Positioning and navigation technology is a new trend of research in mobile robot area.Existing researches focus on the indoor industrial problems,while many application fields are in the outdoor environment,which put ...Positioning and navigation technology is a new trend of research in mobile robot area.Existing researches focus on the indoor industrial problems,while many application fields are in the outdoor environment,which put forward higher requirements for sensor selection and navigation scheme.In this paper,a complete hybrid navigation system for a class of mobile robots with load tasks and docking tasks is presented.The work can realize large-range autonomous positioning and path planning for mobile robots in unstructured scenarios.The autonomous positioning is achieved by adopting suitable guidance methods to meet different application requirements and accuracy requirements in conditions of different distances.Based on the Bezier curve,a path planning scheme is proposed and a motion controller is designed to make the mobile robot follow the target path.The Kalman filter is established to process the guidance signals and control outputs of the motion controller.Finally,the autonomous positioning and docking experiment are carried out.The results of the research verify the effectiveness of the hybrid navigation,which can be used in autonomous warehousing logistics and multi-mobile robot system.展开更多
In this paper,we jointly design the power control and position dispatch for Multi-Unmanned Aerial Vehicle(UAV)-enabled communication in Device-to-Device(D2D)networks.Our objective is to maximize the total transmission...In this paper,we jointly design the power control and position dispatch for Multi-Unmanned Aerial Vehicle(UAV)-enabled communication in Device-to-Device(D2D)networks.Our objective is to maximize the total transmission rate of Downlink Users(DUs).Meanwhile,the Quality of Service(QoS)of all D2D users must be satisfied.We comprehensively considered the interference among D2D communications and downlink transmissions.The original problem is strongly non-convex,which requires high computational complexity for traditional optimization methods.And to make matters worse,the results are not necessarily globally optimal.In this paper,we propose a novel Graph Neural Networks(GNN)based approach that can map the considered system into a specific graph structure and achieve the optimal solution in a low complexity manner.Particularly,we first construct a GNN-based model for the proposed network,in which the transmission links and interference links are formulated as vertexes and edges,respectively.Then,by taking the channel state information and the coordinates of ground users as the inputs,as well as the location of UAVs and the transmission power of all transmitters as outputs,we obtain the mapping from inputs to outputs through training the parameters of GNN.Simulation results verified that the way to maximize the total transmission rate of DUs can be extracted effectively via the training on samples.Moreover,it also shows that the performance of proposed GNN-based method is better than that of traditional means.展开更多
This research study represents an ongoing research effort on Unidentified Anomalous Phenomena (UAP) with a focus on anomalous propagation of radar echo returns, mirroring established theoretical constructs of gravitat...This research study represents an ongoing research effort on Unidentified Anomalous Phenomena (UAP) with a focus on anomalous propagation of radar echo returns, mirroring established theoretical constructs of gravitational effects on light, which occur at higher frequencies and shorter wavelengths within the Electromagnetic Spectrum. These influences are also illustrated through other technologies, including Light Detection and Ranging (LIDAR) and the chromatic effects captured by hyperspectral cameras. This research addresses the complexities of interpreting unusual propagation patterns, such as Long Delay Echoes (LDE) and unexpected Field Echoes (UFE), which disrupt the anticipated propagation and echo protocols, thereby challenging our understanding and comprehension of radio transmission norms that may be influenced by a form of quantum entanglement. The paper posits a significant and largely unexamined correlation between these phenomena in the context of UAP activity, highlighting the urgent need for further research and innovative strategies in navigation technology and environmental monitoring to investigate these potential occurrences, which have remained enigmatic for nearly a century. Radar signals are vulnerable to intricate dynamics that can lead to Unusual Field Echoes (UFE), resulting in emergent anomalies, such as Multiple echo returns and LDEs. This study employed a 3-centimeter marine-based X-band radar operating in two scan geometries and a portable short-range millimeter-wave Doppler radar system. An analysis of these radar echoes over a two-year study identified signal propagation that deviated from navigational standards on Plan Position Indicators (PPI). This paper explores and investigates the potential impacts of UAP on radar transmission routes. Examining these complexities makes a case for an enhanced understanding of the interactions between established technological factors and elusive aerial phenomena.展开更多
This paper shows the method of estimating spatiotemporal distribution of pedestrians by using watch cameras. We estimate the distribution without tracking technology, with pedestrian＇s privacy protected and in Umeda ...This paper shows the method of estimating spatiotemporal distribution of pedestrians by using watch cameras. We estimate the distribution without tracking technology, with pedestrian＇s privacy protected and in Umeda underground mall. Lately spatiotemporal distribution of pedestrians has being increasingly important in the field of urban planning, disaster prevention planning, marketing and so on. Although many researchers have tried to capture the information of location as dealing with some sensors, some problems still remain, such as the investment of sensors, the restriction of the number of people who has the device they are able to capture. From such background, we develop an original labelling algorithm and estimate the spatiotemporal distribution of pedestrians and the information of the passing time and the direction of pedestrians from sequential images of a watch camera.展开更多
文摘Positioning and navigation technology is a new trend of research in mobile robot area.Existing researches focus on the indoor industrial problems,while many application fields are in the outdoor environment,which put forward higher requirements for sensor selection and navigation scheme.In this paper,a complete hybrid navigation system for a class of mobile robots with load tasks and docking tasks is presented.The work can realize large-range autonomous positioning and path planning for mobile robots in unstructured scenarios.The autonomous positioning is achieved by adopting suitable guidance methods to meet different application requirements and accuracy requirements in conditions of different distances.Based on the Bezier curve,a path planning scheme is proposed and a motion controller is designed to make the mobile robot follow the target path.The Kalman filter is established to process the guidance signals and control outputs of the motion controller.Finally,the autonomous positioning and docking experiment are carried out.The results of the research verify the effectiveness of the hybrid navigation,which can be used in autonomous warehousing logistics and multi-mobile robot system.
