department of Education(LJ212410144013)+2 种基金the Leading Talent of the‘Xing Liao Ying Cai Plan’(XLYC2202013)the Shenyang Natural Science Foundation(22-315-6-10)the Guangxuan Scholar of Shenyang Ligong University(SYLUGXXZ202205).
文摘With the popularization of smart devices,Location-Based Services(LBS)greatly facilitates users’life,but at the same time brings the risk of users’location privacy leakage.Existing location privacy protection methods are deficient,failing to reasonably allocate the privacy budget for non-outlier location points and ignoring the critical location information that may be contained in the outlier points,leading to decreased data availability and privacy exposure problems.To address these problems,this paper proposes a Mix Location Privacy Preservation Method Based on Differential Privacy with Clustering(MLDP).The method first utilizes the DBSCAN clustering algorithm to classify location points into non-outliers and outliers.For non-outliers,the scoring function is designed by combining geographic information and semantic information,and the privacy budget is allocated according to the heat intensity of the hotspot area;for outliers,the scoring function is constructed to allocate the privacy budget based on their correlation with the hotspot area.By comprehensively considering the geographic information,semantic information,and correlation with hotspot areas of the location points,a reasonable privacy budget is assigned to each location point,andfinallynoise is added throughthe Laplacemechanismto realizeprivacyprotection.Experimental results on tworeal trajectory datasets,Geolife and T-Drive,show that the MLDP approach significantly improves data availability while effectively protecting location privacy.Compared with the comparison methods,the maximum available data ratio of MLDP is 1.Moreover,compared with the RandomNoise method,its execution time is 0.056–0.061 s longer,and the logRE is 0.12951–0.62194 lower;compared with KemeansDP,QTK-DP,DPK-F,IDP-SC,and DPK-Means-up methods,it saves 0.114–0.296 s in execution time,and the logRE is 0.01112–0.38283 lower.
基金supported by National Natural Science Foundation(NNSF)of China under Grant 62001351the Foundation of National Key Laboratory of Electromagnetic Environment(6142403220202)the Stability Support Fund for Basic Military Industrial Research Institutes(A240104130).
文摘The orthogonal time frequency space(OTFS)modulation is a novel modulation scheme that can effectively cope with the high Doppler expansion caused by high mobility.Since it modulates data on delay-Doppler(DD)domain and makes full use of the sparse characteristics of DD domain,it has been widely studied to design efficient channel estimation and signal detection schemes.In this paper,we design a novel superimposed pilot pattern with transition band,which replaces the traditional embedded pilot(EP)guard zero-symbols,and perform a two-stage channel estimation.In the first stage,we fully utilize the dispersion characteristics of OTFS signal in DD domain,and use threshold decision to make coarse channel estimation.In the second stage,we use the results of the coarse estimation for iterative signal detection and accurate channel estimation.During the second stage,we make full use of the sparsity of the channel in DD domain,remodel the received signal into the form of sparse channel vector multiplied by channel coefficient matrix,and introduce Doppler index segmentation factor(DISF)to subdivide the Doppler index to solve the problem of fractional Doppler.Simulations reveal that,the scheme proposed in this paper has higher spectral efficiency compared with traditional EP scheme and lower peak-to-average power ratio(PAPR)compared with traditional superimposed pilot scheme.
基金supported by the Talent Startup Program of Huangshan University under Grant No.2025xkjq003Additional partial funding was gratefully received from the Scientific Research Project of the Anhui Provincial Department of Education under Grant No.2025AHGXZK40303.
文摘Real-time multi-person pose estimation(MPE)built upon neural network architectures aims to simultaneously detect multiple human instances and regress joint coordinates in dynamic scenes.However,due to factors such as high model complexity and limited expression of keypoint information,both the efficiency and accuracy of real-time MPE remain to be improved.To mitigate the adverse impacts caused by the aforementioned issues,this work develops FSEM-Pose,a real-time MPE model rooted in the YOLOv10 framework.In detail,first,FSEM-Pose upgrades the backbone module of the baseline network by introducing the Feature Shuffling-Convolution(FS-Conv),which effectively reduces the backbone size while maximizing the retention of spatial information from the input image.Second,FSEM-Pose incorporates a Feature Saliency Enhancement Module(FSEM)to strengthen the feature encoding of human keypoints,thereby improving the accuracy of pose estimation.Finally,FSEM-Pose further enhances inference efficiency via a lightweight optimization of the head using shared convolutional layers.Our method achieves competitive results across multiple accuracy and efficiency metrics on the MS COCO 2017 and CrowdPose datasets.While being lightweight in design,it improves average precision(AP)by 2.1%and 2.5%,respectively.
基金supported by the National Natural Sci-ence Foundation of China(No.52107109).
