Predictive maintenance(PdM)is vital for ensuring the reliability,safety,and cost efficiency of heavyduty vehicle fleets.However,real-world sensor data are often highly imbalanced,noisy,and temporally irregular,posing ...Predictive maintenance(PdM)is vital for ensuring the reliability,safety,and cost efficiency of heavyduty vehicle fleets.However,real-world sensor data are often highly imbalanced,noisy,and temporally irregular,posing significant challenges to model robustness and deployment.Using multivariate time-series data from Scania trucks,this study proposes a novel PdM framework that integrates efficient feature summarization with cost-sensitive hierarchical classification.First,the proposed last_k_summary method transforms recent operational records into compact statistical and trend-based descriptors while preserving missingness,allowing LightGBM to leverage its inherent split rules without ad-hoc imputation.Then,a two-stage LightGBM framework is developed for fault detection and severity classification:Stage A performs safety-prioritized fault screening(normal vs.fault)with a false-negativeweighted objective,and Stage B refines the detected faults into four severity levels through a cascaded hierarchy of binary classifiers.Under the official cost matrix of the IDA Industrial Challenge,the framework achieves total misclassification costs of 36,113(validation)and 36,314(test),outperforming XGBoost and Bi-LSTM by 3.8%-13.5%while maintaining high recall for the safety-critical class(0.83 validation,0.77 test).These results demonstrate that the proposed approach not only improves predictive accuracy but also provides a practical and deployable PdM solution that reduces maintenance cost,enhances fleet safety,and supports data-driven decision-making in industrial environments.展开更多
A new unified constitutive model was developed to predict the two-stage creep-aging(TSCA)behavior of Al-Zn-Mg-Cu alloys.The particular bimodal precipitation feature was analyzed and modeled by considering the primary ...A new unified constitutive model was developed to predict the two-stage creep-aging(TSCA)behavior of Al-Zn-Mg-Cu alloys.The particular bimodal precipitation feature was analyzed and modeled by considering the primary micro-variables evolution at different temperatures and their interaction.The dislocation density was incorporated into the model to capture the effect of creep deformation on precipitation.Quantitative transmission electron microscopy and experimental data obtained from a previous study were used to calibrate the model.Subsequently,the developed constitutive model was implemented in the finite element(FE)software ABAQUS via the user subroutines for TSCA process simulation and the springback prediction of an integral panel.A TSCA test was performed.The result shows that the maximum radius deviation between the formed plate and the simulation results is less than 0.4 mm,thus validating the effectiveness of the developed constitutive model and FE model.展开更多
Lexical analysis is a fundamental task in natural language processing,which involves several subtasks,such as word segmentation(WS),part-of-speech(POS)tagging,and named entity recognition(NER).Recent works have shown ...Lexical analysis is a fundamental task in natural language processing,which involves several subtasks,such as word segmentation(WS),part-of-speech(POS)tagging,and named entity recognition(NER).Recent works have shown that taking advantage of relatedness between these subtasks can be beneficial.This paper proposes a unified neural framework to address these subtasks simultaneously.Apart from the sequence tagging paradigm,the proposed method tackles the multitask lexical analysis via two-stage sequence span classification.Firstly,the model detects the word and named entity boundaries by multilabel classification over character spans in a sentence.Then,the authors assign POS labels and entity labels for words and named entities by multi-class classification,respectively.Furthermore,a Gated Task Transformation(GTT)is proposed to encourage the model to share valuable features between tasks.The performance of the proposed model was evaluated on Chinese and Thai public datasets,demonstrating state-of-the-art results.展开更多
Applying bio-oxidation waste solution(BOS)to chemical-biological two-stage oxidation process can significantly improve the bio-oxidation efficiency of arsenopyrite.This study aims to clarify the enhanced oxidation mec...Applying bio-oxidation waste solution(BOS)to chemical-biological two-stage oxidation process can significantly improve the bio-oxidation efficiency of arsenopyrite.This study aims to clarify the enhanced oxidation mechanism of arsenopyrite by evaluating the effects of physical and chemical changes of arsenopyrite in BOS chemical oxidation stage on mineral dissolution kinetics,as well as microbial growth activity and community structure composition in bio-oxidation stage.The results showed that the chemical oxidation contributed to destroying the physical and chemical structure of arsenopyrite surface and reducing the particle size,and led to the formation of nitrogenous substances on mineral surface.These chemical oxidation behaviors effectively promoted Fe^(3+)cycling in the bio-oxidation system and weakened the inhibitory effect of the sulfur film on ionic diffusion,thereby enhancing the dissolution kinetics of the arsenopyrite.Therefore,the bio-oxidation efficiency of arsenopyrite was significantly increased in the two-stage oxidation process.After 18 d,the two-stage oxidation process achieved total extraction rates of(88.8±2.0)%,(86.7±1.3)%,and(74.7±3.0)%for As,Fe,and S elements,respectively.These values represented a significant increase of(50.8±3.4)%,(47.1±2.7)%,and(46.0±0.7)%,respectively,compared to the one-stage bio-oxidation process.展开更多
This paper mainly studies the problem of multi-task assignment of providers in port logistics service supply chain.As a core enterprise,port plays the role of logistics service integrator.With the continuous developme...This paper mainly studies the problem of multi-task assignment of providers in port logistics service supply chain.As a core enterprise,port plays the role of logistics service integrator.With the continuous development of industrial integration,logistics service providers not only provide one kind of logistics service,but also develop into composite suppliers who capable of providing a variety of logistics services.This paper studies the task assignment problem of multi-service capability providers in the port logistics service supply chain.The two-stage logistics service provider task assignment model was built,which is based on the mixed evaluation method(including MOORA and FMEA)and the multi-objective planning method.Eventually,the effectiveness of the model method was verified by combining with an example.展开更多
Exploring the factors driving the decoupling of China’s sulfur dioxide(SO_(2))emissions from economic growth(DEI)is crucial for achieving sustainable development.By analyzing the decoupling indicators and driving fac...Exploring the factors driving the decoupling of China’s sulfur dioxide(SO_(2))emissions from economic growth(DEI)is crucial for achieving sustainable development.By analyzing the decoupling indicators and driving factors at both the generation and treatment stages of SO_(2),more effective targeted mitigation strategies can be developed.We employ the Tapio decoupling model and propose a two-stage method to examine the decoupling issues related to SO_(2).Our findings indicate that:①DEI shows a steady and significant improvement,with SO_(2)emission intensity identified as the primary driver.②for the decoupling of economic growth and SO_(2)generation,energy scale serves as the largest stimulator,while the effect of energy intensity changes from negative to positive,and pollution intensity is first positive and then negative.③For the decoupling of SO_(2)generation and SO_(2)removal,treatment efficiency leads as the largest promoter,followed by treatment intensity.Based on these results,this study recommends that China focuses more on enhancing clean energy utilization and the effectiveness of treatment processes.展开更多
