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Vehicle-road collaboration is a promising approach for enhancing the safety and efficiency of autonomous driving by extending the intelligence of onboard systems to smart roadside infrastructures. The introduction of digital twins (DTs), particularly local DTs (LDTs) at the edge, in smart mobility presents a new embodiment of augmented intelligence, which could enhance information exchange and extract human driving expertise to improve onboard intelligence. This paper presents a novel LDT-assisted hybrid autonomous driving system for improving safety and efficiency in traffic intersections. By leveraging roadside units (RSUs) equipped with sensory and computing capabilities, the proposed system continuously monitors traffic, extracts human driving knowledge, and generates intersection-specific local driving agents through an offline reinforcement learning (RL) framework. When connected and automated vehicles (CAVs) pass through RSU-equipped intersections, RSUs can provide local agents to support safe and efficient driving in local areas. Meanwhile, they provide real-time cooperative perception (CP) to broaden onboard sensory horizons. The proposed LDT-assisted hybrid system is implemented with state-of-the-art products, e.g., CAVs and RSUs, and technologies, e.g., millimeter-wave (mmWave) communications. Hardware-in-the-loop (HiL) simulations and proof-of-concept (PoC) tests validate system performance from two standpoints: (i) The peak latency for CP and local agent downloading are 8.51 ms and 146 ms, respectively, aligning with 3GPP requirements for vehicle-to-everything (V2X) and model transfer use cases. Moreover, (ii) local driving agents can improve safety measures by 10% and reduce travel time by 15% compared with conventional onboard systems. The implemented prototype also demonstrates reliable real-time performance, fulfilling the targets of the proposed system design., Comment: 14 pages, 9 figures

Digital twins (DTs) have driven major advancements across various industrial domains over the past two decades. With the rapid advancements in autonomous driving and vehicle-to-everything (V2X) technologies, integrating DTs into vehicular platforms is anticipated to further revolutionize smart mobility systems. In this paper, a new smart mobility DT (SMDT) platform is proposed for the control of connected and automated vehicles (CAVs) over next-generation wireless networks. In particular, the proposed platform enables cloud services to leverage the abilities of DTs to promote the autonomous driving experience. To enhance traffic efficiency and road safety measures, a novel navigation system that exploits available DT information is designed. The SMDT platform and navigation system are implemented with state-of-the-art products, e.g., CAVs and roadside units (RSUs), and emerging technologies, e.g., cloud and cellular V2X (C-V2X). In addition, proof-of-concept (PoC) experiments are conducted to validate system performance. The performance of SMDT is evaluated from two standpoints: (i) the rewards of the proposed navigation system on traffic efficiency and safety and, (ii) the latency and reliability of the SMDT platform. Our experimental results using SUMO-based large-scale traffic simulations show that the proposed SMDT can reduce the average travel time and the blocking probability due to unexpected traffic incidents. Furthermore, the results record a peak overall latency for DT modeling and route planning services to be 155.15 ms and 810.59 ms, respectively, which validates that our proposed design aligns with the 3GPP requirements for emerging V2X use cases and fulfills the targets of the proposed design. Our demonstration video can be found at https://youtu.be/3waQwlaHQkk., Comment: 15 pages, 10 figures

We propose a data-driven sensor-selection algorithm for accurate estimation of the target variables from the selected measurements. The target variables are assumed to be estimated by a ridge-regression estimator which is trained based on the data. The proposed algorithm greedily selects sensors for minimization of the cost function of the estimator. Sensor selection which prevents the overfitting of the resulting estimator can be realized by setting a positive regularization parameter. The greedy solution is computed in quite a short time by using some recurrent relations that we derive. Furthermore, we show that sensor selection can be accelerated by dimensionality reduction of the target variables without large deterioration of the estimation performance. The effectiveness of the proposed algorithm is verified for two real-world datasets. The first dataset is a dataset of sea surface temperature for sensor selection for reconstructing large data, and the second is a dataset of surface pressure distribution and yaw angle of a ground vehicle for sensor selection for estimation. The experiments reveal that the proposed algorithm outperforms some data-drive selection algorithms including the orthogonal matching pursuit.

