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DOA Estimation Exploiting a Single Moving Acoustic Vector Sensor: A Cramér-Rao Bound-Based Study

IEEE Transactions on Vehicular technology 2025年第5期74卷 7508-7523页

作者： Qu, Xinghao Shang, Zhigang Qiao, Gang Liu, Songzuo National Key Laboratory of Underwater Acoustic Technology Harbin Engineering University Harbin150001 China Harbin Engineering University Ministry of Industry and Information Technology Key Laboratory of Marine Information Acquisition and Security Harbin150001 China Harbin Engineering University College of Underwater Acoustic Engineering Harbin150001 China Sanya Nanhai Innovation and Development Base of Harbin Engineering University Sanya572024 China

Motivated by the emerging interest in direction-of-arrival (DOA) estimation exploiting array motions, this paper investigates a practical application scenario involving a single moving acoustic vector sensor (AVS). By reasonably arranging observations at different times, we construct a flexible measurement model for the resulting dual-AVS synthetic array. Since multiple components of an AVS are physically co-located, incorporating a synthetic aperture via the translation motion can contribute to remarkable performance improvement. Aiming at an explicit analysis, we delve into the corresponding Cramér-Rao bound (CRB) in the single-source case and formulate a CRB optimization problem to determine the optimal measurement model. Thanks to significant simplifications, we derive a closed-form CRB expression, which provides insight into the system performance and favors the analytical solution of the optimization problem. Regarding DOA estimation, especially for the spatially nonuniform noise specific to AVSs, we propose a weighted maximum likelihood estimator (WMLE) to fully leverage the promised theoretical gain in terms of the CRB. Further noting the intrinsic relationship between the WMLE performance and array data arrangement, we design a two-phase iterative procedure that updates the DOA estimate and the measurement matrix structure alternately to approximate the global optimal solution. Numerical experiments corroborate our analytical derivations and validate the statistical efficiency of the proposed methods. Their mean-square errors are tightly lower bounded by the derived CRBs at high signal-to-noise ratios. © 1967-2012 IEEE.

关键词： Mean square error

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Assessment of Multilevel Intransitive Noninterference by Nonblocking Analysis

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IEEE Transactions on Automatic control 2025年第5期70卷 2902-2917页

作者： Zhong, Wenjing Zhao, Jinjing Hu, Hesuan Xidian University School of Electro-Mechanical Engineering Xi'an710071 China National Key Laboratory of Science and Technology on Information System Security Beijing100101 China Nanyang Technological University School of Computer Science and Engineering College of Engineering 639798 Singapore Xi'an Jiaotong University State Key Laboratory for Manufacturing Systems Engineering Xi'an710054 China

security of system behavior is a kind of information flow security, which is achieved by confusing the intruders via the indistinguishability of system behaviors. Noninterference is a typical notion to describe information flow security, for which multilevel intransitive noninterference (MINI) is an advanced variant. Since there is a lack of rigorous approach to assessing MINI, this article achieves so via observability theory. For systems modeled by labeled Petri nets (LPNs), two MINI properties, i.e., positive MINI (PMINI) and bipolar MINI (BMINI), are considered. First, a necessary and sufficient condition for their assessment is established via language equivalence. Language equivalence analyses for PMINI and BMINI are based on the existing trace equivalence and the proposed INI bisimulation, respectively. INI bisimulation is more comprehensive to describe negative noninterference than bisimulation. Second, another necessary and sufficient condition is established after the transformation of MINI assessment problem to nonblocking analysis problem. The core of such a problem transformation is the stepwise construction of nonblocking analyzer. This stepwise construction allows MINI assessment to proceed online before terminating at an appropriate time. In addition, this stepwise construction fully employs the concurrency of LPNs so that MINI can be assessed in a multithreaded way. Both online and multithreaded MINI assessments can improve assessment efficiency. © 1963-2012 IEEE.

关键词： Petri nets

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Underwater arbitrary ranging based on chirped pulse interferometry with a mode-locked laser

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Journal of Lightwave technology 2025年第11期43卷 5235-5243页

作者： Shi, Haonan Zhao, Haihan Xu, Xinyang Zhu, Zhiwei Zhai, Jingsheng Li, Xiaobo Tianjin University School of Marine Science and Technology Tianjin300072 China Research Institute of China Electronics Technology Group Corporation Science and Technology on Electro-Optical Information Security Control Laboratory No. 53 Tianjin300308 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong Nanjing University of Aeronautics and Astronautics Key Laboratory of Space Photoelectric Detection and Perception Ministry of Industry and Information Technology Nanjing211106 China

Underwater distance measurement and length sensing, as fundamental functions of geoscience, are integrated into underwater robots and vessels in various forms of sensor payloads and play a crucial role in a wide range of remote sensing applications. Advanced laser-based detection systems and algorithms are essential for underwater tasks, such as detecting damage in underwater pipelines and conducting detailed structural health assessments. In this paper, we experimentally demonstrated an arbitrary underwater ranging system by the chirped pulse interferometry with a mode-locked laser. Water's inherent characteristic introduces dispersion, enabling unique distance discrimination. Adjusting the repetition frequency allows us to acquire the interference spectrum. A long fiber delay line, stabilized by the servo-controlled system, eliminates the ranging dead zone. The widest fringe of the interference spectrum, corresponding to an instantaneous repetition frequency, indicates the arbitrary measured distance. Leveraging a charge-coupled device detection module, we achieved an update rate of 13.5 Hz for the interference spectrum. Experimental results show a precise distance difference within 59.8 μm at the 5 m range underwater without the dead zone. © 2025 IEEE. All rights reserved.