BACKGROUND Two-stage revision is the most common treatment for chronic periprosthetic joint infection of the hip,involving a resection arthroplasty with or without placement of an antibiotic-loaded spacer,followed by ...BACKGROUND Two-stage revision is the most common treatment for chronic periprosthetic joint infection of the hip,involving a resection arthroplasty with or without placement of an antibiotic-loaded spacer,followed by antibiotic therapy before reimplantation.AIM To compare the outcomes and complications of two consecutive treatment protocols for two-stage revision arthroplasty of the infected hip:One using Girdlestone with an antibiotic holiday,the other using custom-made articulating spacers(CUMARS)without an antibiotic holiday.METHODS In this retrospective study,two consecutive cohorts were compared.Group A(2017-2020)underwent two-stage revision with a Girdlestone and an antibiotic holiday before reimplantation,while Group B(2020-2023)received CUMARS whenever possible,and no antibiotic holiday,or a Girdlestone if indicated.The primary outcome was successful infection eradication after one year.Secondary outcomes included surgical duration,length of hospital stay,weight-bearing allowance,discharge destination,and complications.RESULTS A total of 98 patients were included:39 patients in Group A and 59 patients in Group B.Successful infection eradication after one year was achieved in 69%of Group A and 83%of Group B(P=0.164).Patients in Group B were more frequently allowed to bear weight(64%vs 18%,P<0.001),had a shorter in-hospital stay(9 vs 16 days,P<0.001),and were more often discharged home after the first surgery(48%vs 24%,P=0.048).No significant differences were found in(mechanical)complications.CONCLUSION A protocol including CUMARS is a safe and effective treatment,offering faster recovery,shorter length of hospital stay,and enabling more patients to return home during the interval.This reduces strain on patients and the healthcare system,potentially saving costs,without compromising infection control or increasing(mechanical)complications.展开更多
Micro-nano Earth Observation Satellite(MEOS)constellation has the advantages of low construction cost,short revisit cycle,and high functional density,which is considered a promising solution for serving rapidly growin...Micro-nano Earth Observation Satellite(MEOS)constellation has the advantages of low construction cost,short revisit cycle,and high functional density,which is considered a promising solution for serving rapidly growing observation demands.The observation Scheduling Problem in the MEOS constellation(MEOSSP)is a challenging issue due to the large number of satellites and tasks,as well as complex observation constraints.To address the large-scale and complicated MEOSSP,we develop a Two-Stage Scheduling Algorithm based on the Pointer Network with Attention mechanism(TSSA-PNA).In TSSA-PNA,the MEOS observation scheduling is decomposed into a task allocation stage and a single-MEOS scheduling stage.In the task allocation stage,an adaptive task allocation algorithm with four problem-specific allocation operators is proposed to reallocate the unscheduled tasks to new MEOSs.Regarding the single-MEOS scheduling stage,we design a pointer network based on the encoder-decoder architecture to learn the optimal singleMEOS scheduling solution and introduce the attention mechanism into the encoder to improve the learning efficiency.The Pointer Network with Attention mechanism(PNA)can generate the single-MEOS scheduling solution quickly in an end-to-end manner.These two decomposed stages are performed iteratively to search for the solution with high profit.A greedy local search algorithm is developed to improve the profits further.The performance of the PNA and TSSA-PNA on singleMEOS and multi-MEOS scheduling problems are evaluated in the experiments.The experimental results demonstrate that PNA can obtain the approximate solution for the single-MEOS scheduling problem in a short time.Besides,the TSSA-PNA can achieve higher observation profits than the existing scheduling algorithms within the acceptable computational time for the large-scale MEOS scheduling problem.展开更多
The development of efficient and clean heating technologies is crucial for reducing carbon emissions in regions with severe cold regions.This research designs a novel two-stage phase change heat storage coupled solar-...The development of efficient and clean heating technologies is crucial for reducing carbon emissions in regions with severe cold regions.This research designs a novel two-stage phase change heat storage coupled solar-air source heat pump heating system structure that is specifically designed for such regions.The two-stage heat storage device in this heating system expands the storage temperature range of solar heat.The utilization of the two-stage heat storage device not onlymakes up for the instability of the solar heating system,but can also directlymeet the building heating temperature,and can reduce the influence of low-temperature outdoor environments in severe cold regions on the heating performance of the air source heat pump by using solar energy.Therefore,the two-stage phase change heat storage coupled to the solar energy-air source heat pump heating system effectively improves the utilization rate of solar energy.A numerical model of the system components and their integration was developed using TRNSYS software in this study,and various performance aspects of the system were simulated and analyzed.The simulation results demonstrated that the two-stage heat storage device can effectively store solar energy,enabling its hierarchical utilization.The low-temperature solar energy stored by the two-stage phase change heat storage device enhances the coefficient of performance of the air source heat pump by 11.1%in severe cold conditions.Using the Hooke-Jeeves optimization method,the annual cost and carbon emissions are taken as optimization objectives,with the optimized solar heat supply accounting for 52.5%.This study offers valuable insights into operational strategies and site selection for engineering applications,providing a solid theoretical foundation for the widespread implementation of this system in severe cold regions.展开更多
Integrated-energy systems(IESs)are key to advancing renewable-energy utilization and addressing environmental challenges.Key components of IESs include low-carbon,economic dispatch and demand response,for maximizing r...Integrated-energy systems(IESs)are key to advancing renewable-energy utilization and addressing environmental challenges.Key components of IESs include low-carbon,economic dispatch and demand response,for maximizing renewable-energy consumption and supporting sustainable-energy systems.User participation is central to demand response;however,many users are not inclined to engage actively;therefore,the full potential of demand response remains unrealized.User satisfaction must be prioritized in demand-response assessments.This study proposed a two-stage,capacity-optimization configuration method for user-level energy systems con-sidering thermal inertia and user satisfaction.This method addresses load coordination and complementary issues within the IES and seeks to minimize the annual,total cost for determining equipment capacity configurations while introducing models for system thermal inertia and user satisfaction.Indoor heating is adjusted,for optimizing device output and load profiles,with a focus on typical,daily,economic,and environmental objectives.The studyfindings indicate that the system thermal inertia optimizes energy-system scheduling considering user satisfaction.This optimization mitigates environmental concerns and enhances clean-energy integration.展开更多
