A model of correcting the nonlinear error of photoelectric displacement sensor was established based on the least square support vector machine.The parameters of the correcting nonlinear model,such as penalty factor a...A model of correcting the nonlinear error of photoelectric displacement sensor was established based on the least square support vector machine.The parameters of the correcting nonlinear model,such as penalty factor and kernel parameter,were optimized by chaos genetic algorithm.And the nonlinear correction of photoelectric displacement sensor based on least square support vector machine was applied.The application results reveal that error of photoelectric displacement sensor is less than 1.5%,which is rather satisfactory for nonlinear correction of photoelectric displacement sensor.展开更多
With the global climate change,the high-altitude detection is more and more important in the climate prediction,and the input-output characteristic curve of the air pressure sensor is offset due to the interference of...With the global climate change,the high-altitude detection is more and more important in the climate prediction,and the input-output characteristic curve of the air pressure sensor is offset due to the interference of the tested object and the environment under test,and the nonlinear error is generated.Aiming at the difficulty of nonlinear correction of pressure sensor and the low accuracy of correction results,depth neural network model was established based on wavelet function,and Levenberg-Marquardt algorithm is used to update network parameters to realize the nonlinear correction of pressure sensor.The experimental results show that compared with the traditional neural network model,the improved depth neural network not only accelerates the convergence rate,but also improves the correction accuracy,meets the error requirements of upper-air detection,and has a good generalization ability,which can be extended to the nonlinear correction of similar sensors.展开更多
The process of optimized placement of long-term health monitoring sensors for large bridges generally begins with finite element models, but there will arise great discrepancies between theoretically-calculated result...The process of optimized placement of long-term health monitoring sensors for large bridges generally begins with finite element models, but there will arise great discrepancies between theoretically-calculated results and actual measurements.Therefore, rectified finite element models need to be rectified by virtue of model rectifying technology. Firstly, the result of construction monitoring and finished state load test is used to real-time modification of finite element model. Subsequently, an accurate finite element model is established. Secondly, the optimizing the layout of sensor with following orthogonality guarantees orthogonal property and linear independence for the measured data. Lastly, the effectiveness and feasibility of method in the paper is tested by real-time modifying finite element model and optimizing the layout of sensor for Nujiang Bridge.展开更多
Beginning with the analysis on the principle of photoelectric sunshine duration sensor and combining with the problems occurred in use,various factors affecting the accuracy of observation are discussed. The digital s...Beginning with the analysis on the principle of photoelectric sunshine duration sensor and combining with the problems occurred in use,various factors affecting the accuracy of observation are discussed. The digital sunshine duration sensor solutions are put forward by analysis on the data detection and observation,the corrections on the error factors are discussed,such as directional response characteristic,stray light and temperature characteristic. As a consequence,the precision of the sunshine duration with automatic observation is improved.展开更多
In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for pie...In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.展开更多
Cyber-Physical Systems are very vulnerable to sparse sensor attacks.But current protection mechanisms employ linear and deterministic models which cannot detect attacks precisely.Therefore,in this paper,we propose a n...Cyber-Physical Systems are very vulnerable to sparse sensor attacks.But current protection mechanisms employ linear and deterministic models which cannot detect attacks precisely.Therefore,in this paper,we propose a new non-linear generalized model to describe Cyber-Physical Systems.This model includes unknown multivariable discrete and continuous-time functions and different multiplicative noises to represent the evolution of physical processes and randomeffects in the physical and computationalworlds.Besides,the digitalization stage in hardware devices is represented too.Attackers and most critical sparse sensor attacks are described through a stochastic process.The reconstruction and protectionmechanisms are based on aweighted stochasticmodel.Error probability in data samples is estimated through different indicators commonly employed in non-linear dynamics(such as the Fourier transform,first-return maps,or the probability density function).A decision algorithm calculates the final reconstructed value considering the previous error probability.An experimental validation based on simulation tools and real deployments is also carried out.Both,the new technology performance and scalability are studied.Results prove that the proposed solution protects Cyber-Physical Systems against up to 92%of attacks and perturbations,with a computational delay below 2.5 s.The proposed model shows a linear complexity,as recursive or iterative structures are not employed,just algebraic and probabilistic functions.In conclusion,the new model and reconstructionmechanism can protect successfully Cyber-Physical Systems against sparse sensor attacks,even in dense or pervasive deployments and scenarios.展开更多
