The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’perfo...The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.展开更多
Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on...Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.展开更多
As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other agents.By receiving spatial information from bo...As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other agents.By receiving spatial information from both its environment and other agents,an agent can use various methods and sensor types to localize itself.With its high flexibility and robustness,collaborative positioning has become a widely used method in both military and civilian applications.This paper introduces the basic fundamental concepts and applications of collaborative positioning,and reviews recent progress in the field based on camera,LiDAR(Light Detection and Ranging),wireless sensor,and their integration.The paper compares the current methods with respect to their sensor type,summarizes their main paradigms,and analyzes their evaluation experiments.Finally,the paper discusses the main challenges and open issues that require further research.展开更多
Deep engineering disasters,such as rockbursts and collapses,are more related to the shear slip of rock joints.A novel multifunctional device was developed to study the shear failure mechanism in rocks.Using this devic...Deep engineering disasters,such as rockbursts and collapses,are more related to the shear slip of rock joints.A novel multifunctional device was developed to study the shear failure mechanism in rocks.Using this device,the complete shearedeformation process and long-term shear creep tests could be performed on rocks under constant normal stiffness(CNS)or constant normal loading(CNL)conditions in real-time at high temperature and true-triaxial stress.During the research and development process,five key technologies were successfully broken through:(1)the ability to perform true-triaxial compressioneshear loading tests on rock samples with high stiffness;(2)a shear box with ultra-low friction throughout the entire stress space of the rock sample during loading;(3)a control system capable of maintaining high stress for a long time and responding rapidly to the brittle fracture of a rock sample as well;(4)a refined ability to measure the volumetric deformation of rock samples subjected to true triaxial shearing;and(5)a heating system capable of maintaining uniform heating of the rock sample over a long time.By developing these technologies,loading under high true triaxial stress conditions was realized.The apparatus has a maximum normal stiffness of 1000 GPa/m and a maximum operating temperature of 300C.The differences in the surface temperature of the sample are constant to within5C.Five types of true triaxial shear tests were conducted on homogeneous sandstone to verify that the apparatus has good performance and reliability.The results show that temperature,lateral stress,normal stress and time influence the shear deformation,failure mode and strength of the sandstone.The novel apparatus can be reliably used to conduct true-triaxial shear tests on rocks subjected to high temperatures and stress.展开更多
The existing indoor fusion positioning methods based on Pedestrian Dead Reckoning(PDR)and geomagnetic technology have the problems of large initial position error,low sensor accuracy,and geomagnetic mismatch.In this s...The existing indoor fusion positioning methods based on Pedestrian Dead Reckoning(PDR)and geomagnetic technology have the problems of large initial position error,low sensor accuracy,and geomagnetic mismatch.In this study,a novel indoor fusion positioning approach based on the improved particle filter algorithm by geomagnetic iterative matching is proposed,where Wi-Fi,PDR,and geomagnetic signals are integrated to improve indoor positioning performances.One important contribution is that geomagnetic iterative matching is firstly proposed based on the particle filter algorithm.During the positioning process,an iterative window and a constraint window are introduced to limit the particle generation range and the geomagnetic matching range respectively.The position is corrected several times based on geomagnetic iterative matching in the location correction stage when the pedestrian movement is detected,which made up for the shortage of only one time of geomagnetic correction in the existing particle filter algorithm.In addition,this study also proposes a real-time step detection algorithm based on multi-threshold constraints to judge whether pedestrians are moving,which satisfies the real-time requirement of our fusion positioning approach.Through experimental verification,the average positioning accuracy of the proposed approach reaches 1.59 m,which improves 33.2%compared with the existing particle filter fusion positioning algorithms.展开更多
A real-time data processing system is designed for the carbon dioxide dispersion interferometer(CO_(2)-DI)on EAST.The system utilizes the parallel and pipelining capabilities of an fieldprogrammable gate array(FPGA)to...A real-time data processing system is designed for the carbon dioxide dispersion interferometer(CO_(2)-DI)on EAST.The system utilizes the parallel and pipelining capabilities of an fieldprogrammable gate array(FPGA)to digitize and process the intensity of signals from the detector.Finally,the real-time electron density signals are exported through a digital-to-analog converter(DAC)module in the form of analog signals.The system has been successfully applied in the CO_(2)-DI system to provide low-latency electron density input to the plasma control system on EAST.Experimental results of the latest campaign with long-pulse discharges on EAST(2022–2023)demonstrate that the system can respond effectively in the case of rapid density changes,proving its reliability and accuracy for future electron density calculation.展开更多