The relationships between characteristic large-scale wake structures appearing behind a freestream-aligned circular cylinder are investigated and discussed from the velocity field obtained by wind tunnel tests. The tests were conducted under a supportless condition using a magnetic suspension and balance system and stereo PIV measurements at a Reynolds number of $3.46\times10^4$. The velocity fields were analysed with a modal decomposition combining azimuthal Fourier decomposition and proper orthogonal decomposition. The wake behind the freestream-aligned circular cylinder with three different fineness ratios of 1.0, 1.5 and 2.0 was investigated, and the wake structures in a nonreattaching flow formed by the cylinder at the fineness ratio of 1.0 are mainly discussed in the present study. Four characteristic large-scale wake structures of recirculation bubble pumping, azimuthal shear mode, large-scale vortex shedding and streaks are identified and mainly focused on in the present study. The state of the vortex shedding is classified into three; anticlockwise/clockwise circular and flapping patterns. Each state has a relationship with the azimuthal shear mode and it tends to appear when the state is circular. Furthermore, from the analysis of the relationship between modes, the recirculation bubble pumping is found to be related to the vortex shedding position in the radial direction and the strength of the streaks. Particularly, analysis of causality shows that the recirculation bubble pumping is affected by them in the low-frequency range.

This study investigates a mechanism of controlling separated flows around an airfoil using a synthetic jet (SJ). A large-eddy simulation (LES) was performed for a leading-edge separation flow around a NACA0015 airfoil at the chord Reynolds number of $63,000$ and the angle of attack of $12^\circ$. The present LES resolves a turbulent structure inside a deforming SJ cavity by a sixth-order compact difference scheme with a deforming grid. An optimal actuation-frequency band is identified between $F^+=6.0$ and $20$ (normalised by the chord length and the freestream velocity), which suppresses the separation and drastically improves the lift-to-drag ratio. It was found that in the controlled flows, the laminar separation bubble near the leading edge periodically releases multiple spanwise-uniform vortex structures, which diffuse and merge to generate a single coherent vortex in the period of $F^+$. Such a coherent vortex plays a significant role in exchanging a chordwise momentum between a near-wall surface and the freestream away from the wall. It also entrains smaller turbulent vortices and eventually enhances the turbulent component of the Reynolds stress throughout the suction surface. Linear stability theory (LST) was subsequently compared with the LES result, which clarifies the limitations and applicability of the LST to controlled flows with the present SJ condition. It is also revealed that in the optimal $F^+$ regime, both linear and nonlinear modes are excited in a well-balanced manner, where the first mode is associated with the Kelvin-Helmholtz instability and contributes to a quick and smooth turbulent transition, while the second mode shows a frequency lower than that of the linear mode and encourages a formation of the coherent vortex structure that eventually entrains smaller turbulent vortices.

In this paper, we overview, evaluate, and demonstrate the sparse processing particle image velocimetry (SPPIV) as a real-time flow field estimation method using the particle image velocimetry (PIV), whereas SPPIV was previously proposed with its feasibility study and its real-time demonstration is conducted for the first time in this study. In the wind tunnel test, the PIV measurement and real-time measurement using SPPIV were conducted for the flow velocity field around the NACA0015 airfoil model. The off-line analysis results of the test show that the flow velocity field can be estimated from a small number of processing points by applying SPPIV, and also illustrates the following characteristics of SPPIV. The estimation accuracy improves as the number of processing points increases, whereas the processing time per step increases in proportion to the number of processing points. Therefore, it is necessary to set an optimal number of processing points. In addition, the application of the Kalman filter significantly improves the estimation accuracy with a small number of processing points while suppressing the processing time. When the flow velocity fields with different angles of attack are used as the training data with that of test data, the estimation using SPPIV is found to be reasonable if the difference in angle of attack between the training and test data is equal to or less than 2 deg and the flow phenomena of the training data are similar to that of the test data. For this reason, training data should be prepared at least every 4 deg. Finally, the demonstration of SPPIV as a real-time flow observation was conducted for the first time. In this demonstration, the real-time measurement is found to be possible at a sampling rate of 2000 Hz at 20 or less processing points in the top 10 modes estimation as expected by the off-line analyses., Comment: Accepted manuscript for publication in Experiments in Fluids

