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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Li, Zhi Wang, Jiang Li, Xiaoyang Kong, He Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9798350368741

Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing calibration methods either require prior knowledge of the microphone array geometry or rely on grid search which suffers from slow iteration speed or poor convergence. To overcome these limitations, in this paper, we propose an automatic calibration technique using a calibration board with both visual and acoustic markers to identify each microphone position in the camera frame. We formulate the extrinsic calibration problem (between microphones and the visual sensor) as a nonlinear least squares problem and employ a batch optimization strategy to solve the associated problem. Extensive numerical simulations and real-world experiments show that the proposed method improves both the accuracy and robustness of extrinsic parameter calibration for acoustic cameras, in comparison to existing methods. To benefit the community, we open-source all the codes and data at https://***/AISLAB-sustech/AcousticCamera. © 2025 IEEE.

关键词： Acoustic camera Optimization Sensor calibration

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Relative Localizability and Localization for Multirobot systems

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IEEE Transactions on Robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA

Calibration of Multiple Asynchronous Microphone Arrays using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Chengjie Zhang Wenda Pan Xinyang Han He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems and the Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound sour ce localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLAB-sustech/Hybrid-TDOA-Multi-Calib.

关键词： Direction-of-arrival estimation Accuracy Time difference of arrival Position measurement Odometers Microphone arrays Calibration Arrays Optimization Noise level

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Improved Extrinsic Calibration of Acoustic Cameras via Batch Optimization

Improved Extrinsic Calibration of Acoustic Cameras via Batch...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Li Jiang Wang Xiaoyang Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems and the Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

关键词： Visualization Accuracy Cameras Numerical simulation Acoustics Robustness Microphone arrays Calibration Optimization Sensor arrays

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Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA

arXiv

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arXiv 2025年

作者： Zhang, Chengjie Pan, Wenda Han, Xinyang Kong, He Shenzhen Key Laboratory of Control Theory and Intelligent Systems The Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology The Southern University of Science and Technology Shenzhen518055 China

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound source localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLABsustech/Hybrid-TDOA-Multi-Calib. © 2025, CC BY.

关键词： Microphone array

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Electric Vehicle Routing Problem with Capacitated Charging Stations and Dynamic Electricity Prices

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IEEE Internet of Things Journal 2025年

作者： He, Zhiye Tian, Yuning Miao, Haoyu Yao, Canqi Yang, Zaiyue Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities School of System Design and Intelligent Manufacturing Shenzhen518055 China The Hong Kong Polytechnic University Department of Logistics and Maritime Studies Hong Kong Hong Kong

With rapid electrification of transportation systems in recent years, the electric vehicle routing problem (EVRP) has received increasing attention. In order to serve a set of valuable transportation tasks using a fleet of electric vehicles, EVRP intends to jointly determine their routes and the charging schedules, with the aim of optimizing service reward and charging cost under state of charge (SOC) constraints of battery. EVRP is a difficult nonlinear integer program, and due to its intrinsic NP-hardness early EVRP studies often oversimplify the charging process and assume unlimited capacity of charging stations and constant electricity price. The contribution of this paper lies in twofold. First, to better characterize the practical charging process, this paper introduces a new graph model that can take the charging station capacity and dynamic electricity price into full consideration. Second, we design a series of transformation techniques, including reformulation SOC dynamics, Lagrangian relaxation, exact linear programming relaxation, etc, which eventually convert the original EVRP into an approximate linear program. Extensive simulations across 14 instances demonstrate that, the proposed approach is capable of solving large-scale instances over 500 nodes, and is 100 times faster than traditional analytic methods while achieving very close optimality. While comparing with the popular heuristic method ALNS (Adaptive Large Neighborhood Search), our method is several times faster and obtains much better optimality. © 2014 IEEE.

关键词： Charging stations

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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A Seamless Pedestrian Localization system Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite system (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation system (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： GNSS INS map constraints and path prediction Markov model PDR UWB

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Spartina alterniflora invasion enhances sediment nitrification processes in coastal wetland

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Plant and Soil 2025年 1-20页

作者： Lin, Xianbiao Sun, Dongyao Wang, Zihao Gao, Dengzhou Hu, Weifang Du, Wei Key Laboratory of Geographic Information Science (Ministry of Education) East China Normal University Shanghai 200241 China Frontiers Science Center for Deep Ocean Multispheres and Earth System Key Laboratory of Marine Chemistry Theory and Technology Ministry of Education and College of Chemistry and Chemical Engineering Ocean University of China Qingdao 266100 China School of Geography Science and Geomatics Engineering Suzhou University of Science and Technology Suzhou China Key Laboratory for Humid Subtropical Eco-Geographical Processes of the Ministry of Education School of Geographical Sciences Fujian Normal University Fuzhou 350117 China Institute of Agricultural Resources and Environment Guangdong Academy of Agricultural Sciences Guangzhou 510640 China Yunnan Provincial Key Laboratory of Soil Carbon Sequestration and Pollution Control Faculty of Environmental Science & Engineering Kunming University of Science & Technology Kunming 650500 China