The co-frequency vibration fault is one of the common faults in the operation of rotating equipment,and realizing the real-time diagnosis of the co-frequency vibration fault is of great significance for monitoring the...The co-frequency vibration fault is one of the common faults in the operation of rotating equipment,and realizing the real-time diagnosis of the co-frequency vibration fault is of great significance for monitoring the health state and carrying out vibration suppression of the equipment.In engineering scenarios,co-frequency vibration faults are highlighted by rotational frequency and are difficult to identify,and existing intelligent methods require more hardware conditions and are exclusively time-consuming.Therefore,Lightweight-convolutional neural networks(LW-CNN)algorithm is proposed in this paper to achieve real-time fault diagnosis.The critical parameters are discussed and verified by simulated and experimental signals for the sliding window data augmentation method.Based on LW-CNN and data augmentation,the real-time intelligent diagnosis of co-frequency is realized.Moreover,a real-time detection method of fault diagnosis algorithm is proposed for data acquisition to fault diagnosis.It is verified by experiments that the LW-CNN and sliding window methods are used with high accuracy and real-time performance.展开更多
To address the impact of wind-power fluctuations on the stability of power systems,we propose a comprehensive approach that integrates multiple strategies and methods to enhance the efficiency and reliability of a sys...To address the impact of wind-power fluctuations on the stability of power systems,we propose a comprehensive approach that integrates multiple strategies and methods to enhance the efficiency and reliability of a system.First,we employ a strategy that restricts long-and short-term power output deviations to smoothen wind power fluctuations in real time.Second,we adopt the sliding window instantaneous complete ensemble empirical mode decomposition with adaptive noise(SW-ICEEMDAN)strategy to achieve real-time decomposition of the energy storage power,facilitating internal power distribution within the hybrid energy storage system.Finally,we introduce a rule-based multi-fuzzy control strategy for the secondary adjustment of the initial power allocation commands for different energy storage components.Through simulation validation,we demonstrate that the proposed comprehensive control strategy can smoothen wind power fluctuations in real time and decompose energy storage power.Compared with traditional empirical mode decomposition(EMD),ensemble empirical mode decomposition(EEMD),and complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)decomposition strategies,the configuration of the energy storage system under the SW-ICEEMDAN control strategy is more optimal.Additionally,the state-of-charge of energy storage components fluctuates within a reasonable range,enhancing the stability of the power system and ensuring the secure operation of the energy storage system.展开更多
This review explores glucose monitoring and management strategies,emphasizing the need for reliable and userfriendly wearable sensors that are the next generation of sensors for continuous glucose detection.In additio...This review explores glucose monitoring and management strategies,emphasizing the need for reliable and userfriendly wearable sensors that are the next generation of sensors for continuous glucose detection.In addition,examines key strategies for designing glucose sensors that are multi-functional,reliable,and cost-effective in a variety of contexts.The unique features of effective diabetes management technology are highlighted,with a focus on using nano/biosensor devices that can quickly and accurately detect glucose levels in the blood,improving patient treatment and control of potential diabetes-related infections.The potential of next-generation wearable and touch-sensitive nano biomedical sensor engineering designs for providing full control in assessing implantable,continuous glucose monitoring is also explored.The challenges of standardizing drug or insulin delivery doses,low-cost,real-time detection of increased blood sugar levels in diabetics,and early digital health awareness controls for the adverse effects of injectable medication are identified as unmet needs.Also,the market for biosensors is expected to expand significantly due to the rising need for portable diagnostic equipment and an ever-increasing diabetic population.The paper concludes by emphasizing the need for further research and development of glucose biosensors to meet the stringent requirements for sensitivity and specificity imposed by clinical diagnostics while being cost-effective,stable,and durable.展开更多
The real-time detection and instance segmentation of strawberries constitute fundamental components in the development of strawberry harvesting robots.Real-time identification of strawberries in an unstructured envi-r...The real-time detection and instance segmentation of strawberries constitute fundamental components in the development of strawberry harvesting robots.Real-time identification of strawberries in an unstructured envi-ronment is a challenging task.Current instance segmentation algorithms for strawberries suffer from issues such as poor real-time performance and low accuracy.To this end,the present study proposes an Efficient YOLACT(E-YOLACT)algorithm for strawberry detection and segmentation based on the YOLACT framework.The key enhancements of the E-YOLACT encompass the development of a lightweight attention mechanism,pyramid squeeze shuffle attention(PSSA),for efficient feature extraction.Additionally,an attention-guided context-feature pyramid network(AC-FPN)is employed instead of FPN to optimize the architecture’s performance.Furthermore,a feature-enhanced model(FEM)is introduced to enhance the prediction head’s capabilities,while efficient fast non-maximum suppression(EF-NMS)is devised to improve non-maximum suppression.The experimental results demonstrate that the E-YOLACT achieves a Box-mAP and Mask-mAP of 77.9 and 76.6,respectively,on the custom dataset.Moreover,it exhibits an impressive category accuracy of 93.5%.Notably,the E-YOLACT also demonstrates a remarkable real-time detection capability with a speed of 34.8 FPS.The method proposed in this article presents an efficient approach for the vision system of a strawberry-picking robot.展开更多