As future ship system,hybrid energy ship system has a wide range of application prospects for solving the serious energy crisis.However,current optimization scheduling works lack the consideration of sea conditions an...As future ship system,hybrid energy ship system has a wide range of application prospects for solving the serious energy crisis.However,current optimization scheduling works lack the consideration of sea conditions and navigational circumstances.There-fore,this paper aims at establishing a two-stage optimization framework for hybrid energy ship power system.The proposed framework considers multiple optimizations of route,speed planning,and energy management under the constraints of sea conditions during navigation.First,a complex hybrid ship power model consisting of diesel generation system,propulsion system,energy storage system,photovoltaic power generation system,and electric boiler system is established,where sea state information and ship resistance model are considered.With objective optimization functions of cost and greenhouse gas(GHG)emissions,a two-stage optimization framework consisting of route planning,speed scheduling,and energy management is constructed.Wherein the improved A-star algorithm and grey wolf optimization algorithm are introduced to obtain the optimal solutions for route,speed,and energy optimization scheduling.Finally,simulation cases are employed to verify that the proposed two-stage optimization scheduling model can reduce load energy consumption,operating costs,and carbon emissions by 17.8%,17.39%,and 13.04%,respectively,compared with the non-optimal control group.展开更多
In order to address the synergistic optimization of energy efficiency improvement in the waste incineration power plant(WIPP)and renewable energy accommodation,an electricity-hydrogen-waste multi-energy system integra...In order to address the synergistic optimization of energy efficiency improvement in the waste incineration power plant(WIPP)and renewable energy accommodation,an electricity-hydrogen-waste multi-energy system integrated with phase change material(PCM)thermal storage is proposed.First,a thermal energy management framework is constructed,combining PCM thermal storage with the alkaline electrolyzer(AE)waste heat recovery and the heat pump(HP),while establishing a PCM-driven waste drying system to enhance the efficiency of waste incineration power generation.Next,a flue gas treatment method based on purification-separation-storage coordination is adopted,achieving spatiotemporal decoupling between waste incineration and flue gas treatment.Subsequently,a two-stage optimal dispatching strategy for the multi-energy system is developed:the first stage establishes a dayahead economic dispatch model with the objective of minimizing net system costs,while the second stage introduces model predictive control(MPC)to realize intraday rolling optimization.Finally,The optimal dispatching strategies under different scenarios are obtained using the Gurobi solver,followed by a comparative analysis of the optimized operational outcomes.Simulation results demonstrate that the proposed system optimizes the output and operational states of each unit,simultaneously reducing carbon trading costs while increasing electricity sales revenue.The proposed scheduling strategy demonstrates effective grid peak-shaving functionality,thereby simultaneously improving the system’s economic performance and operational flexibility while providing an innovative technical pathway for municipal solid waste(MSW)resource utilization and low-carbon transformation of energy systems.展开更多
The emission regulations for heavy-duty diesel engines regarding nitrogen oxide(NO_(x))are becoming increasingly stringent,particularly in relation to cold start cycles.While the twostage selective catalytic reduction...The emission regulations for heavy-duty diesel engines regarding nitrogen oxide(NO_(x))are becoming increasingly stringent,particularly in relation to cold start cycles.While the twostage selective catalytic reduction(SCR)has the potential to achieve ultra-low NO_(x) emissions,several challenges remain,including the accurate prediction of ammonia(NH_(3))storage mass and the co-control of the two-stage SCR.The first step in this study involved the establishment of a rapid control prototype platform to facilitate the development and validation of a two-stage SCR control strategy.Secondly,an initial method for predicting the NH_(3) storage based on the mass conservation law was proposed,which was subsequently improved by filling and emptying experiments.The third step involved the development of a two-stage SCR co-control strategy,including obtaining the steady-state NH_(3) storage target value,dynamic correction for NH_(3) storage target value,regulation of NH_(3) storage,and control of the close-coupled SCR urea injector state.Finally,the two-stage SCR urea injection control strategy was certified under the world harmonized transient cycle(WHTC).The results demonstrate that the composite value of engine outlet NO_(x) emissions under cold and hot start WHTC cycles is 13 g/(kW·h).Meanwhile,the composite value of tailpipe NO_(x) emissions under cold and hot start WHTC cycles is 0.065 g/(kW·h),representing only 14%of the EU VI limit value of 0.46 g/(kW·h).Thus,the findings demonstrate that integrating an accurate NH_(3) storage prediction method with the two-stage SCR co-control function is crucial for heavy-duty diesel engines to achieve ultra-low NO_(x) emissions.展开更多
The rapid development of Internet of Things(IoT)technology has led to a significant increase in the computational task load of Terminal Devices(TDs).TDs reduce response latency and energy consumption with the support ...The rapid development of Internet of Things(IoT)technology has led to a significant increase in the computational task load of Terminal Devices(TDs).TDs reduce response latency and energy consumption with the support of task-offloading in Multi-access Edge Computing(MEC).However,existing task-offloading optimization methods typically assume that MEC’s computing resources are unlimited,and there is a lack of research on the optimization of task-offloading when MEC resources are exhausted.In addition,existing solutions only decide whether to accept the offloaded task request based on the single decision result of the current time slot,but lack support for multiple retry in subsequent time slots.It is resulting in TD missing potential offloading opportunities in the future.To fill this gap,we propose a Two-Stage Offloading Decision-making Framework(TSODF)with request holding and dynamic eviction.Long Short-Term Memory(LSTM)-based task-offloading request prediction and MEC resource release estimation are integrated to infer the probability of a request being accepted in the subsequent time slot.The framework learns optimized decision-making experiences continuously to increase the success rate of task offloading based on deep learning technology.Simulation results show that TSODF reduces total TD’s energy consumption and delay for task execution and improves task offloading rate and system resource utilization compared to the benchmark method.展开更多
