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This study aimed to design and fabricate planar constricted–expanded structures that are integrated into paper-based channels in order to enhance their chaotic advection and improve their mixing performance. Chromatography papers were used to print paper-based microfluidics using a solid-wax printer. Three different constricted–expanded structures—i.e., zigzag, crossed, and curved channels—were designed in order to evaluate their mixing performance in comparison with that of straight channels. A numerical simulation was performed in order to investigate the mixing mechanism, and to examine the ways in which the planar constricted–expanded structures affected the flow patterns. The experimental and numerical results indicated that the proposed structures can successfully mix confluents. The experimental results revealed that the mixing indices (σ) rose from the initial 20.1% (unmixed) to 34.5%, 84.3%, 87.3%, and 92.4% for the straight, zigzag, curved, and cross-shaped channels, respectively. In addition, the numerical calculations showed a reasonable agreement with the experimental results, with a variation in the range of 1.0–11.0%. In future, we hope that the proposed passive paper-based mixers will be a crucial component in the application of paper-based microfluidic devices. [ABSTRACT FROM AUTHOR]

Active disturbance rejection control (ADRC) is widely used in airborne optoelectronic stabilization platforms due to its minimal reliance on the mathematical model of the controlled object. The extended state observer (ESO) is the core of ADRC, which treats internal parameter variations and external disturbances as total disturbances, observes the disturbances as extended states, and then compensates them into the control loop to eliminate their effects. However, the ESO can only achieve a precise estimation of constant or slowly varying disturbances. When the disturbance is periodically changing, satisfactory results cannot be obtained. In this paper, a generalized high-order extended state observer (GHOESO) is proposed to achieve the precise estimation of known frequency sinusoidal disturbance signals and improve disturbance suppression levels. Through numerical simulations, a traditional ESO and GHOESO are compared in terms of disturbance observation capability and disturbance suppression ability for single and compound disturbances based on our prior knowledge of disturbance frequency. The effectiveness of the proposed GHOESO method is verified. Finally, the algorithm is applied to an airborne optoelectronic stabilization platform for a 1°/1 Hz swing experiment on a space hexapod swing table. The experimental results demonstrate the superiority of the GHOESO proposed in this paper. [ABSTRACT FROM AUTHOR]

Augmented reality (AR) technology has been widely applied across a variety of fields, with head-up displays (HUDs) being one of its prominent uses, offering immersive three-dimensional (3D) experiences and interaction with digital content and the real world. AR-HUDs face challenges such as limited field of view (FOV), small eye-box, bulky form factor, and absence of accommodation cue, often compromising trade-offs between these factors. Recently, optical waveguide based on pupil replication process has attracted increasing attention as an optical element for its compact form factor and exit-pupil expansion. Despite these advantages, current waveguide displays struggle to integrate visual information with real scenes because they do not produce accommodation-capable virtual content. In this paper, we introduce a lensless accommodation-capable holographic system based on a waveguide. Our system aims to expand the eye-box at the optimal viewing distance that provides the maximum FOV. We devised a formalized CGH algorithm based on bold assumption and two constraints and successfully performed numerical observation simulation. In optical experiments, accommodation-capable images with a maximum horizontal FOV of 7.0 degrees were successfully observed within an expanded eye-box of 9.18 mm at an optimal observation distance of 112 mm. [ABSTRACT FROM AUTHOR]

Investigating aircraft flight dynamics often requires dynamic wind tunnel testing. This paper proposes a non-contact, off-board instrumentation method using vision-based techniques. The method utilises a sequential process of Harris corner detection, Kanade–Lucas–Tomasi tracking, and quaternions to identify the Euler angles from a pair of cameras, one with a side view and the other with a top view. The method validation involves simulating a 3D CAD model for rotational motion with a single degree-of-freedom. The numerical analysis quantifies the results, while the proposed approach is analysed analytically. This approach results in a 45.41% enhancement in accuracy over an earlier direction cosine matrix method. Specifically, the quaternion-based method achieves root mean square errors of 0.0101 rad/s, 0.0361 rad/s, and 0.0036 rad/s for the dynamic measurements of roll rate, pitch rate, and yaw rate, respectively. Notably, the method exhibits a 98.08% accuracy for the pitch rate. These results highlight the performance of quaternion-based attitude estimation in dynamic wind tunnel testing. Furthermore, an extended Kalman filter is applied to integrate the generated on-board instrumentation data (inertial measurement unit, potentiometer gimbal) and the results of the proposed vision-based method. The extended Kalman filter state estimation achieves root mean square errors of 0.0090 rad/s, 0.0262 rad/s, and 0.0034 rad/s for the dynamic measurements of roll rate, pitch rate, and yaw rate, respectively. This method exhibits an improved accuracy of 98.61% for the estimation of pitch rate, indicating its higher efficiency over the standalone implementation of the direction cosine method for dynamic wind tunnel testing. [ABSTRACT FROM AUTHOR]

Impulsive blind deconvolution (IBD) is a popular method to recover impulsive sources for bearing fault diagnosis. Its underpinnings are in the design of objective functions based on prior knowledge of impulsive sources and a transfer function to describe transmission path influences. However, popular objective functions cannot retain waveform impulsiveness and periodicity cyclostationarity simultaneously, and the single convolution operation of IBD methods is insufficient to describe transmission paths composed of multiple linear and nonlinear units. Inspired by the MaxPooling period modulation intensity (MPMI) and convolutional sparse learning (CSL), an adaptive multi-D-norm-driven sparse unfolding deconvolution network (AMD-SUDN) is proposed in this paper. The core strategy is that one target vector with simultaneous impulsiveness and cyclostationarity is constructed automatically through the MPMI; then, this vector is substituted into the multi D-norm to design objective functions. Moreover, an iterative soft threshold algorithm (ISTA) for the CSL model is derived, and its iterative steps are unfolded into one deconvolution network. The algorithm's performance and the hyperparameter configuration are investigated by a set of numerical simulations. Finally, the proposed AMD-SUDN is applied to detect the impulsive features of bearing faults. All comparative results verify that the proposed AMD-SUDN achieves a better deconvolution accuracy than state-of-the-art IBD methods. [ABSTRACT FROM AUTHOR]