In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be sev...In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.展开更多
Fast neutron flux measurements with high count rates and high time resolution have important applications in equipment such as tokamaks.In this study,real-time neutron and gamma discrimination was implemented on a sel...Fast neutron flux measurements with high count rates and high time resolution have important applications in equipment such as tokamaks.In this study,real-time neutron and gamma discrimination was implemented on a self-developed 500-Msps,12-bit digitizer,and the neutron and gamma spectra were calculated directly on an FPGA.A fast neutron flux measurement system with BC-501A and EJ-309 liquid scintillator detectors was developed and a fast neutron measurement experiment was successfully performed on the HL-2 M tokamak at the Southwestern Institute of Physics,China.The experimental results demonstrated that the system obtained the neutron and gamma spectra with a time accuracy of 1 ms.At count rates of up to 1 Mcps,the figure of merit was greater than 1.05 for energies between 50 keV and 2.8 MeV.展开更多
Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing...Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing methods have limitations in obtaining this local assessment in either the time domain or frequency domain.In this study,the instantaneous frequency is introduced to determine local control parameters for actuator tracking assessment in a real-time hybrid simulation.Instantaneous properties,including amplitude,delay,frequency and phase,are then calculated based on analytic signals translated from actuator tracking signals through the Hilbert transform.Potential issues are discussed and solutions are proposed for calculation of local control parameters.Numerical simulations are first conducted for sinusoidal and chirp signals with time varying amplitude error and delay to demonstrate the potential of the proposed method.Laboratory tests also are conducted for a predefined random signal as well as the RTHS of a single degree of freedom structure with a self-centering viscous damper to experimentally verify the effectiveness of the proposed use of the instantaneous frequency.Results from the ensuing analysis clearly demonstrate that the instantaneous frequency provides great potential for local control assessment,and the proposed method enables local tracking parameters with good accuracy.展开更多
The advancement of navigation systems for the visually impaired has significantly enhanced their mobility by mitigating the risk of encountering obstacles and guiding them along safe,navigable routes.Traditional appro...The advancement of navigation systems for the visually impaired has significantly enhanced their mobility by mitigating the risk of encountering obstacles and guiding them along safe,navigable routes.Traditional approaches primarily focus on broad applications such as wayfinding,obstacle detection,and fall prevention.However,there is a notable discrepancy in applying these technologies to more specific scenarios,like identifying distinct food crop types or recognizing faces.This study proposes a real-time application designed for visually impaired individuals,aiming to bridge this research-application gap.It introduces a system capable of detecting 20 different food crop types and recognizing faces with impressive accuracies of 83.27%and 95.64%,respectively.These results represent a significant contribution to the field of assistive technologies,providing visually impaired users with detailed and relevant information about their surroundings,thereby enhancing their mobility and ensuring their safety.Additionally,it addresses the vital aspects of social engagements,acknowledging the challenges faced by visually impaired individuals in recognizing acquaintances without auditory or tactile signals,and highlights recent developments in prototype systems aimed at assisting with face recognition tasks.This comprehensive approach not only promises enhanced navigational aids but also aims to enrich the social well-being and safety of visually impaired communities.展开更多
Micro-light-emitting diodes(μLEDs)have gained significant interest as an activation source for gas sensors owing to their advantages,including room temperature operation and low power consumption.However,despite thes...Micro-light-emitting diodes(μLEDs)have gained significant interest as an activation source for gas sensors owing to their advantages,including room temperature operation and low power consumption.However,despite these benefits,challenges still exist such as a limited range of detectable gases and slow response.In this study,we present a blueμLED-integrated light-activated gas sensor array based on SnO_(2)nanoparticles(NPs)that exhibit excellent sensitivity,tunable selectivity,and rapid detection with micro-watt level power consumption.The optimal power forμLED is observed at the highest gas response,supported by finite-difference time-domain simulation.Additionally,we first report the visible light-activated selective detection of reducing gases using noble metal-decorated SnO_(2)NPs.The noble metals induce catalytic interaction with reducing gases,clearly distinguishing NH3,H2,and C2H5OH.Real-time gas monitoring based on a fully hardwareimplemented light-activated sensing array was demonstrated,opening up new avenues for advancements in light-activated electronic nose technologies.展开更多