Task scheduling in cloud computing is a multi-objective optimization problem,often involving conflicting objectives such as minimizing execution time,reducing operational cost,and maximizing resource utilization.Howev...Task scheduling in cloud computing is a multi-objective optimization problem,often involving conflicting objectives such as minimizing execution time,reducing operational cost,and maximizing resource utilization.However,traditional approaches frequently rely on single-objective optimization methods which are insufficient for capturing the complexity of such problems.To address this limitation,we introduce MDMOSA(Multi-objective Dwarf Mongoose Optimization with Simulated Annealing),a hybrid that integrates multi-objective optimization for efficient task scheduling in Infrastructure-as-a-Service(IaaS)cloud environments.MDMOSA harmonizes the exploration capabilities of the biologically inspired Dwarf Mongoose Optimization(DMO)with the exploitation strengths of Simulated Annealing(SA),achieving a balanced search process.The algorithm aims to optimize task allocation by reducing makespan and financial cost while improving system resource utilization.We evaluate MDMOSA through extensive simulations using the real-world Google Cloud Jobs(GoCJ)dataset within the CloudSim environment.Comparative analysis against benchmarked algorithms such as SMOACO,MOTSGWO,and MFPAGWO reveals that MDMOSA consistently achieves superior performance in terms of scheduling efficiency,cost-effectiveness,and scalability.These results confirm the potential of MDMOSA as a robust and adaptable solution for resource scheduling in dynamic and heterogeneous cloud computing infrastructures.展开更多
In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To ad...In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To address the challenge of jointly optimizing task scheduling and UAV trajectory under limited resources and high mobility of UAVs,this paper presents PER-MATD3,a multi-agent deep reinforcement learning algorithm with prioritized experience replay(PER)into the Centralized Training with Decentralized Execution(CTDE)framework.Specifically,PER-MATD3 enables each agent to learn a decentralized policy using only local observations during execution,while leveraging a shared replay buffer with prioritized sampling and centralized critic during training to accelerate convergence and improve sample efficiency.Simulation results show that PER-MATD3 reduces average task latency by up to 23%,improves energy efficiency by 21%,and enhances service coverage compared to state-of-the-art baselines,demonstrating its effectiveness and practicality in scenarios without terrestrial networks.展开更多
The cloud-fog computing paradigm has emerged as a novel hybrid computing model that integrates computational resources at both fog nodes and cloud servers to address the challenges posed by dynamic and heterogeneous c...The cloud-fog computing paradigm has emerged as a novel hybrid computing model that integrates computational resources at both fog nodes and cloud servers to address the challenges posed by dynamic and heterogeneous computing networks.Finding an optimal computational resource for task offloading and then executing efficiently is a critical issue to achieve a trade-off between energy consumption and transmission delay.In this network,the task processed at fog nodes reduces transmission delay.Still,it increases energy consumption,while routing tasks to the cloud server saves energy at the cost of higher communication delay.Moreover,the order in which offloaded tasks are executed affects the system’s efficiency.For instance,executing lower-priority tasks before higher-priority jobs can disturb the reliability and stability of the system.Therefore,an efficient strategy of optimal computation offloading and task scheduling is required for operational efficacy.In this paper,we introduced a multi-objective and enhanced version of Cheeta Optimizer(CO),namely(MoECO),to jointly optimize the computation offloading and task scheduling in cloud-fog networks to minimize two competing objectives,i.e.,energy consumption and communication delay.MoECO first assigns tasks to the optimal computational nodes and then the allocated tasks are scheduled for processing based on the task priority.The mathematical modelling of CO needs improvement in computation time and convergence speed.Therefore,MoECO is proposed to increase the search capability of agents by controlling the search strategy based on a leader’s location.The adaptive step length operator is adjusted to diversify the solution and thus improves the exploration phase,i.e.,global search strategy.Consequently,this prevents the algorithm from getting trapped in the local optimal solution.Moreover,the interaction factor during the exploitation phase is also adjusted based on the location of the prey instead of the adjacent Cheetah.This increases the exploitation capability of agents,i.e.,local search capability.Furthermore,MoECO employs a multi-objective Pareto-optimal front to simultaneously minimize designated objectives.Comprehensive simulations in MATLAB demonstrate that the proposed algorithm obtains multiple solutions via a Pareto-optimal front and achieves an efficient trade-off between optimization objectives compared to baseline methods.展开更多
In recent years,fog computing has become an important environment for dealing with the Internet of Things.Fog computing was developed to handle large-scale big data by scheduling tasks via cloud computing.Task schedul...In recent years,fog computing has become an important environment for dealing with the Internet of Things.Fog computing was developed to handle large-scale big data by scheduling tasks via cloud computing.Task scheduling is crucial for efficiently handling IoT user requests,thereby improving system performance,cost,and energy consumption across nodes in cloud computing.With the large amount of data and user requests,achieving the optimal solution to the task scheduling problem is challenging,particularly in terms of cost and energy efficiency.In this paper,we develop novel strategies to save energy consumption across nodes in fog computing when users execute tasks through the least-cost paths.Task scheduling is developed using modified artificial ecosystem optimization(AEO),combined with negative swarm operators,Salp Swarm Algorithm(SSA),in order to competitively optimize their capabilities during the exploitation phase of the optimal search process.In addition,the proposed strategy,Enhancement Artificial Ecosystem Optimization Salp Swarm Algorithm(EAEOSSA),attempts to find the most suitable solution.The optimization that combines cost and energy for multi-objective task scheduling optimization problems.The backpack problem is also added to improve both cost and energy in the iFogSim implementation as well.A comparison was made between the proposed strategy and other strategies in terms of time,cost,energy,and productivity.Experimental results showed that the proposed strategy improved energy consumption,cost,and time over other algorithms.Simulation results demonstrate that the proposed algorithm increases the average cost,average energy consumption,and mean service time in most scenarios,with average reductions of up to 21.15%in cost and 25.8%in energy consumption.展开更多
To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（...To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.展开更多
基金supported by the GRRC program of Gyeonggi province[GRRC KGU 2023-B01,Research on Intelligent Industrial Data Analytics].