The Wi-SUN FAN (Wireless Smart Ubiquitous Network Field Area Network) standard is attracting great interest in various applications such as smart meters, smart cities and Internet of Things (IoT) devices due to the attractive features that the standard offers, such as multihop and mesh topologies, a relatively high data rate, frequency hopping, and interoperability between manufacturers. However, the process of connecting nodes in Wi-SUN FAN networks, which includes discovering, joining, and forming the network, has been shown to be slow, especially in multihop environments, which has motivated research and experimentation to analyze this process. In the existing literature, to measure network formation time, some authors have performed experiments with up to 100 devices, which is a costly and time-consuming methodology. Others have used simulation tools that are difficult to replicate, because little information is available about the methodology used or because they are proprietary. Despite these efforts, there is still a lack of information to adequately assess the formation time of Wi-SUN FAN networks, since the experimental tests reported in the literature are expensive and time-consuming. Therefore, alternatives such as computer simulation have been explored to speed up performance analysis in different scenarios. With this perspective, this paper is focused on the implementation of the Wi-SUN FAN network formation process using the Contiki-NG open source operating system and the Cooja simultor, where a functionality was added that makes it possible to efficiently analyze the network performance, thereby facilitating the implementation of new techniques to reduce network training time. The simulation tool was integrated into Contiki-NG and has been used to estimate the network formation times in various indoor environments. The correspondence between the experimental and numerical results obtained shows that our proposal is efficient to study the formation process of this type of networks. [ABSTRACT FROM AUTHOR]

This paper considers locating an underwater target, where many sonobuoys are positioned to measure the bearing of the target's sound. A sonobuoy has very low bearing accuracy, such as 10 degrees. In practice, we can use multiple heterogeneous sonobuoys, such that the variance of a sensor noise may be different from that of another sensor. In addition, the maximum sensing range of a sensor may be different from that of another sensor. The true target must exist within the sensing range of a sensor if the sensor detects the bearing of the target. In order to estimate the target position based on bearings-only measurements with low accuracy, this paper introduces a novel target localization approach based on multiple Virtual Measurement Sets (VMS). Here, each VMS is derived considering the bearing measurement noise of each sonar sensor. As far as we know, this paper is novel in locating a target's 2D position based on heterogeneous sonobuoy sensors with low accuracy, considering the maximum sensing range of a sensor. The superiority (considering both time efficiency and location accuracy) of the proposed localization is verified by comparing it with other state-of-the-art localization methods using computer simulations. [ABSTRACT FROM AUTHOR]

The paper introduces a step-down converter that exhibits a static conversion ratio of cubic nature, providing an output voltage which is much closer to the input voltage, and at the same duty cycle, compared to a wide class of one-transistor buck-type topologies. Although the proposed topology contains many components, its control is still simple, as it employs only one transistor. A dc analysis is performed, the semiconductor stresses are derived in terms of input and output voltages and output power, revealing that the semiconductor voltage stresses remain acceptable and anyway lower than in other cubic buck topology. All detailed design equations are provided. The state-space approach is used to analyze the converter in the presence of conduction losses and a procedure for calculating the individual power dissipation is provided. The feasibility of the proposed cubic buck topology is first validated by computer simulation and finally confirmed by an experimental 12 V–10 W prototype. [ABSTRACT FROM AUTHOR]

In this paper, the asymptotic consensus control of multi-agent systems with general linear agent dynamics is investigated. A neighbor-based adaptive event-triggering strategy with a dynamic triggering threshold is proposed, which leads to a fully distributed control of the multi-agent system, depending only on the states of the neighboring agents at triggering moments. By using the Lyapunov method, we prove that the states of the agents converge asymptotically. In addition, the proposed event-triggering strategy is proven to exclude Zeno behavior. The numerical simulation results illustrate that the agent states achieve consensus in sense of asymptotic convergence. Furthermore, the proposed strategy is shown to be scalable in case of variable agent numbers. [ABSTRACT FROM AUTHOR]

In this paper, we present a consistent methodology for the reliable design of 6G-oriented filters with enhanced endurance to construction imperfections. The systematic formulation does not depend on the filter's operating frequency and employs a robust strategy for obtaining new roots and poles of the filtering function. Essentially, it requires that all the local maxima of the filtering function do not fluctuate beyond the design attenuation levels for a set of predefined roots/poles distortions. To this purpose, two novel algorithms for the derivation of the appropriate filtering functions are developed, in the prior basis, together with a versatile optimization criterion and a heuristic comparison approach that guarantee optimal outcomes. Specifically, the principal idea of the first technique is to accurately extract the roots of the new polynomial from a system of equations on condition that the maximum local peaks of the distorted (due to imperfections) initial polynomial are below a prefixed threshold, such as the unit. Conversely, the second method develops an alternative polynomial, compressed in the amplitude and frequency range, so that a similar prerequisite regarding the maximum local peaks, is satisfied. It is stressed that both methods are fully generalized and may be applied to any polynomial combination, without increasing the overall complexity. The proposed framework is successfully verified in terms of theoretical examples and the numerical simulation of realistic waveguide and mictrostrip line filters, operating at frequencies from 2 GHz to 65 GHz, which unveil its superiority over existing schemes and implementations. [ABSTRACT FROM AUTHOR]

Close-range photogrammetry methods are widely used for non-contact and accurate measurements of surface shapes. These methods are based on calculating the three-dimensional coordinates of an object from two-dimensional images using special digital processing algorithms. Due to the relatively complex measurement principle, the accurate estimation of the photogrammetric measurement error is a non-trivial task. Typically, theoretical estimations or computer modelling are used to solve this problem. However, these approaches cannot provide an accurate estimate because it is impossible to consider all factors that influence the measurement results. To solve this problem, we propose the use of physical modelling. The measurement results from the photogrammetric system under test were compared with the results of a more accurate reference measurement method. This comparison allowed the error to be estimated under controlled conditions. The test object was a flexible surface whose shape could vary smoothly over a wide range. The estimation of the measurement accuracy for a large number of different surface shapes allows us to obtain new results that are difficult to obtain using standard approaches. To implement the proposed approach, a laboratory system for the error estimation of close-range photogrammetric measurements was developed. The paper contains a detailed description of the developed system and the proposed technique for a comparison of the measurement results. The error in the reference method, which was chosen to be phasogrammetry, was evaluated experimentally. Experimental testing of the stereo photogrammetric system was performed according to the proposed technique. The obtained results show that the proposed technique can reveal dependencies that may not be detected by standard approaches. [ABSTRACT FROM AUTHOR]