基金supported in part by the National Natural Science Foundation of China(61901231)in part by the National Natural Science Foundation of China(61971238)+3 种基金in part by the Natural Science Foundation of Jiangsu Province of China(BK20180757)in part by the open project of the Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space,Ministry of Industry and Information Technology(KF20202102)in part by the China Postdoctoral Science Foundation under Grant(2020M671480)in part by the Jiangsu Planned Projects for Postdoctoral Research Funds(2020z295).
文摘In this paper,we jointly design the power control and position dispatch for Multi-Unmanned Aerial Vehicle(UAV)-enabled communication in Device-to-Device(D2D)networks.Our objective is to maximize the total transmission rate of Downlink Users(DUs).Meanwhile,the Quality of Service(QoS)of all D2D users must be satisfied.We comprehensively considered the interference among D2D communications and downlink transmissions.The original problem is strongly non-convex,which requires high computational complexity for traditional optimization methods.And to make matters worse,the results are not necessarily globally optimal.In this paper,we propose a novel Graph Neural Networks(GNN)based approach that can map the considered system into a specific graph structure and achieve the optimal solution in a low complexity manner.Particularly,we first construct a GNN-based model for the proposed network,in which the transmission links and interference links are formulated as vertexes and edges,respectively.Then,by taking the channel state information and the coordinates of ground users as the inputs,as well as the location of UAVs and the transmission power of all transmitters as outputs,we obtain the mapping from inputs to outputs through training the parameters of GNN.Simulation results verified that the way to maximize the total transmission rate of DUs can be extracted effectively via the training on samples.Moreover,it also shows that the performance of proposed GNN-based method is better than that of traditional means.
文摘This research study represents an ongoing research effort on Unidentified Anomalous Phenomena (UAP) with a focus on anomalous propagation of radar echo returns, mirroring established theoretical constructs of gravitational effects on light, which occur at higher frequencies and shorter wavelengths within the Electromagnetic Spectrum. These influences are also illustrated through other technologies, including Light Detection and Ranging (LIDAR) and the chromatic effects captured by hyperspectral cameras. This research addresses the complexities of interpreting unusual propagation patterns, such as Long Delay Echoes (LDE) and unexpected Field Echoes (UFE), which disrupt the anticipated propagation and echo protocols, thereby challenging our understanding and comprehension of radio transmission norms that may be influenced by a form of quantum entanglement. The paper posits a significant and largely unexamined correlation between these phenomena in the context of UAP activity, highlighting the urgent need for further research and innovative strategies in navigation technology and environmental monitoring to investigate these potential occurrences, which have remained enigmatic for nearly a century. Radar signals are vulnerable to intricate dynamics that can lead to Unusual Field Echoes (UFE), resulting in emergent anomalies, such as Multiple echo returns and LDEs. This study employed a 3-centimeter marine-based X-band radar operating in two scan geometries and a portable short-range millimeter-wave Doppler radar system. An analysis of these radar echoes over a two-year study identified signal propagation that deviated from navigational standards on Plan Position Indicators (PPI). This paper explores and investigates the potential impacts of UAP on radar transmission routes. Examining these complexities makes a case for an enhanced understanding of the interactions between established technological factors and elusive aerial phenomena.
基金Partially Supported by Grant-in-Aid for Scientific Research(A)(No.25240004)
文摘This paper shows the method of estimating spatiotemporal distribution of pedestrians by using watch cameras. We estimate the distribution without tracking technology, with pedestrian＇s privacy protected and in Umeda underground mall. Lately spatiotemporal distribution of pedestrians has being increasingly important in the field of urban planning, disaster prevention planning, marketing and so on. Although many researchers have tried to capture the information of location as dealing with some sensors, some problems still remain, such as the investment of sensors, the restriction of the number of people who has the device they are able to capture. From such background, we develop an original labelling algorithm and estimate the spatiotemporal distribution of pedestrians and the information of the passing time and the direction of pedestrians from sequential images of a watch camera.