Profiles observed by Sea-Wing underwater gliders are widely applied in scientific research. However, the quality control(QC) of these data has received little attention. The mismatch between the temperature probe and ...Profiles observed by Sea-Wing underwater gliders are widely applied in scientific research. However, the quality control(QC) of these data has received little attention. The mismatch between the temperature probe and conductivity cell response times generates erroneous salinities, especially across a strong thermocline. A sensor drift may occur owing to biofouling and biocide leakage into the conductivity cell when a glider has operated for several months. It is therefore critical to design a mature real-time QC procedure and develop a toolbox for the QC of Sea-Wing glider data. On the basis of temperature and salinity profiles observed by several Sea-Wing gliders each installed with a Sea-Bird Glider Payload CTD sensor, a real-time QC method including a thermal lag correction, Argo-equivalent real-time QC tests, and a simple post-processing procedure is proposed. The method can also be adopted for Petrel gliders.展开更多
In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe...In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe head,the frame of a coordinate measuring machine（CMM）,etc.As the output of the laser sensor directly obtained possesses the 1D length of the laser beam,it needs to determine the unit direction vector of the laser beam denoted as（l,m,n）by calibration so as to convert the 1D values into 3D coordinates of target points.Therefore,an extrinsic calibration method based on a standard sphere is proposed to accomplish this task in the paper.During the calibration procedure,the laser sensor moves along with the motion of the CMM and gathers the required data on the spherical surface.Then,both the output of the laser sensor and the grating readings of the CMM are substituted into the constraint equation of the spherical surface,in which an over-determined nonlinear equation group containing unknown parameters is established.For the purpose of solving the equation group,a method based on non-linear least squares optimization is put forward.Finally,the system after calibration is utilized to measure the diameter of a metallic sphere 10 times from different orientations to verify the calibration accuracy.In the experiment,the errors between the measured results and the true values are all smaller than 0.03 mm,which manifests the validity and practicality of the extrinsic calibration method presented in the paper.展开更多
Precipitation is one of the most important indicators of climate data,but there are many errors in precipitation measurements due to the influence of climatic conditions,especially those of solid precipitation in alpi...Precipitation is one of the most important indicators of climate data,but there are many errors in precipitation measurements due to the influence of climatic conditions,especially those of solid precipitation in alpine mountains and at high latitude areas.The measured amount of precipitation in those areas is frequently less than the actual amount of precipitation.To understand the impact of climatic conditions on precipitation measurements in the mountainous areas of Northwest China and the applicability of different gauges in alpine mountains,we established a cryospheric hydrometeorology observation(CHOICE)system in 2008 in the Qilian Mountains,which consists of six automated observation stations located between 2960 and 4800 m a.s.l.Total Rain weighing Sensor(TRwS)gauges tested in the World Meteorological Organization-Solid Precipitation Intercomparison Experiment(WMO-SPICE)were used at observation stations with the CHOICE system.To study the influence of climatic conditions on different types of precipitation measured by the TRwS gauges,we conducted an intercomparison experiment of precipitation at Hulu-1 station that was one of the stations in the CHOICE system.Moreover,we tested the application of transfer functions recommended by the WMO-SPICE at this station using the measurement data from a TRwS gauge from August 2016 to December 2020 and computed new coefficients for the same transfer functions that were more appropriate for the dataset from Hulu-1 station.The new coefficients were used to correct the precipitation measurements of other stations in the CHOICE system.Results showed that the new parameters fitted to the local dataset had better correction results than the original parameters.The environmental conditions of Hulu-1 station were very different from those of observation stations that provided datasets to create the transfer functions.Thus,root-mean-square error(RMSE)of solid and mixed precipitation corrected by the original parameters increased significantly by the averages of 0.135(353%)and 0.072 mm(111%),respectively.RMSE values of liquid,solid and mixed precipitation measurements corrected by the new parameters decreased by 6%,20% and 13%,respectively.In addition,the new parameters were suitable for correcting precipitation at other five stations in the CHOICE system.The relative precipitation(RP)increment of different types of precipitation increased with rising altitude.The average RP increment value of snowfall at six stations was the highest,reaching 7%,while that of rainfall was the lowest,covering 3%.Our results confirmed that the new parameters could be used to correct precipitation measurements of the CHOICE system.展开更多
Magnetometric resistivity(MMR)method is a new way to detect dam leakage.The coil sensor is generally used to collect data in geophysical exploration methods.Given the characteristics of accurate vector data requiremen...Magnetometric resistivity(MMR)method is a new way to detect dam leakage.The coil sensor is generally used to collect data in geophysical exploration methods.Given the characteristics of accurate vector data requirements and high sensitivity requirement,a three-component MMR air-core coil sensor is designed.Through the analysis of sensor sensitivity and coil structure parameters,the coil structure and turn number are designed.By analyzing the noise source of the sensor,a suitable amplifier is selected to reduce the background noise of the system.Through the analysis of the three-component non-orthogonal angles,the parameters of the non-orthogonal angles of the coils are corrected.Finally,a three-component MMR induction magnetic field sensor is designed.The volume of the sensor is controlled at 0.027 m 3.The background noise of X、Y and Z are 5.030435 nV/Hz@380 Hz and magnetic field sensitivities are 0.18995 pT/Hz@380 Hz.The three channels have good consistency,and the three-component nonorthogonal angles correction error of three components is controlled within 0.2%.展开更多