This paper describes a design process for a universal development kit based on an analog computer concept that can model the dynamics of an arbitrarily complex dynamical system up to the fourth order. The constructed development kit contains digital blocks and associated analog-to-digital and digital-to-analog converters (ADCs and DAC), such that multiple-segmented piecewise-linear input–output characteristics can be used for the synthesis of the prescribed mathematical model. Polynomial input–output curves can be implemented easily by four-quadrant analog multipliers. The proposed kit was verified through several experimental scenarios, starting with simple sinusoidal oscillators and ending with generators of continuous-time robust chaotic attractors. The description of each individual part of the development kit is accompanied by links to technical documentation, allowing skilled readers in the construction of electronic systems to replicate the proposed functional example. For this purpose, the electrical scheme of the hybrid analog computer and all important source codes are available online. [ABSTRACT FROM AUTHOR]

In this paper, we derive the Cramér–Rao lower bounds (CRLB) for direction of arrival (DoA) estimation by using sparse Bayesian learning (SBL) and the Laplace prior. CRLB is a lower bound on the variance of the estimator, the change of CRLB can indicate the effect of the specific factor to the DoA estimator, and in this paper a Laplace prior and the three-stage framework are used for the DoA estimation. We derive the CRLBs under different scenarios: (i) if the unknown parameters consist of deterministic and random variables, a hybrid CRLB is derived; (ii) if all the unknown parameters are random, a Bayesian CRLB is derived, and the marginalized Bayesian CRLB is obtained by marginalizing out the nuisance parameter. We also derive the CRLBs of the hyperparameters involved in the three-stage model and explore the effect of multiple snapshots to the CRLBs. We compare the derived CRLBs of SBL, finding that the marginalized Bayesian CRLB is tighter than other CRLBs when SNR is low and the differences between CRLBs become smaller when SNR is high. We also study the relationship between the mean squared error of the source magnitudes and the CRLBs, including numerical simulation results with a variety of antenna configurations such as different numbers of receivers and different noise conditions. [ABSTRACT FROM AUTHOR]

Current MEMS (Micro Electro Mechanical Systems) can be modeled by state-dependent elements that exhibit hysteretic behavior. Examples include capacitors and inductors whose capacitances and inductances are dependent on the instantaneous state of the electromechanical system, resistors whose resistances exhibit temperature changes when the elements are actually heated, etc. Regardless of the physical background, such hysteresis manifestations can be studied uniformly in the broader framework of generic and extended higher-order elements, in which a classification of hysteretic loops into types I and II is established. The loop type is an important dynamical parameter of an element, having the potential to indicate, for example, its (in)volatility. Thus far, there is no reliable criterion to determine the type of steady loop from the defining relations of an element. This work reports on one special class of extended elements that produces type II loops under all circumstances. The paper presents hitherto unpublished connections between the frequency-doubling parameters of an element and the type of its hysteresis loop. The new findings are expressed by several theorems that allow the type of hysteresis to be inferred from the frequency behavior of the element parameter or state, and vice versa. These procedures are demonstrated with examples and verified by computer simulations. [ABSTRACT FROM AUTHOR]

In this paper, an event-triggered finite-time controller is proposed for solving the formation control problems of underactuated multiple autonomous surface vessels (ASVs), including asymmetric mass matrix, collision avoidance, maintaining communication distances and prescribed performance. First, to not only avoid collisions between the follower and leader but also maintain an effective communication distance, a desired tracking distance is designed to be maintained. Second, an improved barrier Lyapunov function (BLF) is proposed to implement the tracking error constraint. In addition, the relative threshold event-triggering strategy effectively solves the communication pressure problem and greatly saves communication resources. Finally, based on coordinate transformation, line of sight (LOS) and dynamic surface control (DSC), a comprehensive finite-time formation control method is proposed to avoid collisions and maintain communication distance. All the signals of the proposed control system can be stabilized in finite time (PFS). The numerical simulation results verify the effectiveness of the proposed control system. [ABSTRACT FROM AUTHOR]

Full-duplex (FD) communication has been attractive as the breakthrough technology for improving attainable spectral efficiency since the 5G mobile communication system. Previous research focused on self-interference cancellation and medium access control (MAC) protocol to realize the FD system in wireless networks. This paper proposes an optimal achievable transmission capacity (OATC) scheme for capacity optimization in the FD multihop wireless networks. In this paper, the proposed OATC scheme considers the temporal reuse for spectral efficiency and the spatial reuse with transmit power control scheme for interference mitigation and capacity optimization. OATC scheme controls the transmit power to mitigate interference and optimizes the transmission capacity, which leads to the optimal achievable network capacity. We conduct the performance evaluation through numerical simulations and compare it with the existing FD MAC protocols. The numerical simulations reveal that considering only the concurrent transmissions in the FD system does not guarantee optimal transmission capacity. Moreover, the hybrid mechanism, including the sequential transmissions, is also crucial because of the interference problem. Besides, numerical simulation validates that the proposed OATC scheme accomplishes the optimal achievable network capacity with lower interference power and higher achievable throughput than the existing MAC protocols. [ABSTRACT FROM AUTHOR]