文摘Predictive maintenance(PdM)is vital for ensuring the reliability,safety,and cost efficiency of heavyduty vehicle fleets.However,real-world sensor data are often highly imbalanced,noisy,and temporally irregular,posing significant challenges to model robustness and deployment.Using multivariate time-series data from Scania trucks,this study proposes a novel PdM framework that integrates efficient feature summarization with cost-sensitive hierarchical classification.First,the proposed last_k_summary method transforms recent operational records into compact statistical and trend-based descriptors while preserving missingness,allowing LightGBM to leverage its inherent split rules without ad-hoc imputation.Then,a two-stage LightGBM framework is developed for fault detection and severity classification:Stage A performs safety-prioritized fault screening(normal vs.fault)with a false-negativeweighted objective,and Stage B refines the detected faults into four severity levels through a cascaded hierarchy of binary classifiers.Under the official cost matrix of the IDA Industrial Challenge,the framework achieves total misclassification costs of 36,113(validation)and 36,314(test),outperforming XGBoost and Bi-LSTM by 3.8%-13.5%while maintaining high recall for the safety-critical class(0.83 validation,0.77 test).These results demonstrate that the proposed approach not only improves predictive accuracy but also provides a practical and deployable PdM solution that reduces maintenance cost,enhances fleet safety,and supports data-driven decision-making in industrial environments.
基金supported by the National Key R&D Program of China(No.2021YFB3400900)the National Natural Science Foundation of China(Nos.52175373,52205435)+1 种基金Natural Science Foundation of Hunan Province,China(No.2022JJ40621)the Innovation Fund of National Commercial Aircraft Manufacturing Engineering Technology Center,China(No.COMACSFGS-2022-1875)。
文摘A new unified constitutive model was developed to predict the two-stage creep-aging(TSCA)behavior of Al-Zn-Mg-Cu alloys.The particular bimodal precipitation feature was analyzed and modeled by considering the primary micro-variables evolution at different temperatures and their interaction.The dislocation density was incorporated into the model to capture the effect of creep deformation on precipitation.Quantitative transmission electron microscopy and experimental data obtained from a previous study were used to calibrate the model.Subsequently,the developed constitutive model was implemented in the finite element(FE)software ABAQUS via the user subroutines for TSCA process simulation and the springback prediction of an integral panel.A TSCA test was performed.The result shows that the maximum radius deviation between the formed plate and the simulation results is less than 0.4 mm,thus validating the effectiveness of the developed constitutive model and FE model.
基金supported by National Natural Science Foundation of China(Grant No.62266028,62266027,U21B2027,and U24A20334)Major Science and Technology Programs in Yunnan Province(Grant No.202302AD080003,202402AG050007,and 202303AP140008)+1 种基金Yunnan Province Basic Research Program(Grant No.202301AS070047,202301AT070471,and 202401BC070021)Kunming University of Science and Technology's"Double First-rate"construction joint project(Grant No.202201BE070001-021).
文摘Lexical analysis is a fundamental task in natural language processing,which involves several subtasks,such as word segmentation(WS),part-of-speech(POS)tagging,and named entity recognition(NER).Recent works have shown that taking advantage of relatedness between these subtasks can be beneficial.This paper proposes a unified neural framework to address these subtasks simultaneously.Apart from the sequence tagging paradigm,the proposed method tackles the multitask lexical analysis via two-stage sequence span classification.Firstly,the model detects the word and named entity boundaries by multilabel classification over character spans in a sentence.Then,the authors assign POS labels and entity labels for words and named entities by multi-class classification,respectively.Furthermore,a Gated Task Transformation(GTT)is proposed to encourage the model to share valuable features between tasks.The performance of the proposed model was evaluated on Chinese and Thai public datasets,demonstrating state-of-the-art results.
基金Project(52274348)supported by the National Natural Science Foundation of ChinaProject(2022JH1/10400024)supported by the Major Projects for the“Revealed Top”Science and Technology of Liaoning Province,China。
文摘Applying bio-oxidation waste solution(BOS)to chemical-biological two-stage oxidation process can significantly improve the bio-oxidation efficiency of arsenopyrite.This study aims to clarify the enhanced oxidation mechanism of arsenopyrite by evaluating the effects of physical and chemical changes of arsenopyrite in BOS chemical oxidation stage on mineral dissolution kinetics,as well as microbial growth activity and community structure composition in bio-oxidation stage.The results showed that the chemical oxidation contributed to destroying the physical and chemical structure of arsenopyrite surface and reducing the particle size,and led to the formation of nitrogenous substances on mineral surface.These chemical oxidation behaviors effectively promoted Fe^(3+)cycling in the bio-oxidation system and weakened the inhibitory effect of the sulfur film on ionic diffusion,thereby enhancing the dissolution kinetics of the arsenopyrite.Therefore,the bio-oxidation efficiency of arsenopyrite was significantly increased in the two-stage oxidation process.After 18 d,the two-stage oxidation process achieved total extraction rates of(88.8±2.0)%,(86.7±1.3)%,and(74.7±3.0)%for As,Fe,and S elements,respectively.These values represented a significant increase of(50.8±3.4)%,(47.1±2.7)%,and(46.0±0.7)%,respectively,compared to the one-stage bio-oxidation process.
文摘This paper mainly studies the problem of multi-task assignment of providers in port logistics service supply chain.As a core enterprise,port plays the role of logistics service integrator.With the continuous development of industrial integration,logistics service providers not only provide one kind of logistics service,but also develop into composite suppliers who capable of providing a variety of logistics services.This paper studies the task assignment problem of multi-service capability providers in the port logistics service supply chain.The two-stage logistics service provider task assignment model was built,which is based on the mixed evaluation method(including MOORA and FMEA)and the multi-objective planning method.Eventually,the effectiveness of the model method was verified by combining with an example.