文摘Traveling wave(TW)fault location technology has been widely used in transmission systems due to its high accuracy and simplicity.Recently,there has been growing interest in applying this technology to medium voltage(MV)distribution lines.However,current practices in its deployment,signal measurement,and threshold setting are usually from the application experiences in transmission lines,despite significant differences in fault-induced wave characteristics between transmission and distribution systems.To address these issues,this paper investigates the feasibility and applicability of TW fault technology in MV overhead distribution lines through characteristic analysis of fault-induced TWs.The propagation characteristics of aerial mode and zero mode TWs on overhead distribution lines are studied.Furthermore,it evaluates the influence of critical distri-bution network components including distribution transformers,multi-branch configurations,and busbar structures on wave propagation characteristics.Deployment strategies for traveling wave fault location(TWFL)devices is proposed to address the unique challenges of distribution networks,while the fault location method is also improved.Field test results demonstrate the effectiveness of the proposed methodology,showing improved fault detection accuracy and system reliability in distri-bution network applications.This research provides practical implementation suggestions for TWFL technology in distribution networks.
基金National Key Laboratory of Unmanned Aerial Vehicle Technology(No.202408)Key Laboratory of Smart Earth(No.KF2023ZD01-05)。
文摘In GNSS-denied environments,signals of opportunity(SOP)offer an efficient and passive solution for navigation and positioning by utilizing ambient signals.Nevertheless,conventional SOP techniques face significant challenges in real-time processing,especially under sub-Nyquist sampling conditions,due to high data acquisition rates and offgrid errors.To address this,this paper proposes the signal reconstruction and kernel sparse encoding(SRKSE)model,a novel general framework for high-precision parameter estimation.By combining compressed sensing with a deep unfolding network,the SRKSE model not only achieves robust signal reconstruction but also effectively reduces quantization errors.Key innovations of SRKSE include dual crossattention mechanisms for enhanced feature extraction,sinc sparse kernel encoding to minimize quantization errors,and a custom loss function for balanced optimization.With these advancements,SRKSE achieves up to a 650-fold improvement in time of arrival(TOA)estimation accuracy while operating at just 1%of the Nyquist sampling rate.The SRKSE surpasses both conventional and deep learning-based techniques in accuracy and efficiency,especially when operating under sub-Nyquist sampling conditions.Simulations and real-world experiments confirm the reliability and potential of SRKSE for real-time applications in IoT and wireless communication.
基金funded in part by the Doctoral Scientific Research Foundation of Beijing University of Civil Engineering and Architecture under Grant ZF15054in part by the Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture under Grant GJZJ20220802in part by the BUCEA Post Graduate Innovation Project under Grant PG2024095.
文摘Lithium-ion(Li-ion)batteries stand as the dominant energy storage solution,despite their widespread adoption,precisely determining the state of charge(SOC)continues to pose significant difficulties,with direct implications for battery safety,operational reliability,and overall performance.Current SOC estimation techniques often demonstrate limited accuracy,particularly when confronted with complex operational scenarios and wide temperature variations,where their generalization capacity and dynamic adaptation prove insufficient.To address these shortcomings,this work presents a PSO-TCN-Transformer network model for SOC estimation.This research uses the Particle Swarm Optimization(PSO)method to automatically configure the architectural parameters of the Temporal Convolutional Network(TCN)and Transformer components.This automated optimization enhances the model’s ability to represent the dynamically evolving nature of SOC.Additionally,this integrated framework significantly increases the model’s capacity to capture SOC dynamics in complex operational scenarios.During training and evaluation using a comprehensive dataset that covers complex operating conditions and a broad temperature spanning from−20℃ to 40℃,the proposed model achieves a root mean square error(RMSE)of less than 0.6%,a maximum absolute error(MAXE)below 4.0%,and a coefficient of determination(R^(2))of 99.99%.Additional comparative experiments on data from an energy storage company further verify the model’s superior performance,with an RMSE of 1.18%and an MAXE of 1.95%.The implications of this work extend to the development of optimization strategies and hybrid architectures,providing insights that can be adapted for state estimation across a range of complex dynamic systems.
基金supported by the National Natural Science Foundation of China(No.52207228)the Beijing Natural Science Foundation,China(No.3224070)the National Natural Science Foundation of China(No.52077208).