To deal with recent increasing mobile traffic, ultra-broadband communication with millimeter-wave (mmWave) has been regarded as a key technology for 5G cellular networks. In a previous study, a mmWave heterogeneous network was composed of several mmWave small cells overlaid on the coverage of a macro cell. However, as seen from the optical fiber penetration rate worldwide, it is difficult to say that backhaul with Gbps order is available everywhere. In the case of using mmWave access under a limited backhaul capacity, it becomes a bottleneck at the backhaul; thus, mmWave access cannot fully demonstrate its potential. On the other hand, the concept of multi-access edge computing (MEC) has been proposed to decrease the response latency compared to cloud computing by deploying storage and computation resources to the user side of mobile networks. This paper introduces MEC into mmWave heterogeneous networks and proposes a content prefetching algorithm to resolve such backhaul issues. Context information, such as the destination, mobility, and traffic tendency, is shared through the macro cell to the prefetch application and data that the users request. Prefetched data is stored in the MEC and then transmitted via mmWave without a backhaul bottleneck. The effectiveness is verified through computer simulations where we implement realistic user mobility as well as traffic and backhauling models. The results show that the proposed framework achieved 95% system capacity even under the constraint of a 1 Gbps backhaul link. [ABSTRACT FROM AUTHOR]

This paper introduces a Hexa parallel robot and obstacle collision detection method based on dynamic modeling and a computer vision system. The processes to deal with the collision issues refer to collision detection, collision isolation, and collision identification applied to the Hexa robot, respectively, in this paper. Initially, the configuration, kinematic and dynamic characteristics during movement trajectories of the Hexa parallel robot are analyzed to perform the knowledge extraction for the method. Next, a virtual force sensor is presented to estimate the collision detection signal created as a combination of the solution to the inverse dynamics and a low-pass filter. Then, a vision system consisting of dual-depth cameras is designed for obstacle isolation and determining the contact point location at the end-effector, an arm, and a rod of the Hexa robot. Finally, a recursive Newton-Euler algorithm is applied to compute contact forces caused by collision cases with the real-Hexa robot. Based on the experimental results, the force identification is compared to sensor forces for the performance evaluation of the proposed collision detection method. [ABSTRACT FROM AUTHOR]

Currently, phased arrays are increasingly used in ultrasonic nondestructive testing. One of the most important parameters of ultrasonic nondestructive testing with the application of phased arrays is the angular resolution. This paper presents the results of studies of the angular resolution of concave and convex acoustic arrays in ultrasonic testing with the application of the total focusing method. Computer modeling of concave and convex acoustic arrays consisting of 16, 32 and 64 elements with distances between elements of 0.5 and 1 mm and arc radii of 30 and 60 mm have been performed. The results obtained by computer modeling were confirmed via in situ experiments. [ABSTRACT FROM AUTHOR]

This paper presents a novel computational integral imaging reconstruction (CIIR) method using elemental image blending to eliminate the normalization process in CIIR. Normalization is commonly used in CIIR to address uneven overlapping artifacts. By incorporating elemental image blending, we remove the normalization step in CIIR, leading to decreased memory consumption and computational time compared to those of existing techniques. We conducted a theoretical analysis of the impact of elemental image blending on a CIIR method using windowing techniques, and the results showed that the proposed method is superior to the standard CIIR method in terms of image quality. We also performed computer simulations and optical experiments to evaluate the proposed method. The experimental results showed that the proposed method enhances the image quality over that of the standard CIIR method, while also reducing memory usage and processing time. [ABSTRACT FROM AUTHOR]

Compared with non-redundant manipulators, the self-motion of 7-DOF redundant manipulators results in an infinite number of inverse kinematics solutions for a desired end-effector pose. This paper proposes an efficient and accurate analytical solution for inverse kinematics of SSRMS-type redundant manipulators. This solution is applicable to SRS-type manipulators with the same configuration. The proposed method involves introducing an alignment constraint to restrain the self-motion and to decompose the spatial inverse kinematics problem into three independent planar subproblems simultaneously. The resulting geometric equations depend on the part of the joint angles, respectively. These equations are then computed recursively and efficiently using the sequences of (θ 1 , θ 7) , (θ 2 , θ 6) , and (θ 3 , θ 4 , θ 5) , generating up to sixteen sets of solutions for a given desired end-effector pose. Additionally, two complementary methods are proposed for overcoming the possible singular configuration and judging unsolvable poses. Finally, numerical simulations are conducted to investigate the performance of the proposed approach in terms of average calculation time, success rate, average position error, and the ability to plan a trajectory with singular configurations. [ABSTRACT FROM AUTHOR]

This paper investigates the observer-based consensus control problem for linear parameter-varying (LPV) multi-agent systems (MASs) with unknown inputs. Firstly, an interval observer (IO) is designed to generate the state interval estimation for each agent. Secondly, an algebraic relationship is established between the system state and unknown input (UI). Thirdly, an unknown input observer (UIO) capable of generating estimates of UI and the system state has been developed through the algebraic relations. Finally, a UIO-based distributed control protocol scheme is proposed to realize the consensus of the MASs. In the end, to verify the validity of the proposed method, an example of a numerical simulation is given. [ABSTRACT FROM AUTHOR]

Pilot contamination due to pilot reuse seriously mitigates the performance of the cell-free massive multiple-input multiple-output (MIMO) systems. In this paper, we propose a joint pilot assignment scheme that employs user clustering and graph coloring (UC-GC) to reduce pilot contamination. The proposed method consists of two steps: firstly, we utilize AP selection to classify all users; secondly, we assign pilots to users with more severe pilot contamination using the graph coloring algorithm and then assign pilots to the remaining users. The numerical simulation results show that the proposed scheme outperforms existing pilot assignment schemes and significantly improves throughout with low complexity. [ABSTRACT FROM AUTHOR]

Developing radio access technologies that enable reliable and low-latency vehicular communications have become of the utmost importance with the rise of interest in autonomous vehicles. The Third Generation Partnership Project (3GPP) has developed Vehicle to Everything (V2X) specifications based on the 5G New Radio Air Interface (NR-V2X) to support connected and automated driving use cases, with strict requirements to fulfill the constantly evolving vehicular applications, communication, and service demands of connected vehicles, such as ultra-low latency and ultra-high reliability. This paper presents an analytical model for evaluating the performance of NR-V2X communications, with particular reference to the sensing-based semi-persistent scheduling operation defined in the NR-V2X Mode 2, in comparison with legacy sidelink V2X over LTE, specified as LTE-V2X Mode 4. We consider a vehicle platooning scenario and evaluate the impact of multiple access interference on the packet success probability, by varying the available resources, the number of interfering vehicles, and their relative positions. The average packet success probability is determined analytically for LTE-V2X and NR-V2X, taking into account the different physical layer specifications, and the Moment Matching Approximation (MMA) is used to approximate the statistics of the signal-to-interference-plus-noise ratio (SINR) under the assumption of a Nakagami-lognormal composite channel model. The analytical approximation is validated against extensive Matlab simulations that a show good accuracy. The results confirm a boost in performance with NR-V2X against LTE-V2X, particularly for high inter-vehicle distance and a large number of vehicles, providing a concise yet accurate modeling rationale for planning and adaptation of the configuration and parameter setup of vehicle platoons, without having to resort to extensive computer simulation or experimental measurements. [ABSTRACT FROM AUTHOR]

