Temporal alignment of multisensor time series(MTS)is a critical prerequisite for accurate modeling and optimal control in subsequent data-driven applications.Nevertheless,many approaches frequently neglect to consider...Temporal alignment of multisensor time series(MTS)is a critical prerequisite for accurate modeling and optimal control in subsequent data-driven applications.Nevertheless,many approaches frequently neglect to consider the complex interdependencies between different sensors in MTS,and temporal alignment in many methods is typically treated as an isolated task disconnected from the downstream objectives,leading to unsatisfactory performances in follow-up applications.To address these challenges,this paper proposes a novel knowledge graph(KG)-guided iterative-updating graph neural network(GNN)for time-delay estimation(TDE)in MTS.Initially,a domain-specific KG is constructed from domain mechanism knowledge,providing a foundation for GNN's initialization.Next,capitalizing on the inherent structure of the graph topology,a GNN-based TDE method is developed.Then,a customized loss function is constructed,which synthesizes both the performances of downstream tasks and graph-based constraints.Moreover,an innovative algorithm for GNN structure learning and iterative-updating is proposed to renovate the graph structure further.Finally,experimental results across various regression and classification tasks on numerical simulation,public datasets,and the real blast furnace ironmaking dataset demonstrate that the proposed method can achieve accurate temporal alignment of MTS.展开更多
The passive acoustic localization with planar sensor array is introduced. Based on a method to eliminate the influence of effective sound velocity in passive detection, a new five-sensors solid array and its localizat...The passive acoustic localization with planar sensor array is introduced. Based on a method to eliminate the influence of effective sound velocity in passive detection, a new five-sensors solid array and its localization model are put forward. The factors that influence the precision of the localization are analyzed. Considering the errors from the factors synchronously, the simulation compares the solid array with the planar array. It can be proved that the five-sensor solid array is better than the four-sensor planar array in the estimation of bearing elements.展开更多
Pulse laser range detector is to measure the distance by estimating the time delay between the emitting pulse and echo pulse.In this paper,a mathematical model for the target echo signal of laser fuze has been establi...Pulse laser range detector is to measure the distance by estimating the time delay between the emitting pulse and echo pulse.In this paper,a mathematical model for the target echo signal of laser fuze has been established;in accordance with this model,the formulas for echo time-delay estimation and for amplitude estimation based on least squares criterion have been deduced.It is argued and simulated that the resolution of echo time-delay estimation could be improved through multi-reference correlation approach.Experiments illustrate that the approach enables pulsed laser fuze to perform high-precision ranging under a low signal-to-noise ratio condition.展开更多
The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground,...The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.展开更多
Accurate time delay estimation of target echo signals is a critical component of underwater target localization.In active sonar systems,echo signal processing is vulnerable to the effects of reverberation and noise in...Accurate time delay estimation of target echo signals is a critical component of underwater target localization.In active sonar systems,echo signal processing is vulnerable to the effects of reverberation and noise in the maritime environment.This paper proposes a novel method for estimating target time delay using multi-bright spot echoes,assuming the target’s size and depth are known.Aiming to effectively enhance the extraction of geometric features from the target echoes and mitigate the impact of reverberation and noise,the proposed approach employs the fractional order Fourier transform-frequency sliced wavelet transform to extract multi-bright spot echoes.Using the highlighting model theory and the target size information,an observation matrix is constructed to represent multi-angle incident signals and obtain the theoretical scattered echo signals from different angles.Aiming to accurately estimate the target’s time delay,waveform similarity coefficients and mean square error values between the theoretical return signals and received signals are computed across various incident angles and time delays.Simulation results show that,compared to the conventional matched filter,the proposed algorithm reduces the relative error by 65.9%-91.5%at a signal-to noise ratio of-25 dB,and by 66.7%-88.9%at a signal-to-reverberation ratio of−10 dB.This algorithm provides a new approach for the precise localization of submerged targets in shallow water environments.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
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
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
The estimation of the Number of Sources(NoS)is a significant challenge in signal processing,particularly due to the impact of colored noise on the performance of NoS estimation.This paper proposes a Multidimensional F...The estimation of the Number of Sources(NoS)is a significant challenge in signal processing,particularly due to the impact of colored noise on the performance of NoS estimation.This paper proposes a Multidimensional Feature Network(MFNet)which is designed for NoS estimation by extracting features of the sampled received signals and Sampled Covariance Matrix(SCM).The MFNet treats the raw signal and the SCM as two different types of data,and is able to achieve NoS estimation under colored noise and imperfect array.MFNet employs the Gated Recurrent Unit(GRU)to capture sequential information from the original signal data and to construct the Pseudo Covariance Matrix(PCM).Subsequently,various dimensional features,including eigenvalues and the Gerschgorin disk radius,are extracted from both the PCM and SCM,which are then jointly input into the subsequent network.An overall accuracy of 82%can be achieved after network training.The ablation experimental results demonstrate the effectiveness of multiple inputs.And simulation results demonstrate that the proposed MFNet achieves higher estimation accuracy compared to existing algorithms and exhibits greater robustness against colored noise.展开更多
Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet ...Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet architecture integrates Laplacian pyramid depth residuals and Sobel operators to improve the boundary details in depth images,which may suffer from the feature loss caused by upsampling and the blurriness of underwater images.Multiscale local planar guidance layers then fully exploit the intermediate depth features,and a comprehensive loss function ensures robustness and accuracy.Experimental results on benchmarks demonstrate the effectiveness of Lpg-Lap Unet and its superior performance over state-of-the-art models.An underwater target tracking system is then designed to further validate its real-time capabilities in the AirSim simulation platform.展开更多
基金supported by the Young Scientists Fund of the National Natural Science Foundation of China(62303491)the Major Program of Xiangjiang Laboratory(22XJ01005)+1 种基金the Science and Technology Innovation Program of Hunan Province(2024RC1007)the Natural Science Foundation of Hunan Province(2025JJ10007)。
文摘Temporal alignment of multisensor time series(MTS)is a critical prerequisite for accurate modeling and optimal control in subsequent data-driven applications.Nevertheless,many approaches frequently neglect to consider the complex interdependencies between different sensors in MTS,and temporal alignment in many methods is typically treated as an isolated task disconnected from the downstream objectives,leading to unsatisfactory performances in follow-up applications.To address these challenges,this paper proposes a novel knowledge graph(KG)-guided iterative-updating graph neural network(GNN)for time-delay estimation(TDE)in MTS.Initially,a domain-specific KG is constructed from domain mechanism knowledge,providing a foundation for GNN's initialization.Next,capitalizing on the inherent structure of the graph topology,a GNN-based TDE method is developed.Then,a customized loss function is constructed,which synthesizes both the performances of downstream tasks and graph-based constraints.Moreover,an innovative algorithm for GNN structure learning and iterative-updating is proposed to renovate the graph structure further.Finally,experimental results across various regression and classification tasks on numerical simulation,public datasets,and the real blast furnace ironmaking dataset demonstrate that the proposed method can achieve accurate temporal alignment of MTS.