We present a network stack implementation for a wireless sensor platform based on a byte-level radio. The network stack provides error-correction code, multi-channel capability and reliable communication for a high pa...We present a network stack implementation for a wireless sensor platform based on a byte-level radio. The network stack provides error-correction code, multi-channel capability and reliable communication for a high packet reception rate as well as a basic packet-level communication interface. In outdoor tests, the packet reception rate is close to 100% within 800 ft and is reasonably good up to 1100 ft. This is made possible by using error correction code and a reliable transport layer. Our implementation also allows us to choose a fre-quency among multiple channels. By using multiple frequencies as well as a reliable transport layer, we can achieve a high packet reception rate by paying additional retransmission time when collisions increase with additional sensor nodes.展开更多
In predictive direct power control(PDPC)system of three-phase pulse width modulation(PWM)rectifier,grid voltage sensor makes the whole system more complex and costly.Therefore,third-order generalized integrator(TOGI)i...In predictive direct power control(PDPC)system of three-phase pulse width modulation(PWM)rectifier,grid voltage sensor makes the whole system more complex and costly.Therefore,third-order generalized integrator(TOGI)is used to generate orthogonal signals with the same frequency to estimate the grid voltage.In addition,in view of the deviation between actual and reference power in the three-phase PWM rectifier traditional PDPC strategy,a power correction link is designed to correct the power reference value.The grid voltage sensor free algorithm based on TOGI and the corrected PDPC strategy are applied to three-phase PWM rectifier and simulated on the simulation platform.Simulation results show that the proposed method can effectively eliminate the power tracking deviation and the grid voltage.The effectiveness of the proposed method is verified by comparing the simulation results.展开更多
Being directed against two kinds of noise in optical fiber sensors,a simple and effective method of automatic compensation for optical fiber sensors is presented.Not only the unstability effect of light source,but als...Being directed against two kinds of noise in optical fiber sensors,a simple and effective method of automatic compensation for optical fiber sensors is presented.Not only the unstability effect of light source,but also zero drift of photoelectronic devices,can be eliminated or enormously restrained with the aid of this method.In another way,by using single-chip microcomputer,the optical fiber sensor system fabricated is connected to a computer network to realize an automatic compensation.展开更多
Accurate wind speed measurements on maritime vessels are crucial for weather forecasting,sea state prediction,and safe navigation.However,vessel motion and challenging environmental conditions often affect measurement...Accurate wind speed measurements on maritime vessels are crucial for weather forecasting,sea state prediction,and safe navigation.However,vessel motion and challenging environmental conditions often affect measurement precision.To address this issue,this study proposes an innovative framework for correcting and predicting shipborne wind speed.By integrating a main network with a momentum updating network,the proposed framework effectively extracts features from the time and frequency domains,thereby allowing for precise adjustments and predictions of shipborne wind speed data.Validation using real sensor data collected at the Qingdao Oceanographic Institute demonstrates that the proposed method outperforms existing approaches in single-and multi-step predictions compared to existing methods,achieving higher accuracy in wind speed forecasting.The proposed innovative approach offers a promising direction for future validation in more realistic maritime onboard scenarios.展开更多
To address the issue of insufficient accuracy in attitude estimation using Inertial Measurement Units(IMU),this paper proposes amulti-sensor fusion attitude estimationmethod based on an improved Error-State Kalman Fil...To address the issue of insufficient accuracy in attitude estimation using Inertial Measurement Units(IMU),this paper proposes amulti-sensor fusion attitude estimationmethod based on an improved Error-State Kalman Filter(ESKF).Several adaptive mechanisms are introduced within the standard ESKF framework:first,the process noise covariance is dynamically adjusted based on gyroscope angular velocity to enhance the algorithm’s adaptability under both static and dynamic conditions;second,the Sage-Husa algorithm is employed to estimate the measurement noise covariance of the accelerometer and magnetometer in real-time,mitigating disturbances caused by external accelerations and magnetic fields.Additionally,a dual-mode correction strategy is proposed for yaw angle estimation:a computationally efficient quaternion-based direct correction method is used for small-angle errors,while the system switches to a higher-precision adaptive ESKF algorithm for large-angle deviations.This strategy ensures estimation accuracy while effectively reducing computational complexity.Experimental results in mixed static-dynamic scenarios show that the proposed algorithmachieves the lowest rootmean square error(RMSE)in roll(5.638°)and yaw(6.315°),and ranks first in pitch(2.616°),validating the effectiveness of the improvements.In magnetic interference tests,it delivers the best overall performance,achieving the highest accuracy in roll and yaw and near-optimal performance in pitch,highlighting its excellent anti-interference capability and dynamic tracking performance.Complexity analysis further confirms a significant reduction in computational time compared to the standard ESKF.The results consistently demonstrate that the proposed method offers higher estimation accuracy and robustness under complex conditions,making it suitable for practical applications involving magnetic disturbances and rapid motions.展开更多