Modal-free optimization algorithms do not require specific mathematical models, and they, along with their other benefits, have great application potential in adaptive optics. In this study, two different algorithms, the single-dimensional perturbation descent algorithm (SDPD) and the second-order stochastic parallel gradient descent algorithm (2SPGD), are proposed for wavefront sensorless adaptive optics, and a theoretical analysis of the algorithms' convergence rates is presented. The results demonstrate that the single-dimensional perturbation descent algorithm outperforms the stochastic parallel gradient descent (SPGD) and 2SPGD algorithms in terms of convergence speed. Then, a 32-unit deformable mirror is constructed as the wavefront corrector, and the SPGD, single-dimensional perturbation descent, and 2SPSA algorithms are used in an adaptive optics numerical simulation model of the wavefront controller. Similarly, a 39-unit deformable mirror is constructed as the wavefront controller, and the SPGD and single-dimensional perturbation descent algorithms are used in an adaptive optics experimental verification device of the wavefront controller. The outcomes demonstrate that the convergence speed of the algorithm developed in this paper is more than twice as fast as that of the SPGD and 2SPGD algorithms, and the convergence accuracy of the algorithm is 4% better than that of the SPGD algorithm. [ABSTRACT FROM AUTHOR]

This paper proposes a robust control allocation for the capture control of the space inertial sensor's test mass under overcritical conditions. Uncertainty factors of the test mass control system under the overcritical condition are analyzed first, and a 6-DOF test mass dynamics model with system uncertainty is established. Subsequently, a time-varying weight function is designed to coordinate the allocation of 6-DOF generalized forces. Moreover, a robust control allocation method is proposed to distribute the commanded forces and torques into individual electrodes in an optimal manner, which takes into account the system uncertainties. This method transforms the robust control allocation problem into a second-order cone optimization problem, and its dual problem is introduced to simplify the computational complexity and improve the solving efficiency. Numerical simulation results are presented to illustrate and highlight the fine performance benefits obtained using the proposed robust control allocation method, which improves capture efficiency, increases the security margin and reduces allocation errors. [ABSTRACT FROM AUTHOR]

A diffuse and continuous monitoring of the in-service structural response of buildings can allow for the early identification of the formation of cracks and collapse mechanisms before the occurrence of severe consequences. In the case of existing masonry constructions, the implementation of tailored Structural Health Monitoring (SHM) systems appears quite significant, given their well-known susceptibility to brittle failures. Recently, a new sensing technology based on smart bricks, i.e., piezoresistive brick-like sensors, was proposed in the literature for the SHM of masonry constructions. Smart bricks can be integrated within masonry to monitor strain and detect cracks. At present, the effectiveness of smart bricks has been proven in different structural settings. This paper contributes to the research by investigating the strain-sensitivity of smart bricks of standard dimensions when inserted in masonry walls subjected to in-plane shear loading. Real-scale masonry walls instrumented with smart bricks and displacement sensors were tested under diagonal compression, and numerical simulations were conducted to interpret the experimental results. At peak condition, numerical models provided comparable strain values to those of smart bricks, i.e., approximately equal to 10−4, with similar trends. Overall, the effectiveness of smart bricks in strain monitoring and crack detection is demonstrated. [ABSTRACT FROM AUTHOR]

This paper proposes a novel hybrid beamforming and relay selection scheme for spectral efficiency maximization in a non-regenerative multi-relay multi-input multi-output (MIMO) system. The analog beamforming component in the radio-frequency (RF) domain must follow an element-wise constant modulus constraint, which makes the underlying design problem mathematically intractable and therefore, it is quite challenging to obtain the global optimal solution. To address this problem, phase-only precoding/combining matrices are derived by maximizing the end-to-end received signal-to-noise ratio (SNR) under transmit power constraint at the source and each relay node. This task is achieved by decomposing the original complicated optimization problem into two independent components. The first component designs the RF precoder/combiner at source and relay nodes by maximizing the received SNR at relay nodes. While the second component attempts to derive the analog precoder/combiner at relay nodes and destination by maximizing the received SNR at the destination. Digital baseband processing matrices are obtained by deriving the closed-form expression, which minimizes interference among different sub-channels. Finally, the relay selection is made by maximizing the overall SNR from the source to the destination. Computer simulations reveal that the performance of the proposed algorithm is close to its fully digital counterpart and approximately 6% higher than the specified relay-assisted hybrid beamforming techniques. Moreover, the proposed method achieves more than 15% higher performance in a sparse scattering environment when compared with the given relay selection techniques. [ABSTRACT FROM AUTHOR]

In this paper, an optimal-damage-effectiveness cooperative-control strategy based on a damage-efficiency model and a virtual-force method is proposed to solve the pursuit–evasion problem with multiple guided missiles. Firstly, different from the overly ideal assumption in the traditional pursuit–evasion problem, an optimization problem that maximizes the damage efficiency is established and solved, making the optimal-damage-effectiveness strategy more meaningful for practical applications. Secondly, a modified virtual-force method is proposed to obtain this optimal-damage-effectiveness control strategy, which solves the numerical solution challenges brought by the high-complexity damage function. Thirdly, adaptive gain is designed in this strategy based on guidance-integrated fuze technology to achieve robust maximum damage efficiency in unpredictable interception conditions. Finally, the effectiveness and robustness of the proposed strategy are verified by numerical simulations. [ABSTRACT FROM AUTHOR]