A seismic wavefield reconstruction framework based on compressed sensing using the data-driven reduced-order model (ROM) is proposed and its characteristics are investigated through numerical experiments. The data-driven ROM is generated from the dataset of the wavefield using the singular value decomposition. The spatially continuous seismic wavefield is reconstructed from the sparse and discrete observation and the data-driven ROM. The observation sites used for reconstruction are effectively selected by the sensor optimization method for linear inverse problems based on a greedy algorithm. The proposed framework was applied to simulation data of theoretical waveform with the subsurface structure of the horizontally-stratified three layers. The validity of the proposed method was confirmed by the reconstruction based on the noise-free observation. Since the ROM of the wavefield is used as prior information, the reconstruction error is reduced to an approximately lower error bound of the present framework, even though the number of sensors used for reconstruction is limited and randomly selected. In addition, the reconstruction error obtained by the proposed framework is much smaller than that obtained by the Gaussian process regression. For the numerical experiment with noise-contaminated observation, the reconstructed wavefield is degraded due to the observation noise, but the reconstruction error obtained by the present framework with all available observation sites is close to a lower error bound, even though the reconstructed wavefield using the Gaussian process regression is fully collapsed. Although the reconstruction error is larger than that obtained using all observation sites, the number of observation sites used for reconstruction can be reduced while minimizing the deterioration and scatter of the reconstructed data by combining it with the sensor optimization method.

The ``big'' seismic data not only acquired by seismometers but also acquired by vibrometers installed in buildings and infrastructure and accelerometers installed in smartphones will be certainly utilized for seismic research in the near future. Since it is impractical to utilize all the seismic big data in terms of the computational cost, methods which can select observation sites depending on the purpose are indispensable. We propose an observation site selection method for the accurate reconstruction of the seismic wavefield by process-driven approaches. The proposed method selects observation sites suitable for accurately estimating physical model parameters such as subsurface structures and source information to be input into a numerical simulation of the seismic wavefield. The seismic wavefield is reconstructed by the numerical simulation using the parameters estimated based on the observed signals at only observation sites selected by the proposed method. The observation site selection in the proposed method is based on the sensitivity of each observation site candidate to the physical model parameters; the matrix corresponding to the sensitivity is constructed by approximately calculating the derivatives based on the simulations, and then, observation sites are selected by evaluating the quantity of the sensitivity matrix based on the D-optimality criterion proposed in the optimal design of experiments. In the present study, physical knowledge on the sensitivity to the parameters such as seismic velocity, layer thickness, and hypocenter location was obtained by investigating the characteristics of the sensitivity matrix. Furthermore, the effectiveness of the proposed method was shown by verifying the accuracy of seismic wavefield reconstruction using the observation sites selected by the proposed method., Comment: Accepted manuscript for publication in Geophysical Journal International

This study proposes a method for predicting the wind direction against the simple automobile model (Ahmed model) and the surface pressure distributions on it by using data-driven optimized sparse pressure sensors. Positions of sparse pressure sensor pairs on the Ahmed model were selected for estimation of the yaw angle and reconstruction of pressure distributions based on the time-averaged surface pressure distributions database of various yaw angles, whereas the symmetric sensors in the left and right sides of the model were assumed. The surface pressure distributions were obtained by pressure-sensitive paint measurements. Three algorithms for sparse sensor selection based on the greedy algorithm were applied, and the sensor positions were optimized. The sensor positions and estimation accuracy of yaw angle and pressure distributions of three algorithms were compared and evaluated. The results show that a few optimized sensors can accurately predict the yaw angle and the pressure distributions., Comment: to be published in Journal of Wind Engineering & Industrial Aerodynamics

The present study proposed the framework of the spatiotemporal superresolution measurement based on the sparse regression with dimensionality reduction using the proper orthogonal decomposition (POD). The non-time-resolved particle image velocimetry (PIV) and the time-resolved near-field acoustic measurements using microphones were simultaneously performed for a Mach 1.35 supersonic jet. POD is applied to PIV and microphone data matrices and the sparse linear regression model of the reduced-order data is calculated using the least absolute shrinkage and selection operator regression. The effects of the hyperparameters of the superresolution measurement were quantitatively evaluated through randomized cross-validation. The superresolved velocity field indicated the smooth convection of the velocity fluctuations associated with the screech tone, while the convection of the large-scale structures at the downstream side was not observed. The proposed framework can reconstruct the unsteady fluctuation with multiple frequency phenomena, although the reconstruction is limited to the phenomena that are associated with the microphone output.

The present paper proposes a data-driven sensor selection method for a high-dimensional nondynamical system with strongly correlated measurement noise. The proposed method is based on proximal optimization and determines sensor locations by minimizing the trace of the inverse of the Fisher information matrix under a block-sparsity hard constraint. The proposed method can avoid the difficulty of sensor selection with strongly correlated measurement noise, in which the possible sensor locations must be known in advance for calculating the precision matrix for selecting sensor locations. The problem can be efficiently solved by the alternating direction method of multipliers, and the computational complexity of the proposed method is proportional to the number of potential sensor locations when it is used in combination with a low-rank expression of the measurement noise model. The advantage of the proposed method over existing sensor selection methods is demonstrated through experiments using artificial and real datasets.