基金the National Natural Science Foundation of China[Grant No.52270183].
文摘Exploring the factors driving the decoupling of China’s sulfur dioxide(SO_(2))emissions from economic growth(DEI)is crucial for achieving sustainable development.By analyzing the decoupling indicators and driving factors at both the generation and treatment stages of SO_(2),more effective targeted mitigation strategies can be developed.We employ the Tapio decoupling model and propose a two-stage method to examine the decoupling issues related to SO_(2).Our findings indicate that:①DEI shows a steady and significant improvement,with SO_(2)emission intensity identified as the primary driver.②for the decoupling of economic growth and SO_(2)generation,energy scale serves as the largest stimulator,while the effect of energy intensity changes from negative to positive,and pollution intensity is first positive and then negative.③For the decoupling of SO_(2)generation and SO_(2)removal,treatment efficiency leads as the largest promoter,followed by treatment intensity.Based on these results,this study recommends that China focuses more on enhancing clean energy utilization and the effectiveness of treatment processes.
文摘BACKGROUND Two-stage revision is the most common treatment for chronic periprosthetic joint infection of the hip,involving a resection arthroplasty with or without placement of an antibiotic-loaded spacer,followed by antibiotic therapy before reimplantation.AIM To compare the outcomes and complications of two consecutive treatment protocols for two-stage revision arthroplasty of the infected hip:One using Girdlestone with an antibiotic holiday,the other using custom-made articulating spacers(CUMARS)without an antibiotic holiday.METHODS In this retrospective study,two consecutive cohorts were compared.Group A(2017-2020)underwent two-stage revision with a Girdlestone and an antibiotic holiday before reimplantation,while Group B(2020-2023)received CUMARS whenever possible,and no antibiotic holiday,or a Girdlestone if indicated.The primary outcome was successful infection eradication after one year.Secondary outcomes included surgical duration,length of hospital stay,weight-bearing allowance,discharge destination,and complications.RESULTS A total of 98 patients were included:39 patients in Group A and 59 patients in Group B.Successful infection eradication after one year was achieved in 69%of Group A and 83%of Group B(P=0.164).Patients in Group B were more frequently allowed to bear weight(64%vs 18%,P<0.001),had a shorter in-hospital stay(9 vs 16 days,P<0.001),and were more often discharged home after the first surgery(48%vs 24%,P=0.048).No significant differences were found in(mechanical)complications.CONCLUSION A protocol including CUMARS is a safe and effective treatment,offering faster recovery,shorter length of hospital stay,and enabling more patients to return home during the interval.This reduces strain on patients and the healthcare system,potentially saving costs,without compromising infection control or increasing(mechanical)complications.
基金supported by the National Natural Science Foundation of China(No.62101587)the National Funded Postdoctoral Researcher Program of China(No.GZC20233578)。
文摘Micro-nano Earth Observation Satellite(MEOS)constellation has the advantages of low construction cost,short revisit cycle,and high functional density,which is considered a promising solution for serving rapidly growing observation demands.The observation Scheduling Problem in the MEOS constellation(MEOSSP)is a challenging issue due to the large number of satellites and tasks,as well as complex observation constraints.To address the large-scale and complicated MEOSSP,we develop a Two-Stage Scheduling Algorithm based on the Pointer Network with Attention mechanism(TSSA-PNA).In TSSA-PNA,the MEOS observation scheduling is decomposed into a task allocation stage and a single-MEOS scheduling stage.In the task allocation stage,an adaptive task allocation algorithm with four problem-specific allocation operators is proposed to reallocate the unscheduled tasks to new MEOSs.Regarding the single-MEOS scheduling stage,we design a pointer network based on the encoder-decoder architecture to learn the optimal singleMEOS scheduling solution and introduce the attention mechanism into the encoder to improve the learning efficiency.The Pointer Network with Attention mechanism(PNA)can generate the single-MEOS scheduling solution quickly in an end-to-end manner.These two decomposed stages are performed iteratively to search for the solution with high profit.A greedy local search algorithm is developed to improve the profits further.The performance of the PNA and TSSA-PNA on singleMEOS and multi-MEOS scheduling problems are evaluated in the experiments.The experimental results demonstrate that PNA can obtain the approximate solution for the single-MEOS scheduling problem in a short time.Besides,the TSSA-PNA can achieve higher observation profits than the existing scheduling algorithms within the acceptable computational time for the large-scale MEOS scheduling problem.
基金This work was supported by the project of the Research on Energy Consumption of Office Space in Colleges and Universities under the“Dual Carbon Target”(No.CJ202301006).
文摘The development of efficient and clean heating technologies is crucial for reducing carbon emissions in regions with severe cold regions.This research designs a novel two-stage phase change heat storage coupled solar-air source heat pump heating system structure that is specifically designed for such regions.The two-stage heat storage device in this heating system expands the storage temperature range of solar heat.The utilization of the two-stage heat storage device not onlymakes up for the instability of the solar heating system,but can also directlymeet the building heating temperature,and can reduce the influence of low-temperature outdoor environments in severe cold regions on the heating performance of the air source heat pump by using solar energy.Therefore,the two-stage phase change heat storage coupled to the solar energy-air source heat pump heating system effectively improves the utilization rate of solar energy.A numerical model of the system components and their integration was developed using TRNSYS software in this study,and various performance aspects of the system were simulated and analyzed.The simulation results demonstrated that the two-stage heat storage device can effectively store solar energy,enabling its hierarchical utilization.The low-temperature solar energy stored by the two-stage phase change heat storage device enhances the coefficient of performance of the air source heat pump by 11.1%in severe cold conditions.Using the Hooke-Jeeves optimization method,the annual cost and carbon emissions are taken as optimization objectives,with the optimized solar heat supply accounting for 52.5%.This study offers valuable insights into operational strategies and site selection for engineering applications,providing a solid theoretical foundation for the widespread implementation of this system in severe cold regions.
基金supported by the science and technology foundation of Guizhou province[2022]general 013the science and technology foundation of Guizhou province[2022]general 014+1 种基金the science and technology foundation of Guizhou province GCC[2022]016-1the educational technology foundation of Guizhou province[2022]043.