Road discrepancies such as potholes and road cracks are often present in our day-to-day commuting and travel. The cost of damage repairs caused by potholes has always been a concern for owners of any type of vehicle. Thus, an early detection processes can contribute to the swift response of road maintenance services and the prevention of pothole related accidents. In this paper, automatic detection of potholes is performed using the computer vision model library, You Look Only Once version 3, also known as Yolo v3. Light and weather during driving naturally affect our ability to observe road damage. Such adverse conditions also negatively influence the performance of visual object detectors. The aim of this work was to examine the effect adverse conditions have on pothole detection. The basic design of this study is therefore composed of two main parts: (1) dataset creation and data processing, and (2) dataset experiments using Yolo v3. Additionally, Sparse R-CNN was incorporated into our experiments. For this purpose, a dataset consisting of subsets of images recorded under different light and weather was developed. To the best of our knowledge, there exists no detailed analysis of pothole detection performance under adverse conditions. Despite the existence of newer libraries, Yolo v3 is still a competitive architecture that provides good results with lower hardware requirements. [ABSTRACT FROM AUTHOR]

This paper proposes to use deep reinforcement learning to teach a physics-based human musculoskeletal model to ascend stairs and ramps. The deep reinforcement learning architecture employs the proximal policy optimization algorithm combined with imitation learning and is trained with experimental data of a public dataset. The human model is developed in the open-source simulation software OpenSim, together with two objects (i.e., the stairs and ramp) and the elastic foundation contact dynamics. The model can learn to ascend stairs and ramps with muscle forces comparable to healthy subjects and with a forward dynamics comparable to the experimental training data, achieving an average correlation of 0.82 during stair ascent and of 0.58 during ramp ascent across both the knee and ankle joints. [ABSTRACT FROM AUTHOR]

Short-range biomimetic covert communications have been developed using dolphin whistles for underwater acoustic covert communications. Due to a channel characteristics difference by range, the conventional short-range methods cannot be directly applied to long-range communications. To enable long-range biomimicking communication, overcoming the large multipath delay and a high degree of mimic (DoM) in the low-frequency band is required. This paper proposes a novel biomimetic communication method that preserves a low bit-error rate (BER) with a large DoM in the low-frequency band. For the transmission, the proposed method utilizes the time-dependent frequency change of the whistle, and its receiver obtains additional SNR gain from the multipath delay. Computer simulations and practical ocean experiments were executed to demonstrate that the BER performance of the proposed method is better than the conventional methods. For the DoM assessment, the novel machine learning-based method was utilized, and the result shows that the whistles generated by the proposed method were recognized as the actual whistle of the right humpback whale. [ABSTRACT FROM AUTHOR]

The IEEE 802.11ah is an amendment to the IEEE 802.11 standard to support the growth of the Internet of Things (IoT). One of its main novelties is the restricted access window (RAW), which is a channel access feature designed to reduce channel contention by dividing stations into RAW groups. Each RAW group is further divided into RAW slots, and stations only attempt channel access during the RAW slot they were assigned to. In this paper, we propose a discrete-time Markov chain model to evaluate the average aggregate throughput of IEEE 802.11ah networks using the RAW mechanism under saturated traffic and ideal channel conditions. The proposed analytical model describes the behavior of an active station within its assigned RAW slot. A key aspect of the model is the consideration of the event of RAW slot time completion during a station's backoff operation. We study the average aggregate network throughput for various numbers of RAW slots and stations in the network. The numerical results derived from our analytical model are compared to computer simulations based on an IEEE 802.11ah model developed for the ns-3 simulator by other researchers, and its performance is also compared to two other analytical models proposed in the literature. The presented results indicate that the proposed analytical model reaches the closest agreement with independently-derived computer simulations. [ABSTRACT FROM AUTHOR]

This paper studies the problem of maximizing the energy utilization for data transmission in sensors with periodical wireless charging process while taking into account the thermal effect. Two classes of problems are analyzed: one is the case that wireless charging can process for only a limited period of time, and the other is the case that wireless charging can process for a long enough time. Algorithms are proposed to solve the problems and analysis of these algorithms are also provided. For the first problem, three subproblems are studied, and, for the general problem, we give an algorithm that can derive a performance bound of (1−1/2m)(OPT−E) compared to an optimal solution. In addition, for the second problem, we provide an algorithm with 2m/2m−1OPT+1 performance bound for the general problem. Simulations confirm the analysis of the algorithms [ABSTRACT FROM AUTHOR]

Underwater acoustic communication network (UACN) has been considered as an essential infrastructure for ocean exploitation. Performance analysis of UACN is important in underwater acoustic network deployment and management. In this paper, we analyze the network throughput of three-dimensional randomly deployed transmitter-receiver pairs. Due to the long delay of acoustic channels, complicated networking protocols with heavy signaling overhead may not be appropriate. In this paper, we consider only one-hop or two-hop transmission, to save the signaling cost. That is, we assume the transmitter sends the data packet to the receiver by one-hop direct transmission, or by two-hop transmission via mobile relays. We derive the closed-form formulation of packet delivery rate with respect to the transmission delay and the number of transmitter-receiver pairs. The correctness of the derivation results are verified by computer simulations. Our analysis indicates how to obtain a precise tradeoff between the delay constraint and the network capacity. [ABSTRACT FROM AUTHOR]

Due to its widespread application in communications, radar, etc., the orthogonal frequency division multiplexing (OFDM) signal has become increasingly urgent in the field of localization. Under uniform circular array (UCA) and near-field conditions, this paper presents a closed-form algorithm based on phase difference for estimating the three-dimensional (3-D) location (azimuth angle, elevation angle, and range) of the OFDM signal. In the algorithm, considering that it is difficult to distinguish the frequency of the OFDM signal's subcarriers and the phase-based method is always affected by errors of the frequency estimation, this paper employs sparse representation (SR) to obtain the super-resolution frequencies and the corresponding phases of subcarriers. Further, as the phase differences of the adjacent sensors including azimuth angle, elevation angle and range parameters can be expressed as indefinite equations, the near-field OFDM signal's 3-D location is obtained by employing the least square method, where the phase differences are based on the average of the estimated subcarriers. Finally, the performance of the proposed algorithm is demonstrated by several simulations. [ABSTRACT FROM AUTHOR]