The data of SeaWiFS (Sea-Viewing Wide Field-of-View Sensor), installed on SeaStar, has been used to generate SSC (suspended sediment concentration) of complex and turbid coastal waters in China. In view of the problem...The data of SeaWiFS (Sea-Viewing Wide Field-of-View Sensor), installed on SeaStar, has been used to generate SSC (suspended sediment concentration) of complex and turbid coastal waters in China. In view of the problems of the SeaDAS (SeaWiFS Data Analysis System) algorithm applied to China coastal waters, a new atmospheric correction algorithm is discussed, developed, and used for the SSC of East China coastal waters. The advantages of the new algorithm are described through the comparison of the results from different algorithms.展开更多
The service cycle and dynamic performance of structural parts are afected by the weld grinding accuracy and surface consistency. Because of reasons such as assembly errors and thermal deformation, the actual track of ...The service cycle and dynamic performance of structural parts are afected by the weld grinding accuracy and surface consistency. Because of reasons such as assembly errors and thermal deformation, the actual track of the robot does not coincide with the theoretical track when the weld is ground ofine, resulting in poor workpiece surface quality. Considering these problems, in this study, a vision sensing-based online correction system for robotic weld grinding was developed. The system mainly included three subsystems: weld feature extraction, grinding, and robot real-time control. The grinding equipment was frst set as a substation for the robot using the WorkVisual software. The input/output (I/O) ports for communication between the robot and the grinding equipment were confgured via the I/O mapping function to enable the robot to control the grinding equipment (start, stop, and speed control). Subsequently, the Ethernet KRL software package was used to write the data interaction structure to realize realtime communication between the robot and the laser vision system. To correct the measurement error caused by the bending deformation of the workpiece, we established a surface profle model of the base material in the weld area using a polynomial ftting algorithm to compensate for the measurement data. The corrected extracted weld width and height errors were reduced by 2.01% and 9.3%, respectively. Online weld seam extraction and correction experiments verifed the efectiveness of the system’s correction function, and the system could control the grinding trajectory error within 0.2 mm. The reliability of the system was verifed through actual weld grinding experiments. The roughness, Ra, could reach 0.504 µm and the average residual height was within 0.21 mm. In this study, we developed a vision sensing-based online correction system for robotic weld grinding with a good correction efect and high robustness.展开更多
By analyzing the traditional star-tracking correction technology,this paper studies the star-tracking direct correction method which is based on star sensor dynamic separation initial displacement angles and main erro...By analyzing the traditional star-tracking correction technology,this paper studies the star-tracking direct correction method which is based on star sensor dynamic separation initial displacement angles and main errors of inertial measure unit(IMU)in order to carry out automatic navigation and improve the hitting accuracy and quick reaction capability of near-earth flight vehicles.Through comprehensive application and improvement of the best correction factor method,this paper proposes the startracking comprehensive correction method which combines the two methods above-mentioned and the accelerometer dynamic error separation technology.The simulation results show that obvious effects can be achieved by using the star-tracking integrated correction method.展开更多
This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm...This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.展开更多
When the electronic temperature sensor was incorporated into a system of soil water tension and the insidetube temperature was monitored in real time, it is concluded that the inside temperature increased by 26.9 ℃ a...When the electronic temperature sensor was incorporated into a system of soil water tension and the insidetube temperature was monitored in real time, it is concluded that the inside temperature increased by 26.9 ℃ and the inside pressure changed about 14.6 Kpa, when the pottery soil was replaced by the sealing plug. When the soil water was relatively stable in the experimental salvers, the in-side pressure stil varied regularly with the temperature. When the inside temperature increased by 22.2 ℃, the inside pressure varied about 7.4 Kpa. Through com-pensation calculation of the inside tension, the temperature in the warming and cooling periods was compensated, which was useful to correct the tension measurement errors induced from the changing temperature. When the measuring interval was 4 hours and the temperature difference was 18.1 ℃, the tension difference of both points was only 0.278 Kpa, compared to the difference up to 6.5 Kpa before compensation.展开更多
基金Project(50925727) supported by the National Fund for Distinguish Young Scholars of ChinaProject(60876022) supported by the National Natural Science Foundation of China+1 种基金Project(2010FJ4141) supported by Hunan Provincial Science and Technology Foundation,ChinaProject supported by the Fund of the Key Construction Academic Subject (Optics) of Hunan Province,China
文摘A model of correcting the nonlinear error of photoelectric displacement sensor was established based on the least square support vector machine.The parameters of the correcting nonlinear model,such as penalty factor and kernel parameter,were optimized by chaos genetic algorithm.And the nonlinear correction of photoelectric displacement sensor based on least square support vector machine was applied.The application results reveal that error of photoelectric displacement sensor is less than 1.5%,which is rather satisfactory for nonlinear correction of photoelectric displacement sensor.