The gasoline inline blending process has widely used real-time optimization techniques to achieve optimization objectives,such as minimizing the cost of production.However,the effectiveness of real-time optimization i...The gasoline inline blending process has widely used real-time optimization techniques to achieve optimization objectives,such as minimizing the cost of production.However,the effectiveness of real-time optimization in gasoline blending relies on accurate blending models and is challenged by stochastic disturbances.Thus,we propose a real-time optimization algorithm based on the soft actor-critic(SAC)deep reinforcement learning strategy to optimize gasoline blending without relying on a single blending model and to be robust against disturbances.Our approach constructs the environment using nonlinear blending models and feedstocks with disturbances.The algorithm incorporates the Lagrange multiplier and path constraints in reward design to manage sparse product constraints.Carefully abstracted states facilitate algorithm convergence,and the normalized action vector in each optimization period allows the agent to generalize to some extent across different target production scenarios.Through these well-designed components,the algorithm based on the SAC outperforms real-time optimization methods based on either nonlinear or linear programming.It even demonstrates comparable performance with the time-horizon based real-time optimization method,which requires knowledge of uncertainty models,confirming its capability to handle uncertainty without accurate models.Our simulation illustrates a promising approach to free real-time optimization of the gasoline blending process from uncertainty models that are difficult to acquire in practice.展开更多
The phase behavior of gas condensate in reservoir formations differs from that in pressure-volume-temperature(PVT)cells because it is influenced by porous media in the reservoir formations.Sandstone was used as a samp...The phase behavior of gas condensate in reservoir formations differs from that in pressure-volume-temperature(PVT)cells because it is influenced by porous media in the reservoir formations.Sandstone was used as a sample to investigate the influence of porous media on the phase behavior of the gas condensate.The pore structure was first analyzed using computed tomography(CT)scanning,digital core technology,and a pore network model.The sandstone core sample was then saturated with gas condensate for the pressure depletion experiment.After each pressure-depletion state was stable,realtime CT scanning was performed on the sample.The scanning results of the sample were reconstructed into three-dimensional grayscale images,and the gas condensate and condensate liquid were segmented based on gray value discrepancy to dynamically characterize the phase behavior of the gas condensate in porous media.Pore network models of the condensate liquid ganglia under different pressures were built to calculate the characteristic parameters,including the average radius,coordination number,and tortuosity,and to analyze the changing mechanism caused by the phase behavior change of the gas condensate.Four types of condensate liquid(clustered,branched,membranous,and droplet ganglia)were then classified by shape factor and Euler number to investigate their morphological changes dynamically and elaborately.The results show that the dew point pressure of the gas condensate in porous media is 12.7 MPa,which is 0.7 MPa higher than 12.0 MPa in PVT cells.The average radius,volume,and coordination number of the condensate liquid ganglia increased when the system pressure was between the dew point pressure(12.7 MPa)and the pressure for the maximum liquid dropout,Pmax(10.0 MPa),and decreased when it was below Pmax.The volume proportion of clustered ganglia was the highest,followed by branched,membranous,and droplet ganglia.This study provides crucial experimental evidence for the phase behavior changing process of gas condensate in porous media during the depletion production of gas condensate reservoirs.展开更多
To solve the problem of data fusion for prior information such as track information and train status in train positioning,an adaptive H∞filtering algorithm with combination constraint is proposed,which fuses prior in...To solve the problem of data fusion for prior information such as track information and train status in train positioning,an adaptive H∞filtering algorithm with combination constraint is proposed,which fuses prior information with other sensor information in the form of constraints.Firstly,the train precise track constraint method of the train is proposed,and the plane position constraint and train motion state constraints are analysed.A model for combining prior information with constraints is established.Then an adaptive H∞filter with combination constraints is derived based on the adaptive adjustment method of the robustness factor.Finally,the positioning effect of the proposed algorithm is simulated and analysed under the conditions of a straight track and a curved track.The results show that the positioning accuracy of the algorithm with constrained filtering is significantly better than that of the algorithm without constrained filtering and that the algorithm with constrained filtering can achieve better performance when combined with track and condition information,which can significantly reduce the train positioning error.The effectiveness of the proposed algorithm is verified.展开更多
基金the National Key Research and Development Program of China(Grant No.2021YFA1402102)the National Natural Science Foundation of China(Grant No.62171249)the Fund by Tsinghua University Initiative Scientific Research Program.
文摘The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.
文摘Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.
基金National Natural Science Foundation of China(Grant No.62101138)Shandong Natural Science Foundation(Grant No.ZR2021QD148)+1 种基金Guangdong Natural Science Foundation(Grant No.2022A1515012573)Guangzhou Basic and Applied Basic Research Project(Grant No.202102020701)for providing funds for publishing this paper。
文摘As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other agents.By receiving spatial information from both its environment and other agents,an agent can use various methods and sensor types to localize itself.With its high flexibility and robustness,collaborative positioning has become a widely used method in both military and civilian applications.This paper introduces the basic fundamental concepts and applications of collaborative positioning,and reviews recent progress in the field based on camera,LiDAR(Light Detection and Ranging),wireless sensor,and their integration.The paper compares the current methods with respect to their sensor type,summarizes their main paradigms,and analyzes their evaluation experiments.Finally,the paper discusses the main challenges and open issues that require further research.