Many modulated signals exhibit a cyclostationarity property, which can be exploited in direction-of-arrival (DOA) estimation to effectively eliminate interference and noise. In this paper, our aim is to integrate the cyclostationarity with the spatial domain and enable the algorithm to estimate more sources than sensors. However, DOA estimation with a sparse array is performed in the coarray domain and the holes within the coarray limit the usage of the complete coarray information. In order to use the complete coarray information to increase the degrees-of-freedom (DOFs), sparsity-aware-based methods and the difference coarray interpolation methods have been proposed. In this paper, the coarray interpolation technique is further explored with cyclostationary signals. Besides the difference coarray model and its corresponding Toeplitz completion formulation, we build up a sum coarray model and formulate a Hankel completion problem. In order to further improve the performance of the structured matrix completion, we define the spatial spectrum sampling operations and the derivative (conjugate) correlation subspaces, which can be exploited to construct orthogonal constraints for the autocorrelation vectors in the coarray interpolation problem. Prior knowledge of the source interval can also be incorporated into the problem. Simulation results demonstrate that the additional constraints contribute to a remarkable performance improvement. [ABSTRACT FROM AUTHOR]

In this paper, an inhomogeneous human body model was presented to investigate the propagation characteristics when the human body was used as an antenna to achieve signal transmission. Specifically, the channel gain of four scenarios, namely, (1) both TX electrode and RX electrode were placed in the air, (2) TX electrode was attached on the human body, and RX electrode was placed in the air, (3) TX electrode was placed in the air, and RX electrode was attached on the human body, (4) both the TX electrode and RX electrode were attached on the human body, were studied through numerical simulation in the frequency range 1 MHz to 90 MHz. Furthermore, the comparisons of input efficiency, accepted efficiency, total efficiency, absorption power of human body, and electric field distribution of different distances of four aforementioned scenarios were explored when the frequency was at 44 MHz. In addition, the influences of different human tissues, electrode position, and the distance between electrode and human body on the propagation characteristics were investigated respectively at 44 MHz. The results showed that the channel gain of Scenario 4 was the maximum when the frequency was from 1 MHz to 90 MHz. The propagation characteristics were almost independent of electrode position when the human body was using as an antenna. However, as the distance between TX electrode and human body increased, the channel gain decreased rapidly. The simulations were verified by experimental measurements. The results showed that the simulations were in agreement with the measurements. [ABSTRACT FROM AUTHOR]

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment. [ABSTRACT FROM AUTHOR]

Using an experiment with thin paper layers and computer simulation, we demonstrate the principal limitations of standard Time Domain Spectroscopy (TDS) based on using a broadband THz pulse for the detection and identification of a substance placed inside a disordered structure. We demonstrate the spectrum broadening of both transmitted and reflected pulses due to the cascade mechanism of the high energy level excitation considering, for example, a three-energy level medium. The pulse spectrum in the range of high frequencies remains undisturbed in the presence of a disordered structure. To avoid false absorption frequencies detection, we apply the spectral dynamics analysis method (SDA-method) together with certain integral correlation criteria (ICC). [ABSTRACT FROM AUTHOR]

The layout of microseismic monitoring (MSM) station networks is very important to ensure the effectiveness of source location inversion; however, it is difficult to meet the complexity and mobility requirements of the technology in this new era. This paper proposes a network optimization method based on the geometric parameters of the proposed sensor-point database. First, according to the monitoring requirements and mine-working conditions, the overall proposed point database and model are built. Second, through the developed model, the proposed coverage area, envelope volume, effective coverage radius, and minimum energy level induction value are comprehensively calculated, and the evaluation reference index is constructed. Third, the effective maximum envelope volume is determined by taking the analyzed limit of monitoring induction energy level as the limit. Finally, the optimal design method is identified and applied to provide a sensor station layout network with the maximum energy efficiency. The method, defined as the S-V-E-R-V model, is verified by a comparison with the existing layout scheme and numerical simulation. The results show that the optimization method has strong practicability and efficiency, compared with the mine's layout following the current method. Simulation experiments show that the optimization effect of this method meets the mine's engineering requirements for the variability, intelligence, and high efficiency of the microseismic monitoring station network layout, and satisfies the needs of event identification and location dependent on the station network. [ABSTRACT FROM AUTHOR]

Permanent Magnet (PM) Brushless Direct Current (BLDC) actuators/motors have many advantages over conventional machines, including high efficiency, easy controllability over a wide range of operating speeds, etc. There are many prototypes for such motors; some of them have a very complicated construction, and this ensures their high efficiency. However, in the case of household appliances, the most important thing is simplicity, and, thus, the lowest price of the design and production. This article presents a comparison of computer models of different design solutions for a small PM BLDC motor that uses a rotor in the form of a single ferrite magnet. The analyses were performed by using the finite element method. This paper presents unique self-defined parts of basic PM BLDC actuators. With their help, various design solutions were compared with the PM BLDC motor used in household appliances. The authors proved that the reference device is the lightest one and has a lower cogging torque compared to other actuators, but also has a slightly lower driving torque. [ABSTRACT FROM AUTHOR]

This paper explores three groups of time–frequency distributions: the Cohen's, affine, and reassigned classes of time–frequency representations (TFRs). This study provides detailed insight into the theory behind the selected TFRs belonging to these classes. Extensive numerical simulations were performed with examples that illustrate the behavior of the analyzed TFR classes in the joint time–frequency domain. The methods were applied both on synthetic and real-life non-stationary signals. The obtained results were assessed with respect to time–frequency concentration (measured by the Rényi entropy), instantaneous frequency (IF) estimation accuracy, cross-term presence in the TFRs, and the computational cost of the TFRs. This study gives valuable insight into the advantages and limitations of the analyzed TFRs and assists in selecting the proper distribution when analyzing given non-stationary signals in the time–frequency domain. [ABSTRACT FROM AUTHOR]