文摘The growing use of lithium-ion batteries in electric transportation and grid-scale storage systems has intensified the need for accurate and highly generalizable state-of-health(SOH)estimation.Conventional approaches often suffer from reduced accuracy under dynamically uncertain state-of-charge(SOC)operating ranges and heterogeneous aging stresses.This study presents a unified SOH estimation framework that integrates physics-informed modeling,subspace identification,and Transformer-based learning.A reduced-order model is derived from simplified electrochemical dynamics,providing an interpretable and computationally efficient representation of battery behavior.Subspace identification across a wide SOC and SOH range yields degradation-sensitive features,which the Transformer uses to capture long-range aging dynamics via multi-head self-attention.Experiments on LiFePO4 cells under joint-cell training show consistently accurate SOH estimation,with a maximum error of 1.39%,demonstrating the framework’s effectiveness in decoupling SOC and SOH effects.In cross-cell validation,where training and validation are performed on different cells,the model maintains a maximum error of 2.06%,confirming strong generalization to unseen aging trajectories.Comparative experiments on LiFePO_(4)and public LiCoO_(2)datasets confirm the framework’s cross-chemistry applicability.By extracting low-dimensional,physically interpretable features via subspace identification,the framework significantly reduces training cost while maintaining high SOH estimation accuracy,outperforming conventional data-driven models lacking physical guidance.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.12274348 and 12004335)the National Key Research and Development Program of China(Grant No.2024YFC2813800)。
文摘Presented in this study is a novel method for estimating the depth of single underwater source in shallow water,utilizing vector sensors.The approach leverages the depth distribution of the broadband Stokes parameters to estimate source depth accurately.Unlike traditional matched field processing(MFP)and matched mode processing(MMP),the proposed approach can estimate source depth directly from the data received by sensors without requiring complete environmental information.Firstly,the broadband Stokes parameters(BSP)are established using the normal mode theory.Then the nonstationary phase approximation is used to simplify the theoretical derivation,which is necessary when dealing with broadband integrals.Additionally,range terms of the BSP are eliminated by normalization.By analyzing the depth distribution of the normalized broadband Stokes parameters(NBSP),it is found that the NBSP exhibit extreme values at the source depth,which can be used for source depth estimation.So the proposed depth estimation method is based on searching the peaks of the NBSP.Simulations show that this method is effective in relatively simple shallow water environments.Finally,the effect of source range,frequency bandwidth,sound speed profile(SSP),water depth,and signal-to-noise ratio(SNR)are studied.The findings indicate that the proposed method can accurately estimate the source depth when the SNR is greater than-5 d B and does not need to consider model mismatch issues.Additionally,variations in environmental parameters have minimal impact on estimation accuracy.Compared to MFP,the proposed method requires a higher SNR,but demonstrates superior robustness against fluctuations in environmental parameters.
基金supported by the Fundamental Research Funds for the Central Universities of China(FRF-TP-24-058A)with additional support from the National Key Laboratory of Helicopter Aeromechanics(2024-ZSJ-LB-02-02).
文摘Considering the impact of terminal impact time constraints and the state information of maneuvering targets on the guidance accuracy in multi-UAV cooperative guidance,this paper proposes an impact time cooperative control guidance law(ITCCG)that combines the optimal error dynamics with an improved adaptive cubature Kalman filter(IACKF)algorithm.First,a terminal impact time feedback term is introduced into proportional navigation guidance based on the relative virtual guidance model,and terminal time control is achieved through optimal error dynamics.Then,the Huber loss function is used to reduce the impact of measurement outliers,and the diagonal decomposition is applied to address the issue of non-positive definite matrices that cannot undergo Cholesky decomposition.Finally,the ITCCG and IACKF algorithms combined achieve multi-UAV time-cooperated guidance based on maneuvering target state estimation.Simulation results show that the proposed algorithm effectively reduces the target state estimation error and achieves cooperative guidance within the desired time frame.
基金supported by the National Key R&D Program of China under Grant No.2022YFA1003701the National Natural Science Foundation of China under Grant Nos.12331009 and 12071416the Yunnan Fundamental Research Projects under Grant No.202201AV070006。
文摘This paper aims to develop a unified Bayesian approach for clustered data analysis when observations are subject to missingness at random.The authors consider a general framework in which the parameters of interest are defined through estimating equations,and the probability of missingness follows a general parametric form.The generalized method of moments framework is employed to derive an optimal combination of inverse-probability-weighted estimating equations for the parameters of interest and score equations for propensity score.Using this framework,the authors develop a quasi-Bayesian analysis for clustered samples with missing values.A unified model selection approach is also proposed to compare models characterized by different moment conditions.The authors systematically evaluate the large-sample properties of the proposed quasi-posterior density with both fixed and shrinking priors and establish the selection consistency of the proposed model selection criterion.The proposed results are valid under very mild conditions and offer significant advantages for parameters defined through non-smooth estimating functions.Extensive numerical studies demonstrate that the proposed method performs exceptionally well in finite samples.
基金supported by the Knowledge Innovation Program of Wuhan-Shuguang Project(Grant No.2023010201020443)the School-Level Scientific Research Project Funding Program of Jianghan University(Grant No.2022XKZX33)the Natural Science Foundation of Hubei Province(Grant No.2024AFB466).