基金This paper is supported by the following funds:National Key R&D Program of China(2018YFF01010100)National natural science foundation of China(61672064),Beijing natural science foundation project(4172001)Advanced information network Beijing laboratory(PXM2019_014204_500029).
文摘With the global climate change,the high-altitude detection is more and more important in the climate prediction,and the input-output characteristic curve of the air pressure sensor is offset due to the interference of the tested object and the environment under test,and the nonlinear error is generated.Aiming at the difficulty of nonlinear correction of pressure sensor and the low accuracy of correction results,depth neural network model was established based on wavelet function,and Levenberg-Marquardt algorithm is used to update network parameters to realize the nonlinear correction of pressure sensor.The experimental results show that compared with the traditional neural network model,the improved depth neural network not only accelerates the convergence rate,but also improves the correction accuracy,meets the error requirements of upper-air detection,and has a good generalization ability,which can be extended to the nonlinear correction of similar sensors.
基金Funded by the Special Found of the Ministry of Education for Doctor Station Subject(No.20115522110001)
文摘The process of optimized placement of long-term health monitoring sensors for large bridges generally begins with finite element models, but there will arise great discrepancies between theoretically-calculated results and actual measurements.Therefore, rectified finite element models need to be rectified by virtue of model rectifying technology. Firstly, the result of construction monitoring and finished state load test is used to real-time modification of finite element model. Subsequently, an accurate finite element model is established. Secondly, the optimizing the layout of sensor with following orthogonality guarantees orthogonal property and linear independence for the measured data. Lastly, the effectiveness and feasibility of method in the paper is tested by real-time modifying finite element model and optimizing the layout of sensor for Nujiang Bridge.
文摘Beginning with the analysis on the principle of photoelectric sunshine duration sensor and combining with the problems occurred in use,various factors affecting the accuracy of observation are discussed. The digital sunshine duration sensor solutions are put forward by analysis on the data detection and observation,the corrections on the error factors are discussed,such as directional response characteristic,stray light and temperature characteristic. As a consequence,the precision of the sunshine duration with automatic observation is improved.
基金Supported by National High Technology Research and Development Program of China("863" Program)(2011AA041002)
文摘In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.
基金supported by Comunidad de Madrid within the framework of the Multiannual Agreement with Universidad Politécnica de Madrid to encourage research by young doctors(PRINCE).
文摘Cyber-Physical Systems are very vulnerable to sparse sensor attacks.But current protection mechanisms employ linear and deterministic models which cannot detect attacks precisely.Therefore,in this paper,we propose a new non-linear generalized model to describe Cyber-Physical Systems.This model includes unknown multivariable discrete and continuous-time functions and different multiplicative noises to represent the evolution of physical processes and randomeffects in the physical and computationalworlds.Besides,the digitalization stage in hardware devices is represented too.Attackers and most critical sparse sensor attacks are described through a stochastic process.The reconstruction and protectionmechanisms are based on aweighted stochasticmodel.Error probability in data samples is estimated through different indicators commonly employed in non-linear dynamics(such as the Fourier transform,first-return maps,or the probability density function).A decision algorithm calculates the final reconstructed value considering the previous error probability.An experimental validation based on simulation tools and real deployments is also carried out.Both,the new technology performance and scalability are studied.Results prove that the proposed solution protects Cyber-Physical Systems against up to 92%of attacks and perturbations,with a computational delay below 2.5 s.The proposed model shows a linear complexity,as recursive or iterative structures are not employed,just algebraic and probabilistic functions.In conclusion,the new model and reconstructionmechanism can protect successfully Cyber-Physical Systems against sparse sensor attacks,even in dense or pervasive deployments and scenarios.