基金financial support from the National Natural Science Foundation of China(Grant Nos.52209125 and 51839003).
文摘Deep engineering disasters,such as rockbursts and collapses,are more related to the shear slip of rock joints.A novel multifunctional device was developed to study the shear failure mechanism in rocks.Using this device,the complete shearedeformation process and long-term shear creep tests could be performed on rocks under constant normal stiffness(CNS)or constant normal loading(CNL)conditions in real-time at high temperature and true-triaxial stress.During the research and development process,five key technologies were successfully broken through:(1)the ability to perform true-triaxial compressioneshear loading tests on rock samples with high stiffness;(2)a shear box with ultra-low friction throughout the entire stress space of the rock sample during loading;(3)a control system capable of maintaining high stress for a long time and responding rapidly to the brittle fracture of a rock sample as well;(4)a refined ability to measure the volumetric deformation of rock samples subjected to true triaxial shearing;and(5)a heating system capable of maintaining uniform heating of the rock sample over a long time.By developing these technologies,loading under high true triaxial stress conditions was realized.The apparatus has a maximum normal stiffness of 1000 GPa/m and a maximum operating temperature of 300C.The differences in the surface temperature of the sample are constant to within5C.Five types of true triaxial shear tests were conducted on homogeneous sandstone to verify that the apparatus has good performance and reliability.The results show that temperature,lateral stress,normal stress and time influence the shear deformation,failure mode and strength of the sandstone.The novel apparatus can be reliably used to conduct true-triaxial shear tests on rocks subjected to high temperatures and stress.
基金the National Natural Science Foundation of China(Grant No.42271436)the Shandong Provincial Natural Science Foundation,China(Grant Nos.ZR2021MD030,ZR2021QD148).
文摘The existing indoor fusion positioning methods based on Pedestrian Dead Reckoning(PDR)and geomagnetic technology have the problems of large initial position error,low sensor accuracy,and geomagnetic mismatch.In this study,a novel indoor fusion positioning approach based on the improved particle filter algorithm by geomagnetic iterative matching is proposed,where Wi-Fi,PDR,and geomagnetic signals are integrated to improve indoor positioning performances.One important contribution is that geomagnetic iterative matching is firstly proposed based on the particle filter algorithm.During the positioning process,an iterative window and a constraint window are introduced to limit the particle generation range and the geomagnetic matching range respectively.The position is corrected several times based on geomagnetic iterative matching in the location correction stage when the pedestrian movement is detected,which made up for the shortage of only one time of geomagnetic correction in the existing particle filter algorithm.In addition,this study also proposes a real-time step detection algorithm based on multi-threshold constraints to judge whether pedestrians are moving,which satisfies the real-time requirement of our fusion positioning approach.Through experimental verification,the average positioning accuracy of the proposed approach reaches 1.59 m,which improves 33.2%compared with the existing particle filter fusion positioning algorithms.
基金funded and supported by the Comprehensive Research Facility for Fusion Technology Program of China(No.2018-000052-73-01-001228)the HFIPS Director’s Fund(No.YZJJKX202301)+1 种基金the Anhui Provincial Major Science and Technology Project(No.2023z020004)Task JB22001 from the Anhui Provincial Department of Economic and Information Technology。
文摘A real-time data processing system is designed for the carbon dioxide dispersion interferometer(CO_(2)-DI)on EAST.The system utilizes the parallel and pipelining capabilities of an fieldprogrammable gate array(FPGA)to digitize and process the intensity of signals from the detector.Finally,the real-time electron density signals are exported through a digital-to-analog converter(DAC)module in the form of analog signals.The system has been successfully applied in the CO_(2)-DI system to provide low-latency electron density input to the plasma control system on EAST.Experimental results of the latest campaign with long-pulse discharges on EAST(2022–2023)demonstrate that the system can respond effectively in the case of rapid density changes,proving its reliability and accuracy for future electron density calculation.
基金Supported by National Natural Science Foundation of China(Grant Nos.51875031,52242507)Beijing Municipal Natural Science Foundation of China(Grant No.3212010)Beijing Municipal Youth Backbone Personal Project of China(Grant No.2017000020124 G018).
文摘The co-frequency vibration fault is one of the common faults in the operation of rotating equipment,and realizing the real-time diagnosis of the co-frequency vibration fault is of great significance for monitoring the health state and carrying out vibration suppression of the equipment.In engineering scenarios,co-frequency vibration faults are highlighted by rotational frequency and are difficult to identify,and existing intelligent methods require more hardware conditions and are exclusively time-consuming.Therefore,Lightweight-convolutional neural networks(LW-CNN)algorithm is proposed in this paper to achieve real-time fault diagnosis.The critical parameters are discussed and verified by simulated and experimental signals for the sliding window data augmentation method.Based on LW-CNN and data augmentation,the real-time intelligent diagnosis of co-frequency is realized.Moreover,a real-time detection method of fault diagnosis algorithm is proposed for data acquisition to fault diagnosis.It is verified by experiments that the LW-CNN and sliding window methods are used with high accuracy and real-time performance.