文摘The passive acoustic localization with planar sensor array is introduced. Based on a method to eliminate the influence of effective sound velocity in passive detection, a new five-sensors solid array and its localization model are put forward. The factors that influence the precision of the localization are analyzed. Considering the errors from the factors synchronously, the simulation compares the solid array with the planar array. It can be proved that the five-sensor solid array is better than the four-sensor planar array in the estimation of bearing elements.
基金Sponsored by the National Defense Science and Technology Laboratory Foundation (9140C3601130802)
文摘Pulse laser range detector is to measure the distance by estimating the time delay between the emitting pulse and echo pulse.In this paper,a mathematical model for the target echo signal of laser fuze has been established;in accordance with this model,the formulas for echo time-delay estimation and for amplitude estimation based on least squares criterion have been deduced.It is argued and simulated that the resolution of echo time-delay estimation could be improved through multi-reference correlation approach.Experiments illustrate that the approach enables pulsed laser fuze to perform high-precision ranging under a low signal-to-noise ratio condition.
基金This study was supported by the National Defense Science and Technology Innovation Zone of China(Grant No.00205501).
文摘The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.
基金Supported by the State Key Laboratory of Acoustics and Marine Information Chinese Academy of Sciences(SKL A202507).
文摘Accurate time delay estimation of target echo signals is a critical component of underwater target localization.In active sonar systems,echo signal processing is vulnerable to the effects of reverberation and noise in the maritime environment.This paper proposes a novel method for estimating target time delay using multi-bright spot echoes,assuming the target’s size and depth are known.Aiming to effectively enhance the extraction of geometric features from the target echoes and mitigate the impact of reverberation and noise,the proposed approach employs the fractional order Fourier transform-frequency sliced wavelet transform to extract multi-bright spot echoes.Using the highlighting model theory and the target size information,an observation matrix is constructed to represent multi-angle incident signals and obtain the theoretical scattered echo signals from different angles.Aiming to accurately estimate the target’s time delay,waveform similarity coefficients and mean square error values between the theoretical return signals and received signals are computed across various incident angles and time delays.Simulation results show that,compared to the conventional matched filter,the proposed algorithm reduces the relative error by 65.9%-91.5%at a signal-to noise ratio of-25 dB,and by 66.7%-88.9%at a signal-to-reverberation ratio of−10 dB.This algorithm provides a new approach for the precise localization of submerged targets in shallow water environments.
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 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.
基金supported by the National Natural Science Foundation of China(Nos.62171469,62071029)。
文摘The estimation of the Number of Sources(NoS)is a significant challenge in signal processing,particularly due to the impact of colored noise on the performance of NoS estimation.This paper proposes a Multidimensional Feature Network(MFNet)which is designed for NoS estimation by extracting features of the sampled received signals and Sampled Covariance Matrix(SCM).The MFNet treats the raw signal and the SCM as two different types of data,and is able to achieve NoS estimation under colored noise and imperfect array.MFNet employs the Gated Recurrent Unit(GRU)to capture sequential information from the original signal data and to construct the Pseudo Covariance Matrix(PCM).Subsequently,various dimensional features,including eigenvalues and the Gerschgorin disk radius,are extracted from both the PCM and SCM,which are then jointly input into the subsequent network.An overall accuracy of 82%can be achieved after network training.The ablation experimental results demonstrate the effectiveness of multiple inputs.And simulation results demonstrate that the proposed MFNet achieves higher estimation accuracy compared to existing algorithms and exhibits greater robustness against colored noise.
基金partially supported by the Natural Science Foundation of Shandong Province,China(No.ZR2023ME009)the National Natural Science Foundation of China(No.51909252)。
文摘Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet architecture integrates Laplacian pyramid depth residuals and Sobel operators to improve the boundary details in depth images,which may suffer from the feature loss caused by upsampling and the blurriness of underwater images.Multiscale local planar guidance layers then fully exploit the intermediate depth features,and a comprehensive loss function ensures robustness and accuracy.Experimental results on benchmarks demonstrate the effectiveness of Lpg-Lap Unet and its superior performance over state-of-the-art models.An underwater target tracking system is then designed to further validate its real-time capabilities in the AirSim simulation platform.