基金The National Natural Science Foundation under contract Nos 41621064, 41606003, U1709202 and U1811464the National Key R&D Program of China under contract No. 2016YFC0301201the China Association of Marine Affairs (“Study on the feasibility of establishing an international data sharing application platform for smart ocean”).
文摘Profiles observed by Sea-Wing underwater gliders are widely applied in scientific research. However, the quality control(QC) of these data has received little attention. The mismatch between the temperature probe and conductivity cell response times generates erroneous salinities, especially across a strong thermocline. A sensor drift may occur owing to biofouling and biocide leakage into the conductivity cell when a glider has operated for several months. It is therefore critical to design a mature real-time QC procedure and develop a toolbox for the QC of Sea-Wing glider data. On the basis of temperature and salinity profiles observed by several Sea-Wing gliders each installed with a Sea-Bird Glider Payload CTD sensor, a real-time QC method including a thermal lag correction, Argo-equivalent real-time QC tests, and a simple post-processing procedure is proposed. The method can also be adopted for Petrel gliders.
基金supported by the National Science and Technology Major Project for ‘‘High-grade Numerical Control Machine Tools and Basic Manufacturing Equipment” of China (No. 2013ZX04001071)
文摘In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe head,the frame of a coordinate measuring machine（CMM）,etc.As the output of the laser sensor directly obtained possesses the 1D length of the laser beam,it needs to determine the unit direction vector of the laser beam denoted as（l,m,n）by calibration so as to convert the 1D values into 3D coordinates of target points.Therefore,an extrinsic calibration method based on a standard sphere is proposed to accomplish this task in the paper.During the calibration procedure,the laser sensor moves along with the motion of the CMM and gathers the required data on the spherical surface.Then,both the output of the laser sensor and the grating readings of the CMM are substituted into the constraint equation of the spherical surface,in which an over-determined nonlinear equation group containing unknown parameters is established.For the purpose of solving the equation group,a method based on non-linear least squares optimization is put forward.Finally,the system after calibration is utilized to measure the diameter of a metallic sphere 10 times from different orientations to verify the calibration accuracy.In the experiment,the errors between the measured results and the true values are all smaller than 0.03 mm,which manifests the validity and practicality of the extrinsic calibration method presented in the paper.
基金funded by the National Natural Sciences Foundation of China(42171145,41690141,41971041,42101120)the Joint Research Project of Three-River Headwaters National Park,Chinese Academy of Sciences and Qinghai Province,China(LHZX-2020-11).
文摘Precipitation is one of the most important indicators of climate data,but there are many errors in precipitation measurements due to the influence of climatic conditions,especially those of solid precipitation in alpine mountains and at high latitude areas.The measured amount of precipitation in those areas is frequently less than the actual amount of precipitation.To understand the impact of climatic conditions on precipitation measurements in the mountainous areas of Northwest China and the applicability of different gauges in alpine mountains,we established a cryospheric hydrometeorology observation(CHOICE)system in 2008 in the Qilian Mountains,which consists of six automated observation stations located between 2960 and 4800 m a.s.l.Total Rain weighing Sensor(TRwS)gauges tested in the World Meteorological Organization-Solid Precipitation Intercomparison Experiment(WMO-SPICE)were used at observation stations with the CHOICE system.To study the influence of climatic conditions on different types of precipitation measured by the TRwS gauges,we conducted an intercomparison experiment of precipitation at Hulu-1 station that was one of the stations in the CHOICE system.Moreover,we tested the application of transfer functions recommended by the WMO-SPICE at this station using the measurement data from a TRwS gauge from August 2016 to December 2020 and computed new coefficients for the same transfer functions that were more appropriate for the dataset from Hulu-1 station.The new coefficients were used to correct the precipitation measurements of other stations in the CHOICE system.Results showed that the new parameters fitted to the local dataset had better correction results than the original parameters.The environmental conditions of Hulu-1 station were very different from those of observation stations that provided datasets to create the transfer functions.Thus,root-mean-square error(RMSE)of solid and mixed precipitation corrected by the original parameters increased significantly by the averages of 0.135(353%)and 0.072 mm(111%),respectively.RMSE values of liquid,solid and mixed precipitation measurements corrected by the new parameters decreased by 6%,20% and 13%,respectively.In addition,the new parameters were suitable for correcting precipitation at other five stations in the CHOICE system.The relative precipitation(RP)increment of different types of precipitation increased with rising altitude.The average RP increment value of snowfall at six stations was the highest,reaching 7%,while that of rainfall was the lowest,covering 3%.Our results confirmed that the new parameters could be used to correct precipitation measurements of the CHOICE system.