文摘The 6D pose estimation of objects is of great significance for the intelligent assembly and sorting of industrial parts.In the industrial robot production scenarios,the 6D pose estimation of industrial parts mainly faces two challenges:one is the loss of information and interference caused by occlusion and stacking in the sorting scenario,the other is the difficulty of feature extraction due to the weak texture of industrial parts.To address the above problems,this paper proposes an attention-based pixel-level voting network for 6D pose estimation of weakly textured industrial parts,namely CB-PVNet.On the one hand,the voting scheme can predict the keypoints of affected pixels,which improves the accuracy of keypoint localization even in scenarios such as weak texture and partial occlusion.On the other hand,the attention mechanism can extract interesting features of the object while suppressing useless features of surroundings.Extensive comparative experiments were conducted on both public datasets(including LINEMOD,Occlusion LINEMOD and T-LESS datasets)and self-made datasets.The experimental results indicate that the proposed network CB-PVNet can achieve accuracy of ADD(-s)comparable to state-of-the-art using only RGB images while ensuring real-time performance.Additionally,we also conducted robot grasping experiments in the real world.The balance between accuracy and computational efficiency makes the method well-suited for applications in industrial automation.
基金supported by the National Key R&D Program of China under Grant No.2022YFA1003701the Open Research Fund of Yunnan Key Laboratory of Statistical Modeling and Data Analysis,Yunnan University under Grant No.SMDAYB2023004。
文摘Quantile regression(QR)has become an important tool to measure dependence of response variable's quantiles on a number of predictors for heterogeneous data,especially heavy-tailed data and outliers.However,it is quite challenging to make statistical inference on distributed high-dimensional QR with missing data due to the distributed nature,sparsity and missingness of data and nondifferentiable quantile loss function.To overcome the challenge,this paper develops a communicationefficient method to select variables and estimate parameters by utilizing a smooth function to approximate the non-differentiable quantile loss function and incorporating the idea of the inverse probability weighting and the penalty function.The proposed approach has three merits.First,it is both computationally and communicationally efficient because only the first-and second-order information of the approximate objective function are communicated at each iteration.Second,the proposed estimators possess the oracle property after a limited number of iterations without constraint on the number of machines.Third,the proposed method simultaneously selects variables and estimates parameters within a distributed framework,ensuring robustness to the specified response probability or propensity score function of the missing data mechanism.Simulation studies and a real example are used to illustrate the effectiveness of the proposed methodologies.
基金supported in part by the National Key Research and Development Program of China(2021YFB2900501)in part by the Shaanxi Science and Technology Innovation Team(2023-CX-TD-03)+3 种基金in part by the Science and Technology Program of Shaanxi Province(2021GXLH-Z-038)in part by the Natural Science Foundation of Hunan Province(2023JJ40607 and 2023JJ50045)in part by the Scientific Research Foundation of Hunan Provincial Education Department(23B0713 and 24B0603)in part by the National Natural Science Foundation of China(62401371,62101275,and 62372070).
文摘(Quasi-)closed-form results for the statistical properties of unmanned aerial vehicle(UAV)airto-ground channels are derived for the first time using a novel spatial-vector-based method from a threedimensional(3-D)arbitrary-elevation one-cylinder model.The derived results include a closed-form expression for the space-time correlation function and some quasi-closed-form ones for the space-Doppler power spectrum density,the level crossing rate,and the average fading duration,which are shown to be the generalizations of those previously obtained from the two-dimensional(2-D)one-ring model and the 3-D low-elevation one-cylinder model for terrestrial mobile-to-mobile channels.The close agreements between the theoretical results and the simulations as well as the measurements validate the utility of the derived channel statistics.Based on the derived expressions,the impacts of some parameters on the channel characteristics are investigated in an effective,efficient,and explicable way,which leads to a general guideline on the manual parameter estimation from the measurement description.
基金support provided by the European University of Atlantic.
文摘Human pose estimation is crucial across diverse applications,from healthcare to human-computer interaction.Integrating inertial measurement units(IMUs)with monocular vision methods holds great potential for leveraging complementary modalities;however,existing approaches are often limited by IMU drift,noise,and underutilization of visual information.To address these limitations,we propose a novel dual-stream feature extraction framework that effectively combines temporal IMU data and single-view image features for improved pose estimation.Short-term dependencies in IMU sequences are captured with convolutional layers,while a Transformerbased architecture models long-range temporal dynamics.To mitigate IMU drift and inter-sensor inconsistencies,a complementary filtering module is introduced alongside a cross-channel interaction mechanism.Features from the IMU and image streams are then fused via a dedicated fusion module and further refined utilizing a high-precision regression head for accurate pose prediction.Experimental results on benchmark datasets demonstrate that our method significantly outperforms existing techniques in terms of estimation,accuracy,and robustness,validating the effectiveness of our dual-stream architecture.