The randomized group-greedy method and its customized method for large-scale sensor selection problems are proposed. The randomized greedy sensor selection algorithm is applied straightforwardly to the group-greedy method, and a customized method is also considered. In the customized method, a part of the compressed sensor candidates is selected using the common greedy method or other low-cost methods. This strategy compensates for the deterioration of the solution due to compressed sensor candidates. The proposed methods are implemented based on the D- and E-optimal design of experiments, and numerical experiments are conducted using randomly generated sensor candidate matrices with potential sensor locations of 10,000--1,000,000. The proposed method can provide better optimization results than those obtained by the original group-greedy method when a similar computational cost is spent as for the original group-greedy method. This is because the group size for the group-greedy method can be increased as a result of the compressed sensor candidates by the randomized algorithm. Similar results were also obtained in the real dataset. The proposed method is effective for the E-optimality criterion, in which the objective function that the optimization by the common greedy method is difficult due to the absence of submodularity of the objective function. The idea of the present method can improve the performance of all optimizations using a greedy algorithm.

In this study, a nondominated-solution-based multi-objective greedy method is proposed and applied to a sensor selection problem based on the multiple indices of the optimal design of experiments. The proposed method simultaneously considers multiple set functions and applies the idea of Pareto ranking for the selection of sets. Specifically, a new index is iteratively added to the nondominated solutions of sets, and the multi-objective functions are evaluated for new sets. The nondominated solutions are selected from the examined solutions, and the next sets are then considered. With this procedure, the multi-objective optimization of multiple set functions can be conducted with reasonable computational costs. This paper defines a new class of greedy algorithms which includes the proposed nondominated-solution-based multi-objective greedy algorithm and the group greedy algorithm, and the characteristics of those algorithms are theoretically discussed. Then, the proposed method is applied to the sensor selection problem and its performance is evaluated. The results of the test case show that the proposed method not only gives the Pareto-optimal front of the multi-objective optimization problem but also produces sets of sensors in terms of D-, A-, and E-optimality, that are superior to the sets selected by pure greedy methods that consider only a single objective function., Comment: Accepted manuscript for publication in IEEE Transactions on Signal Processing

We study the field--temperature phase diagram of the two-dimensional dipolar Ising ferromagnet on a kagome lattice with a specific ratio between the exchange and dipolar constants, $\delta = 1$. Using the stochastic cutoff (SCO) $O(N)$ Monte Carlo method, we calculated order parameters for stripe and bubble phases and other thermodynamical quantities. We find two kinds of stripe phases at low fields, where the arrangement of the branch spins neighboring the stripe frame varies, and two bubble phases at high fields, in which three-spin domains (bubbles) form a regular triangular lattice but the triangular array of bubbles changes on a kagome lattice. We also find that with increasing the field, there exist a disordered phase between the stripe and bubble phases and between the two bubble phases. We discuss the details of the features of these phases and phase transitions., Comment: 9 pages, 17 figures

Experimental results are obtained for a roamx-0201 type airfoil and the clf5605 airfoil at highsubsonic, low Reynolds number conditions using the Tohoku University Mars Wind Tunnel, Japan. The tests are conducted at a Mach number of M = 0.60, and a Reynolds number of Re = 20,000 to reflect representative aerodynamics of a rotor blade for Mars exploration. The angle of attack is varied between α = −2.0 deg and α = 6.0 deg. The roamx-0201 type airfoil is an unconventional airfoil optimized for the chosen tunnel operating conditions using the Evolutionary aLgorithm for Iterative Studies of Aeromechanics (ELISA), developed under the Rotor Optimization for the Advancement of Mars eXploration (ROAMX) project. ELISA is utilized here to optimize aerodynamic airfoil performance using a Genetic Algorithm and two-dimensional high-fidelity CFD simulations, ultimately resulting in a Pareto-optimal airfoil set. The clf5605 airfoil is the outboard airfoil used on the Ingenuity Mars Helicopter and provides a baseline against which the roamx-0201, as well as possible future airfoil profiles for the compressible low Reynolds number regime, can be compared against. Lift and drag data are recorded using a balance, pressure distributions are obtained using Pressure Sensitive Paint (PSP) application, and Schlieren images are obtained to visualize the flowfield. The data is tabulated to aid future research.