文摘Magnetometric resistivity(MMR)method is a new way to detect dam leakage.The coil sensor is generally used to collect data in geophysical exploration methods.Given the characteristics of accurate vector data requirements and high sensitivity requirement,a three-component MMR air-core coil sensor is designed.Through the analysis of sensor sensitivity and coil structure parameters,the coil structure and turn number are designed.By analyzing the noise source of the sensor,a suitable amplifier is selected to reduce the background noise of the system.Through the analysis of the three-component non-orthogonal angles,the parameters of the non-orthogonal angles of the coils are corrected.Finally,a three-component MMR induction magnetic field sensor is designed.The volume of the sensor is controlled at 0.027 m 3.The background noise of X、Y and Z are 5.030435 nV/Hz@380 Hz and magnetic field sensitivities are 0.18995 pT/Hz@380 Hz.The three channels have good consistency,and the three-component nonorthogonal angles correction error of three components is controlled within 0.2%.
文摘We present a network stack implementation for a wireless sensor platform based on a byte-level radio. The network stack provides error-correction code, multi-channel capability and reliable communication for a high packet reception rate as well as a basic packet-level communication interface. In outdoor tests, the packet reception rate is close to 100% within 800 ft and is reasonably good up to 1100 ft. This is made possible by using error correction code and a reliable transport layer. Our implementation also allows us to choose a fre-quency among multiple channels. By using multiple frequencies as well as a reliable transport layer, we can achieve a high packet reception rate by paying additional retransmission time when collisions increase with additional sensor nodes.
基金National Natural Science Foundation of China(Nos.51767013,52067013)。
文摘In predictive direct power control(PDPC)system of three-phase pulse width modulation(PWM)rectifier,grid voltage sensor makes the whole system more complex and costly.Therefore,third-order generalized integrator(TOGI)is used to generate orthogonal signals with the same frequency to estimate the grid voltage.In addition,in view of the deviation between actual and reference power in the three-phase PWM rectifier traditional PDPC strategy,a power correction link is designed to correct the power reference value.The grid voltage sensor free algorithm based on TOGI and the corrected PDPC strategy are applied to three-phase PWM rectifier and simulated on the simulation platform.Simulation results show that the proposed method can effectively eliminate the power tracking deviation and the grid voltage.The effectiveness of the proposed method is verified by comparing the simulation results.
文摘Being directed against two kinds of noise in optical fiber sensors,a simple and effective method of automatic compensation for optical fiber sensors is presented.Not only the unstability effect of light source,but also zero drift of photoelectronic devices,can be eliminated or enormously restrained with the aid of this method.In another way,by using single-chip microcomputer,the optical fiber sensor system fabricated is connected to a computer network to realize an automatic compensation.
基金supported by the Major Innovation Project for the Integration of Science,Education,and Industry of Qilu University of Technology(Shandong Academy of Sciences)(Nos.2023HYZX01,2023JBZ02)the Open Project of Key Laboratory of Computing Power Network and Information Security,Ministry of Education,Qilu University of Technology(Shandong Academy of Sciences)(No.2023ZD007)+2 种基金the Talent Research Projects of Qilu University of Technology(Shandong Academy of Sciences)(No.2023RCKY136)the Technology and Innovation Major Project of the Ministry of Science and Technology of China(No.2022ZD0118600)the Jinan‘20 New Colleges and Universities’Funded Project(No.202333043)。
文摘Accurate wind speed measurements on maritime vessels are crucial for weather forecasting,sea state prediction,and safe navigation.However,vessel motion and challenging environmental conditions often affect measurement precision.To address this issue,this study proposes an innovative framework for correcting and predicting shipborne wind speed.By integrating a main network with a momentum updating network,the proposed framework effectively extracts features from the time and frequency domains,thereby allowing for precise adjustments and predictions of shipborne wind speed data.Validation using real sensor data collected at the Qingdao Oceanographic Institute demonstrates that the proposed method outperforms existing approaches in single-and multi-step predictions compared to existing methods,achieving higher accuracy in wind speed forecasting.The proposed innovative approach offers a promising direction for future validation in more realistic maritime onboard scenarios.