文摘Integrated-energy systems(IESs)are key to advancing renewable-energy utilization and addressing environmental challenges.Key components of IESs include low-carbon,economic dispatch and demand response,for maximizing renewable-energy consumption and supporting sustainable-energy systems.User participation is central to demand response;however,many users are not inclined to engage actively;therefore,the full potential of demand response remains unrealized.User satisfaction must be prioritized in demand-response assessments.This study proposed a two-stage,capacity-optimization configuration method for user-level energy systems con-sidering thermal inertia and user satisfaction.This method addresses load coordination and complementary issues within the IES and seeks to minimize the annual,total cost for determining equipment capacity configurations while introducing models for system thermal inertia and user satisfaction.Indoor heating is adjusted,for optimizing device output and load profiles,with a focus on typical,daily,economic,and environmental objectives.The studyfindings indicate that the system thermal inertia optimizes energy-system scheduling considering user satisfaction.This optimization mitigates environmental concerns and enhances clean-energy integration.
基金supported by the National Natural Science Foundation of China under Grant 62473328by the Open Research Fund of Jiangsu Collaborative Innovation Center for Smart Distribution Network,Nanjing Institute of Technology under No.XTCX202203.
文摘As future ship system,hybrid energy ship system has a wide range of application prospects for solving the serious energy crisis.However,current optimization scheduling works lack the consideration of sea conditions and navigational circumstances.There-fore,this paper aims at establishing a two-stage optimization framework for hybrid energy ship power system.The proposed framework considers multiple optimizations of route,speed planning,and energy management under the constraints of sea conditions during navigation.First,a complex hybrid ship power model consisting of diesel generation system,propulsion system,energy storage system,photovoltaic power generation system,and electric boiler system is established,where sea state information and ship resistance model are considered.With objective optimization functions of cost and greenhouse gas(GHG)emissions,a two-stage optimization framework consisting of route planning,speed scheduling,and energy management is constructed.Wherein the improved A-star algorithm and grey wolf optimization algorithm are introduced to obtain the optimal solutions for route,speed,and energy optimization scheduling.Finally,simulation cases are employed to verify that the proposed two-stage optimization scheduling model can reduce load energy consumption,operating costs,and carbon emissions by 17.8%,17.39%,and 13.04%,respectively,compared with the non-optimal control group.
文摘In order to address the synergistic optimization of energy efficiency improvement in the waste incineration power plant(WIPP)and renewable energy accommodation,an electricity-hydrogen-waste multi-energy system integrated with phase change material(PCM)thermal storage is proposed.First,a thermal energy management framework is constructed,combining PCM thermal storage with the alkaline electrolyzer(AE)waste heat recovery and the heat pump(HP),while establishing a PCM-driven waste drying system to enhance the efficiency of waste incineration power generation.Next,a flue gas treatment method based on purification-separation-storage coordination is adopted,achieving spatiotemporal decoupling between waste incineration and flue gas treatment.Subsequently,a two-stage optimal dispatching strategy for the multi-energy system is developed:the first stage establishes a dayahead economic dispatch model with the objective of minimizing net system costs,while the second stage introduces model predictive control(MPC)to realize intraday rolling optimization.Finally,The optimal dispatching strategies under different scenarios are obtained using the Gurobi solver,followed by a comparative analysis of the optimized operational outcomes.Simulation results demonstrate that the proposed system optimizes the output and operational states of each unit,simultaneously reducing carbon trading costs while increasing electricity sales revenue.The proposed scheduling strategy demonstrates effective grid peak-shaving functionality,thereby simultaneously improving the system’s economic performance and operational flexibility while providing an innovative technical pathway for municipal solid waste(MSW)resource utilization and low-carbon transformation of energy systems.
基金supported by the National Natural Science Foundation of China(No.51921004).
文摘The emission regulations for heavy-duty diesel engines regarding nitrogen oxide(NO_(x))are becoming increasingly stringent,particularly in relation to cold start cycles.While the twostage selective catalytic reduction(SCR)has the potential to achieve ultra-low NO_(x) emissions,several challenges remain,including the accurate prediction of ammonia(NH_(3))storage mass and the co-control of the two-stage SCR.The first step in this study involved the establishment of a rapid control prototype platform to facilitate the development and validation of a two-stage SCR control strategy.Secondly,an initial method for predicting the NH_(3) storage based on the mass conservation law was proposed,which was subsequently improved by filling and emptying experiments.The third step involved the development of a two-stage SCR co-control strategy,including obtaining the steady-state NH_(3) storage target value,dynamic correction for NH_(3) storage target value,regulation of NH_(3) storage,and control of the close-coupled SCR urea injector state.Finally,the two-stage SCR urea injection control strategy was certified under the world harmonized transient cycle(WHTC).The results demonstrate that the composite value of engine outlet NO_(x) emissions under cold and hot start WHTC cycles is 13 g/(kW·h).Meanwhile,the composite value of tailpipe NO_(x) emissions under cold and hot start WHTC cycles is 0.065 g/(kW·h),representing only 14%of the EU VI limit value of 0.46 g/(kW·h).Thus,the findings demonstrate that integrating an accurate NH_(3) storage prediction method with the two-stage SCR co-control function is crucial for heavy-duty diesel engines to achieve ultra-low NO_(x) emissions.
文摘The rapid development of Internet of Things(IoT)technology has led to a significant increase in the computational task load of Terminal Devices(TDs).TDs reduce response latency and energy consumption with the support of task-offloading in Multi-access Edge Computing(MEC).However,existing task-offloading optimization methods typically assume that MEC’s computing resources are unlimited,and there is a lack of research on the optimization of task-offloading when MEC resources are exhausted.In addition,existing solutions only decide whether to accept the offloaded task request based on the single decision result of the current time slot,but lack support for multiple retry in subsequent time slots.It is resulting in TD missing potential offloading opportunities in the future.To fill this gap,we propose a Two-Stage Offloading Decision-making Framework(TSODF)with request holding and dynamic eviction.Long Short-Term Memory(LSTM)-based task-offloading request prediction and MEC resource release estimation are integrated to infer the probability of a request being accepted in the subsequent time slot.The framework learns optimized decision-making experiences continuously to increase the success rate of task offloading based on deep learning technology.Simulation results show that TSODF reduces total TD’s energy consumption and delay for task execution and improves task offloading rate and system resource utilization compared to the benchmark method.