Aims: Spartina alterniflora (S. alterniflora) invasion notably impacts sediment nitrogen (N) biogeochemical processes in coastal wetlands. However, its effects on different nitrification processes and their mechanisms in both surface (0–10 cm) and subsurface (10–20 cm) sediments remain unclear. Methods: Potential nitrification rates mediated by ammonia-oxidizing archaea (AOA), bacteria (AOB), and comammox Nitrospira (PARAOA, PARAOB, and comammox rates), their relative contributions, functional genes (AOA, AOB, and Ntsp-aomA), and controlling factors were investigated in both surface and subsurface sediments of native Cyperus malacensis and adjacent S. alterniflora-invaded habitats with varying years (6, 10, and 14 years) in the Minjiang River Estuary, China. Results: These three nitrification rates varied both spatially and seasonally. Summer nitrification rates (5.57 ± 2.28 μg N g–1 d–1) in both surface (0–10 cm) and subsurface (10–20 cm) sediments of these ecosystems were substantially higher than winter levels (3.78 ± 1.76 μg N g–1 d–1). S. alterniflora invasion increased nitrification rates (39.54–68.13%) and associated functional gene abundances (28.08–52.92%) in both seasons, with surface sediments (118.40–153.85%) markedly showing higher values than subsurface layers (32.80–73.17%). Additionally, the relative contribution of PARAOA in nitrification exhibited a marked enhancement with the S. alterniflora invasion. PLS-PM results further indicated that the spatiotemporal fluctuations in sediment nitrification rates were predominantly driven by organic matter accumulation and ambient temperature. Conclusions: These findings highlight the substantial influence of S. alterniflora invasion on sediment nitrification dynamics, providing fundamental data for estimating N budgets and turnover in the estuarine wetlands. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2025.

关键词： Ammonia oxidizers Comammox Estuarine wetland Nitrification Sediment Spartina alterniflora invasion

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高砷地下水系统中非岩石圈源的沉积物砷异常

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Science Bulletin 2023年第15期68卷 1616-1620,M0003页

作者：韩龙孙雨芹李曾一段艳华韩双宝张海龙赵美训郑焰 State Environmental Protection Key Laboratory of Integrated Surface Water-Groundwater Pollution Control School of Environmental Science and EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Soil and Groundwater Pollution Control School of Environmental Science and EngineeringSouthern University of Science and TechnologyShenzhen 518055China School of Biological Sciences University of East AngliaNorwich NR47TJUK Frontiers Science Center for Deep Ocean Multispheres and Earth System Key Laboratory of Marine Chemistry Theory and TechnologyMinistry of EducationOcean University of ChinaQingdao 266100China Laboratory for Marine Ecology and Environmental Science Qingdao National Laboratory for Marine Science and TechnologyQingdao 266237China Center for Hydrogeology and Environmental Geology Survey China Geological SurveyBaoding 071051China

世界卫生组织认定无机砷为危害全球公众健康的十大化学物质之一.学术界普遍认为地下水中无机砷源自地层,非人为污染所致,从基岩或经风化搬运形成的松散沉积物含水层中释放进入地下水,但鲜见岩石圈砷异常的报道.本研究对银川平原高砷地... 详细信息

世界卫生组织认定无机砷为危害全球公众健康的十大化学物质之一.学术界普遍认为地下水中无机砷源自地层,非人为污染所致,从基岩或经风化搬运形成的松散沉积物含水层中释放进入地下水,但鲜见岩石圈砷异常的报道.本研究对银川平原高砷地下水系统中沉积物的物源和砷源开展了定量溯源,构建了基于粒度、无机化学参数(Fe/Al和Si/Al比)及有机碳-13和碳-14的无机物源、有机物源及砷源端元模型,发现沉积物中存在贺兰山和黄河等岩石圈源之外的“过量砷”;结合环青藏高原多个高砷地下水区文献数据分析,发现可通过As/Fe摩尔比大于0.0003识别沉积物砷异常.鉴于砷在地表-地下水交互界面的氧化次生富集,提出该异常源自水圈,可循环进入地下水“再生”.这可解释全球高砷地下水冲洪积平原上游地区无显著岩石圈砷异常之谜.

关键词：高砷地下水松散沉积物岩石圈次生富集化学物质银川平原冲洪积平原交互界面

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