文摘To address the issue of insufficient accuracy in attitude estimation using Inertial Measurement Units(IMU),this paper proposes amulti-sensor fusion attitude estimationmethod based on an improved Error-State Kalman Filter(ESKF).Several adaptive mechanisms are introduced within the standard ESKF framework:first,the process noise covariance is dynamically adjusted based on gyroscope angular velocity to enhance the algorithm’s adaptability under both static and dynamic conditions;second,the Sage-Husa algorithm is employed to estimate the measurement noise covariance of the accelerometer and magnetometer in real-time,mitigating disturbances caused by external accelerations and magnetic fields.Additionally,a dual-mode correction strategy is proposed for yaw angle estimation:a computationally efficient quaternion-based direct correction method is used for small-angle errors,while the system switches to a higher-precision adaptive ESKF algorithm for large-angle deviations.This strategy ensures estimation accuracy while effectively reducing computational complexity.Experimental results in mixed static-dynamic scenarios show that the proposed algorithmachieves the lowest rootmean square error(RMSE)in roll(5.638°)and yaw(6.315°),and ranks first in pitch(2.616°),validating the effectiveness of the improvements.In magnetic interference tests,it delivers the best overall performance,achieving the highest accuracy in roll and yaw and near-optimal performance in pitch,highlighting its excellent anti-interference capability and dynamic tracking performance.Complexity analysis further confirms a significant reduction in computational time compared to the standard ESKF.The results consistently demonstrate that the proposed method offers higher estimation accuracy and robustness under complex conditions,making it suitable for practical applications involving magnetic disturbances and rapid motions.
文摘The data of SeaWiFS (Sea-Viewing Wide Field-of-View Sensor), installed on SeaStar, has been used to generate SSC (suspended sediment concentration) of complex and turbid coastal waters in China. In view of the problems of the SeaDAS (SeaWiFS Data Analysis System) algorithm applied to China coastal waters, a new atmospheric correction algorithm is discussed, developed, and used for the SSC of East China coastal waters. The advantages of the new algorithm are described through the comparison of the results from different algorithms.
基金Supported by Hunan Provincial Natural Science Foundation of China(Grant No.2021JJ50116).
文摘The service cycle and dynamic performance of structural parts are afected by the weld grinding accuracy and surface consistency. Because of reasons such as assembly errors and thermal deformation, the actual track of the robot does not coincide with the theoretical track when the weld is ground ofine, resulting in poor workpiece surface quality. Considering these problems, in this study, a vision sensing-based online correction system for robotic weld grinding was developed. The system mainly included three subsystems: weld feature extraction, grinding, and robot real-time control. The grinding equipment was frst set as a substation for the robot using the WorkVisual software. The input/output (I/O) ports for communication between the robot and the grinding equipment were confgured via the I/O mapping function to enable the robot to control the grinding equipment (start, stop, and speed control). Subsequently, the Ethernet KRL software package was used to write the data interaction structure to realize realtime communication between the robot and the laser vision system. To correct the measurement error caused by the bending deformation of the workpiece, we established a surface profle model of the base material in the weld area using a polynomial ftting algorithm to compensate for the measurement data. The corrected extracted weld width and height errors were reduced by 2.01% and 9.3%, respectively. Online weld seam extraction and correction experiments verifed the efectiveness of the system’s correction function, and the system could control the grinding trajectory error within 0.2 mm. The reliability of the system was verifed through actual weld grinding experiments. The roughness, Ra, could reach 0.504 µm and the average residual height was within 0.21 mm. In this study, we developed a vision sensing-based online correction system for robotic weld grinding with a good correction efect and high robustness.
文摘By analyzing the traditional star-tracking correction technology,this paper studies the star-tracking direct correction method which is based on star sensor dynamic separation initial displacement angles and main errors of inertial measure unit(IMU)in order to carry out automatic navigation and improve the hitting accuracy and quick reaction capability of near-earth flight vehicles.Through comprehensive application and improvement of the best correction factor method,this paper proposes the startracking comprehensive correction method which combines the two methods above-mentioned and the accelerometer dynamic error separation technology.The simulation results show that obvious effects can be achieved by using the star-tracking integrated correction method.
基金Supported by National Natural Science Foundation of China(Grant Nos.52025121,52394263)National Key R&D Plan of China(Grant No.2023YFD2000301).
文摘This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.
基金Supported by Jiangsu Agricultural Self-innovation Fund[CX(13)3031]~~
文摘When the electronic temperature sensor was incorporated into a system of soil water tension and the insidetube temperature was monitored in real time, it is concluded that the inside temperature increased by 26.9 ℃ and the inside pressure changed about 14.6 Kpa, when the pottery soil was replaced by the sealing plug. When the soil water was relatively stable in the experimental salvers, the in-side pressure stil varied regularly with the temperature. When the inside temperature increased by 22.2 ℃, the inside pressure varied about 7.4 Kpa. Through com-pensation calculation of the inside tension, the temperature in the warming and cooling periods was compensated, which was useful to correct the tension measurement errors induced from the changing temperature. When the measuring interval was 4 hours and the temperature difference was 18.1 ℃, the tension difference of both points was only 0.278 Kpa, compared to the difference up to 6.5 Kpa before compensation.