基金supported by the National Natural Science Foundation of China(Grant No.51677058)。
文摘To address the impact of wind-power fluctuations on the stability of power systems,we propose a comprehensive approach that integrates multiple strategies and methods to enhance the efficiency and reliability of a system.First,we employ a strategy that restricts long-and short-term power output deviations to smoothen wind power fluctuations in real time.Second,we adopt the sliding window instantaneous complete ensemble empirical mode decomposition with adaptive noise(SW-ICEEMDAN)strategy to achieve real-time decomposition of the energy storage power,facilitating internal power distribution within the hybrid energy storage system.Finally,we introduce a rule-based multi-fuzzy control strategy for the secondary adjustment of the initial power allocation commands for different energy storage components.Through simulation validation,we demonstrate that the proposed comprehensive control strategy can smoothen wind power fluctuations in real time and decompose energy storage power.Compared with traditional empirical mode decomposition(EMD),ensemble empirical mode decomposition(EEMD),and complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)decomposition strategies,the configuration of the energy storage system under the SW-ICEEMDAN control strategy is more optimal.Additionally,the state-of-charge of energy storage components fluctuates within a reasonable range,enhancing the stability of the power system and ensuring the secure operation of the energy storage system.
基金supported by the National Research Foundation of Korea (NRF) grant funded by the Korean Government (MSIT) (No.2022M3J7A1062940,2021R1A5A6002853,and 2021R1A2C3011585)supported by the Technology Innovation Program (20015577)funded by the Ministry of Trade,Industry&Energy (MOTIE,Korea)。
文摘This review explores glucose monitoring and management strategies,emphasizing the need for reliable and userfriendly wearable sensors that are the next generation of sensors for continuous glucose detection.In addition,examines key strategies for designing glucose sensors that are multi-functional,reliable,and cost-effective in a variety of contexts.The unique features of effective diabetes management technology are highlighted,with a focus on using nano/biosensor devices that can quickly and accurately detect glucose levels in the blood,improving patient treatment and control of potential diabetes-related infections.The potential of next-generation wearable and touch-sensitive nano biomedical sensor engineering designs for providing full control in assessing implantable,continuous glucose monitoring is also explored.The challenges of standardizing drug or insulin delivery doses,low-cost,real-time detection of increased blood sugar levels in diabetics,and early digital health awareness controls for the adverse effects of injectable medication are identified as unmet needs.Also,the market for biosensors is expected to expand significantly due to the rising need for portable diagnostic equipment and an ever-increasing diabetic population.The paper concludes by emphasizing the need for further research and development of glucose biosensors to meet the stringent requirements for sensitivity and specificity imposed by clinical diagnostics while being cost-effective,stable,and durable.
基金funded by Anhui Provincial Natural Science Foundation(No.2208085ME128)the Anhui University-Level Special Project of Anhui University of Science and Technology(No.XCZX2021-01)+1 种基金the Research and the Development Fund of the Institute of Environmental Friendly Materials and Occupational Health,Anhui University of Science and Technology(No.ALW2022YF06)Anhui Province New Era Education Quality Project(Graduate Education)(No.2022xscx073).
文摘The real-time detection and instance segmentation of strawberries constitute fundamental components in the development of strawberry harvesting robots.Real-time identification of strawberries in an unstructured envi-ronment is a challenging task.Current instance segmentation algorithms for strawberries suffer from issues such as poor real-time performance and low accuracy.To this end,the present study proposes an Efficient YOLACT(E-YOLACT)algorithm for strawberry detection and segmentation based on the YOLACT framework.The key enhancements of the E-YOLACT encompass the development of a lightweight attention mechanism,pyramid squeeze shuffle attention(PSSA),for efficient feature extraction.Additionally,an attention-guided context-feature pyramid network(AC-FPN)is employed instead of FPN to optimize the architecture’s performance.Furthermore,a feature-enhanced model(FEM)is introduced to enhance the prediction head’s capabilities,while efficient fast non-maximum suppression(EF-NMS)is devised to improve non-maximum suppression.The experimental results demonstrate that the E-YOLACT achieves a Box-mAP and Mask-mAP of 77.9 and 76.6,respectively,on the custom dataset.Moreover,it exhibits an impressive category accuracy of 93.5%.Notably,the E-YOLACT also demonstrates a remarkable real-time detection capability with a speed of 34.8 FPS.The method proposed in this article presents an efficient approach for the vision system of a strawberry-picking robot.