文摘Task scheduling in cloud computing is a multi-objective optimization problem,often involving conflicting objectives such as minimizing execution time,reducing operational cost,and maximizing resource utilization.However,traditional approaches frequently rely on single-objective optimization methods which are insufficient for capturing the complexity of such problems.To address this limitation,we introduce MDMOSA(Multi-objective Dwarf Mongoose Optimization with Simulated Annealing),a hybrid that integrates multi-objective optimization for efficient task scheduling in Infrastructure-as-a-Service(IaaS)cloud environments.MDMOSA harmonizes the exploration capabilities of the biologically inspired Dwarf Mongoose Optimization(DMO)with the exploitation strengths of Simulated Annealing(SA),achieving a balanced search process.The algorithm aims to optimize task allocation by reducing makespan and financial cost while improving system resource utilization.We evaluate MDMOSA through extensive simulations using the real-world Google Cloud Jobs(GoCJ)dataset within the CloudSim environment.Comparative analysis against benchmarked algorithms such as SMOACO,MOTSGWO,and MFPAGWO reveals that MDMOSA consistently achieves superior performance in terms of scheduling efficiency,cost-effectiveness,and scalability.These results confirm the potential of MDMOSA as a robust and adaptable solution for resource scheduling in dynamic and heterogeneous cloud computing infrastructures.
基金supported by the National Natural Science Foundation of China under Grant No.61701100.
文摘In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To address the challenge of jointly optimizing task scheduling and UAV trajectory under limited resources and high mobility of UAVs,this paper presents PER-MATD3,a multi-agent deep reinforcement learning algorithm with prioritized experience replay(PER)into the Centralized Training with Decentralized Execution(CTDE)framework.Specifically,PER-MATD3 enables each agent to learn a decentralized policy using only local observations during execution,while leveraging a shared replay buffer with prioritized sampling and centralized critic during training to accelerate convergence and improve sample efficiency.Simulation results show that PER-MATD3 reduces average task latency by up to 23%,improves energy efficiency by 21%,and enhances service coverage compared to state-of-the-art baselines,demonstrating its effectiveness and practicality in scenarios without terrestrial networks.
基金appreciation to the Princess Nourah bint Abdulrahman University Researchers Supporting Project number(PNURSP2025R384)Princess Nourah bint Abdulrahman University,Riyadh,Saudi Arabia.
文摘The cloud-fog computing paradigm has emerged as a novel hybrid computing model that integrates computational resources at both fog nodes and cloud servers to address the challenges posed by dynamic and heterogeneous computing networks.Finding an optimal computational resource for task offloading and then executing efficiently is a critical issue to achieve a trade-off between energy consumption and transmission delay.In this network,the task processed at fog nodes reduces transmission delay.Still,it increases energy consumption,while routing tasks to the cloud server saves energy at the cost of higher communication delay.Moreover,the order in which offloaded tasks are executed affects the system’s efficiency.For instance,executing lower-priority tasks before higher-priority jobs can disturb the reliability and stability of the system.Therefore,an efficient strategy of optimal computation offloading and task scheduling is required for operational efficacy.In this paper,we introduced a multi-objective and enhanced version of Cheeta Optimizer(CO),namely(MoECO),to jointly optimize the computation offloading and task scheduling in cloud-fog networks to minimize two competing objectives,i.e.,energy consumption and communication delay.MoECO first assigns tasks to the optimal computational nodes and then the allocated tasks are scheduled for processing based on the task priority.The mathematical modelling of CO needs improvement in computation time and convergence speed.Therefore,MoECO is proposed to increase the search capability of agents by controlling the search strategy based on a leader’s location.The adaptive step length operator is adjusted to diversify the solution and thus improves the exploration phase,i.e.,global search strategy.Consequently,this prevents the algorithm from getting trapped in the local optimal solution.Moreover,the interaction factor during the exploitation phase is also adjusted based on the location of the prey instead of the adjacent Cheetah.This increases the exploitation capability of agents,i.e.,local search capability.Furthermore,MoECO employs a multi-objective Pareto-optimal front to simultaneously minimize designated objectives.Comprehensive simulations in MATLAB demonstrate that the proposed algorithm obtains multiple solutions via a Pareto-optimal front and achieves an efficient trade-off between optimization objectives compared to baseline methods.
基金supported and funded by theDeanship of Scientific Research at Imam Mohammad Ibn Saud Islamic University(IMSIU)(grant number IMSIU-DDRSP2503).
文摘In recent years,fog computing has become an important environment for dealing with the Internet of Things.Fog computing was developed to handle large-scale big data by scheduling tasks via cloud computing.Task scheduling is crucial for efficiently handling IoT user requests,thereby improving system performance,cost,and energy consumption across nodes in cloud computing.With the large amount of data and user requests,achieving the optimal solution to the task scheduling problem is challenging,particularly in terms of cost and energy efficiency.In this paper,we develop novel strategies to save energy consumption across nodes in fog computing when users execute tasks through the least-cost paths.Task scheduling is developed using modified artificial ecosystem optimization(AEO),combined with negative swarm operators,Salp Swarm Algorithm(SSA),in order to competitively optimize their capabilities during the exploitation phase of the optimal search process.In addition,the proposed strategy,Enhancement Artificial Ecosystem Optimization Salp Swarm Algorithm(EAEOSSA),attempts to find the most suitable solution.The optimization that combines cost and energy for multi-objective task scheduling optimization problems.The backpack problem is also added to improve both cost and energy in the iFogSim implementation as well.A comparison was made between the proposed strategy and other strategies in terms of time,cost,energy,and productivity.Experimental results showed that the proposed strategy improved energy consumption,cost,and time over other algorithms.Simulation results demonstrate that the proposed algorithm increases the average cost,average energy consumption,and mean service time in most scenarios,with average reductions of up to 21.15%in cost and 25.8%in energy consumption.
基金The National Natural Science Foundation of China(No.61273236)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1637),China Scholarship Council
文摘To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.