The subject of the model research contained in this paper is a new design solution of the energy harvesting system with a star-shaped structure of elastic elements and variable configuration. Numerical experiments focused mainly on the assessment of the configuration of elastic elements in the context of energy harvesting efficiency. The results of computer simulations were limited to zero initial conditions as it is the natural position of the static equilibrium. The article compares the energy efficiency for the selected range of the dimensionless excitation frequency. For this purpose, four cases of elastic element configurations were compared. The results are visualized based on the diagram of RMS voltage induced on piezoelectric electrodes, bifurcation diagrams, Lyapunov exponents, and Poincaré maps, showing the impact of individual solutions on the efficiency of energy harvesting. The results of the simulations show that the harvester's efficiency ranges from 4 V to 20 V depending on the configuration and the frequency range of the excitation, but the design allows for a smooth adjustment to the given conditions. [ABSTRACT FROM AUTHOR]

Given the significant concerns regarding carbon emission from the fossil fuels, global warming and energy crisis, the renewable distributed energy resources (DERs) are going to be integrated in the smart grid. This grid can spread the intelligence of the energy distribution and control system from the central unit to the long-distance remote areas, thus enabling accurate state estimation (SE) and wide-area real-time monitoring of these intermittent energy sources. In contrast to the traditional methods of SE, this paper proposes a novel accuracy dependent Kalman filter (KF) based microgrid SE for the smart grid that uses typical communication systems. Then this article proposes a discrete-time linear quadratic regulation to control the state deviations of the microgrid incorporating multiple DERs. Therefore, integrating these two approaches with application to the smart grid forms a novel contributions in green energy and control research communities. Finally, the simulation results show that the proposed KF based microgrid SE and control algorithm provides an accurate SE and control compared with the existing method. [ABSTRACT FROM AUTHOR]

A GNSS/INS deeply-coupled system can improve the satellite signals tracking performance by INS aiding tracking loops under dynamics. However, there was no literature available on the complete modeling of the INS branch in the INS-aided tracking loop, which caused the lack of a theoretical tool to guide the selections of inertial sensors, parameter optimization and quantitative analysis of INS-aided PLLs. This paper makes an effort on the INS branch in modeling and parameter optimization of phase-locked loops (PLLs) based on the scalar-based GNSS/INS deeply-coupled system. It establishes the transfer function between all known error sources and the PLL tracking error, which can be used to quantitatively evaluate the candidate inertial measurement unit (IMU) affecting the carrier phase tracking error. Based on that, a steady-state error model is proposed to design INS-aided PLLs and to analyze their tracking performance. Based on the modeling and error analysis, an integrated deeply-coupled hardware prototype is developed, with the optimization of the aiding information. Finally, the performance of the INS-aided PLLs designed based on the proposed steady-state error model is evaluated through the simulation and road tests of the hardware prototype. [ABSTRACT FROM AUTHOR]

The electromagnetic acoustic transducer (EMAT), a non-contact NDT tool with large lift-off, is becoming an attractive method for detecting the cracks in the metal parts. However, the lift-off of the transducer has a direct effect on the feature that is used to characterize the defects. A detailed investigation on the relationship between the feature and the lift-off of the EMAT is crucial in the detection process. This paper investigates the lift-off effect on the feature, cut-off frequency of EMAT in the Rayleigh wave. The study can be divided into two parts. Firstly, with a multi-field coupling environment, 2-D electromagnetic and wave generation EMAT models are built to simulate the interaction of the Rayleigh wave with the surface crack. Then, the lift-off effect on the cut-off frequency is investigated through simulation and experiment. Compared to the previous studies, it is found that lift-off would cause a negative result when the lift-off varies in the testing process. Besides, the calibration obtained from the tests at a random lift-off value can be used in other tests with any different lift off value provided that the lift-off is kept as a constant during the detection process. [ABSTRACT FROM AUTHOR]

Unmanned underwater vehicles (UUVs) have rapidly developed as mobile sensor networks recently in the investigation, survey, and exploration of the underwater environment. The goal of this paper is to develop a practical and efficient formation control method to improve work efficiency of multi-UUV sensor networks. Distributed leader-follower formation controllers are designed based on a state feedback and consensus algorithm. Considering that each vehicle is subject to model uncertainties and current disturbances, a second-order integral UUV model with a nonlinear function is established using the state feedback linearized method under current disturbances. For unstable communication among UUVs, communication failure and acoustic link noise interference are considered. Two-layer random switching communication topologies are proposed to solve the problem of communication failure. For acoustic link noise interference, accurate representation of valid communication information and noise stripping when designing controllers is necessary. Effective communication topology weights are designed to represent the validity of communication information interfered by noise. Utilizing state feedback and noise stripping, sufficient conditions for design formation controllers are proposed to ensure UUV formation achieves consensus under model uncertainties, current disturbances, and unstable communication. The stability of formation controllers is proven by the Lyapunov-Razumikhin theorem, and the validity is verified by simulation results. [ABSTRACT FROM AUTHOR]

Social applications play a very important role in people’s lives, as users communicate with each other through social networks on a daily basis. This presents a challenge: How does one receive high-quality service from social networks at a low cost? Users can access different kinds of wireless networks from various locations. This paper proposes a user access management strategy based on network pricing such that networks can increase its income and improve service quality. Firstly, network price is treated as an optimizing access parameter, and an unascertained membership algorithm is used to make pricing decisions. Secondly, network price is adjusted dynamically in real time according to network load. Finally, selecting a network is managed and controlled in terms of the market economy. Simulation results show that the proposed scheme can effectively balance network load, reduce network congestion, improve the user's quality of service (QoS) requirements, and increase the network’s income. [ABSTRACT FROM AUTHOR]

According to the application characteristics of the K-Rb-21Ne comagnetometer, a space-stable navigation mechanization is designed and the requirements of the comagnetometer prototype are presented. By analysing the error propagation rule of the space-stable Inertial Navigation System (INS), the three biases, the scale factor of the z-axis, and the misalignment of the x- and y-axis non-orthogonal with the z-axis, are confirmed to be the main error source. A numerical simulation of the mathematical model for each single error verified the theoretical analysis result of the system’s error propagation rule. Thus, numerical simulation based on the semi-physical data result proves the feasibility of the navigation scheme proposed in this paper. [ABSTRACT FROM AUTHOR]