基金support from the National Natural Science Foundation of China (No.52204202)the Hunan Provincial Natural Science Foundation of China (No.2023JJ40058)the Science and Technology Program of Hunan Provincial Departent of Transportation (No.202122).
文摘In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.
基金supported by the National Magnetic Confinement Fusion Program of China(No.2019YFE03020002)the National Natural Science Foundation of China(Nos.12205085 and12125502)。
文摘Fast neutron flux measurements with high count rates and high time resolution have important applications in equipment such as tokamaks.In this study,real-time neutron and gamma discrimination was implemented on a self-developed 500-Msps,12-bit digitizer,and the neutron and gamma spectra were calculated directly on an FPGA.A fast neutron flux measurement system with BC-501A and EJ-309 liquid scintillator detectors was developed and a fast neutron measurement experiment was successfully performed on the HL-2 M tokamak at the Southwestern Institute of Physics,China.The experimental results demonstrated that the system obtained the neutron and gamma spectra with a time accuracy of 1 ms.At count rates of up to 1 Mcps,the figure of merit was greater than 1.05 for energies between 50 keV and 2.8 MeV.
基金National Natural Science Foundation of China under Grant No.52178114Jiangsu Association for Science and Technology Youth Science and Technology Talent Support Project No.2021-79。
文摘Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing methods have limitations in obtaining this local assessment in either the time domain or frequency domain.In this study,the instantaneous frequency is introduced to determine local control parameters for actuator tracking assessment in a real-time hybrid simulation.Instantaneous properties,including amplitude,delay,frequency and phase,are then calculated based on analytic signals translated from actuator tracking signals through the Hilbert transform.Potential issues are discussed and solutions are proposed for calculation of local control parameters.Numerical simulations are first conducted for sinusoidal and chirp signals with time varying amplitude error and delay to demonstrate the potential of the proposed method.Laboratory tests also are conducted for a predefined random signal as well as the RTHS of a single degree of freedom structure with a self-centering viscous damper to experimentally verify the effectiveness of the proposed use of the instantaneous frequency.Results from the ensuing analysis clearly demonstrate that the instantaneous frequency provides great potential for local control assessment,and the proposed method enables local tracking parameters with good accuracy.
基金supported by theKorea Industrial Technology Association(KOITA)Grant Funded by the Korean government(MSIT)(No.KOITA-2023-3-003)supported by the MSIT(Ministry of Science and ICT),Korea,under the ITRC(Information Technology Research Center)Support Program(IITP-2024-2020-0-01808)Supervised by the IITP(Institute of Information&Communications Technology Planning&Evaluation)。
文摘The advancement of navigation systems for the visually impaired has significantly enhanced their mobility by mitigating the risk of encountering obstacles and guiding them along safe,navigable routes.Traditional approaches primarily focus on broad applications such as wayfinding,obstacle detection,and fall prevention.However,there is a notable discrepancy in applying these technologies to more specific scenarios,like identifying distinct food crop types or recognizing faces.This study proposes a real-time application designed for visually impaired individuals,aiming to bridge this research-application gap.It introduces a system capable of detecting 20 different food crop types and recognizing faces with impressive accuracies of 83.27%and 95.64%,respectively.These results represent a significant contribution to the field of assistive technologies,providing visually impaired users with detailed and relevant information about their surroundings,thereby enhancing their mobility and ensuring their safety.Additionally,it addresses the vital aspects of social engagements,acknowledging the challenges faced by visually impaired individuals in recognizing acquaintances without auditory or tactile signals,and highlights recent developments in prototype systems aimed at assisting with face recognition tasks.This comprehensive approach not only promises enhanced navigational aids but also aims to enrich the social well-being and safety of visually impaired communities.
基金supported by the Nano&Material Technology Development Program through the National Research Foundation of Korea(NRF)funded by Ministry of Science and ICT(RS-2024-00405016)supported by“Cooperative Research Program for Agriculture Science and Technology Development(Project No.PJ01706703)”Rural Development Administration,Republic of Korea.The Inter-University Semiconductor Research Center and Institute of Engineering Research at Seoul National University provided research facilities for this work.
文摘Micro-light-emitting diodes(μLEDs)have gained significant interest as an activation source for gas sensors owing to their advantages,including room temperature operation and low power consumption.However,despite these benefits,challenges still exist such as a limited range of detectable gases and slow response.In this study,we present a blueμLED-integrated light-activated gas sensor array based on SnO_(2)nanoparticles(NPs)that exhibit excellent sensitivity,tunable selectivity,and rapid detection with micro-watt level power consumption.The optimal power forμLED is observed at the highest gas response,supported by finite-difference time-domain simulation.Additionally,we first report the visible light-activated selective detection of reducing gases using noble metal-decorated SnO_(2)NPs.The noble metals induce catalytic interaction with reducing gases,clearly distinguishing NH3,H2,and C2H5OH.Real-time gas monitoring based on a fully hardwareimplemented light-activated sensing array was demonstrated,opening up new avenues for advancements in light-activated electronic nose technologies.
基金supported by National Key Research & Development Program-Intergovernmental International Science and Technology Innovation Cooperation Project (2021YFE0112800)National Natural Science Foundation of China (Key Program: 62136003)+2 种基金National Natural Science Foundation of China (62073142)Fundamental Research Funds for the Central Universities (222202417006)Shanghai Al Lab
文摘The gasoline inline blending process has widely used real-time optimization techniques to achieve optimization objectives,such as minimizing the cost of production.However,the effectiveness of real-time optimization in gasoline blending relies on accurate blending models and is challenged by stochastic disturbances.Thus,we propose a real-time optimization algorithm based on the soft actor-critic(SAC)deep reinforcement learning strategy to optimize gasoline blending without relying on a single blending model and to be robust against disturbances.Our approach constructs the environment using nonlinear blending models and feedstocks with disturbances.The algorithm incorporates the Lagrange multiplier and path constraints in reward design to manage sparse product constraints.Carefully abstracted states facilitate algorithm convergence,and the normalized action vector in each optimization period allows the agent to generalize to some extent across different target production scenarios.Through these well-designed components,the algorithm based on the SAC outperforms real-time optimization methods based on either nonlinear or linear programming.It even demonstrates comparable performance with the time-horizon based real-time optimization method,which requires knowledge of uncertainty models,confirming its capability to handle uncertainty without accurate models.Our simulation illustrates a promising approach to free real-time optimization of the gasoline blending process from uncertainty models that are difficult to acquire in practice.
基金the National Natural Science Foundation of China(Nos.52122402,12172334,52034010,52174051)Shandong Provincial Natural Science Foundation(Nos.ZR2021ME029,ZR2022JQ23)Fundamental Research Funds for the Central Universities(No.22CX01001A-4)。
文摘The phase behavior of gas condensate in reservoir formations differs from that in pressure-volume-temperature(PVT)cells because it is influenced by porous media in the reservoir formations.Sandstone was used as a sample to investigate the influence of porous media on the phase behavior of the gas condensate.The pore structure was first analyzed using computed tomography(CT)scanning,digital core technology,and a pore network model.The sandstone core sample was then saturated with gas condensate for the pressure depletion experiment.After each pressure-depletion state was stable,realtime CT scanning was performed on the sample.The scanning results of the sample were reconstructed into three-dimensional grayscale images,and the gas condensate and condensate liquid were segmented based on gray value discrepancy to dynamically characterize the phase behavior of the gas condensate in porous media.Pore network models of the condensate liquid ganglia under different pressures were built to calculate the characteristic parameters,including the average radius,coordination number,and tortuosity,and to analyze the changing mechanism caused by the phase behavior change of the gas condensate.Four types of condensate liquid(clustered,branched,membranous,and droplet ganglia)were then classified by shape factor and Euler number to investigate their morphological changes dynamically and elaborately.The results show that the dew point pressure of the gas condensate in porous media is 12.7 MPa,which is 0.7 MPa higher than 12.0 MPa in PVT cells.The average radius,volume,and coordination number of the condensate liquid ganglia increased when the system pressure was between the dew point pressure(12.7 MPa)and the pressure for the maximum liquid dropout,Pmax(10.0 MPa),and decreased when it was below Pmax.The volume proportion of clustered ganglia was the highest,followed by branched,membranous,and droplet ganglia.This study provides crucial experimental evidence for the phase behavior changing process of gas condensate in porous media during the depletion production of gas condensate reservoirs.
基金the National Natural Science Fund of China(61471080)Training Plan for Young Backbone Teachers in Colleges and Universities of Henan Province(2018GGJS171).
文摘To solve the problem of data fusion for prior information such as track information and train status in train positioning,an adaptive H∞filtering algorithm with combination constraint is proposed,which fuses prior information with other sensor information in the form of constraints.Firstly,the train precise track constraint method of the train is proposed,and the plane position constraint and train motion state constraints are analysed.A model for combining prior information with constraints is established.Then an adaptive H∞filter with combination constraints is derived based on the adaptive adjustment method of the robustness factor.Finally,the positioning effect of the proposed algorithm is simulated and analysed under the conditions of a straight track and a curved track.The results show that the positioning accuracy of the algorithm with constrained filtering is significantly better than that of the algorithm without constrained filtering and that the algorithm with constrained filtering can achieve better performance when combined with track and condition information,which can significantly reduce the train positioning error.The effectiveness of the proposed algorithm is verified.