关键词： Laser mode locking

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Fast resistivity imaging of transient electromagnetic using an extreme learning machine

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Soft Computing 2025年第2期29卷 1121-1131页

作者： Li, Ruiyou Zhang, Yong Li, Guang Li, Ruiheng Hu, Jia Li, Min School of Software and Internet of Things Engineering Jiangxi University of Finance and Economics NanChang330013 China School of Geophysics and Measurement Control Technology East China University of Technology NanChang330013 China School of Information Engineering Hubei University of Economics Wuhan430205 China The State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing400044 China

The transient electromagnetic method (TEM) is widely used in geophysical exploration. In TEM data interpretation, nonlinear inversion plays an important role. However, traditional TEM nonlinear inversion adopts the OCCAM imaging method, which merely presents the approximate shape of the stratum model, with poor inversion accuracy and much iteration time. To solve the above problems, a novel nonlinear inversion approach based on extreme learning machine (ELM) is proposed in this paper. The ELM is required to establish the input–output mapping relationship of the inversion network only once through the analytical method, which is different from the traditional neural network method that demands iterative gradient learning and is prone to fall into the local optimum. Moreover, the ELM inversion network by randomly assigning the hidden layer parameters is capable of mapping the observed TEM data and quickly producing resistivity images, which avoids time-consuming iteration and inversion calculations. The presented approach is applied to both synthetic and field examples. The results show that compared with the traditional nonlinear inversion algorithms (BP and OCCAM), the proposed method achieves better inversion accuracy and significantly reduces the calculation time, which verifies the effectiveness of the ELM algorithm for TEM data interpretation. Additionally, the research provides a new method and technology for TEM data inversion. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Electromagnetic transients

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OSSR: Online Scalable Scheduling and Routing for Industrial Time-Sensitive Networking

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IEEE Transactions on Network Science and engineering 2025年第3期12卷 1761-1775页

作者： Xu, Lei Xu, Qimin Zhang, Yanzhou Wang, Shouliang Chen, Cailian Guan, Xinping Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai200240 China Shanghai Jiao Tong University Shanghai Key Laboratory of Integrated Administration Technologies for Information Security Shanghai200240 China Shanghai Jiao Tong University School of Electronics Information and Electrical Engineering Shanghai200240 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Jiao Tong University SJTU-Paris Elite Institute of Technology Shanghai200240 China

As the promising deterministic networking technology of Industrial Internet of Things (IIoT), Time-Sensitive Networking (TSN) has been widely investigated in recent years. Most existing research focuses on offline scheduling and routing for TSN, which is time-consuming and thus unsuitable for dynamic stream demands. To tackle this problem, an online scalable scheduling and routing (OSSR) scheme is proposed for TSN in this paper. A novel slot occupancy representation (SOR) model is established based on divisibility theory to transform the clique-based to a three-level tree-based mode in complex IIoT scenarios. This transformation reduces the computational complexity of maximum slot occupancy judgment from exponential to linear complexity. Based on the above SOR model, a load balance metric for stream scheduling is constructed to guide the optimal routing. Assessed by this metric, an online decoupled routing and scheduling algorithm is proposed to minimize the maximum slot occupancy of all links while guaranteeing high scalability. Evaluation results show that the proposed OSSR scheme outperforms the existing approaches with better adaption to dynamics and lower slot occupancy of links. © 2013 IEEE.

关键词： Scheduling algorithms

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A Data Association Method Based on Azimuth Inverse Cotangent Value

A Data Association Method Based on Azimuth Inverse Cotangent...

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International Youth Conference on Radio Electronics, Electrical and Power engineering (REEPE)

作者： Nan Zou Muze Yin Guangpu Zhang Zhenqi Yang Pengbo Ma Dongyu Li National Key Laboratory of Underwater Acoustic Technology Harbin Engineering University Harbin China Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University) Ministry of Industry and Information Technology Harbin China College of Underwater Acoustic Engineering Harbin Engineering University Harbin China Science and Technology on Electronic Information Control Laboratory Chengdu China

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

In this paper, we address the challenge of data association in scenarios involving multiple observers for underwater non-cooperative localization, where it is unclear how measurement data from different stations corresponds to the same target. We propose a novel data association method that leverages the inverse cotangent of azimuthal sequence features. The method first calculates the sequence of cotangent values measured by each station's bearing in a limited time. Linearly analyzes the sequence to obtain the slope, and finally realizes the data association according to the characteristic that the inverse cotangent value of the slope corresponds to the target's motion heading. The simulation results show that the proposed method has better association localization ability compared with the traditional method, overcomes the problem of the conventional method that the computational volume is too large when the number of observation stations and targets is large, and ensures the association correctness under a certain error.

关键词： Location awareness Power engineering Accuracy Azimuth Simulation Noise Observers Time measurement

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An integrated modeling, verification, and code generation for uncrewed aerial systems: less cost and more efficiency

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PeerJ Computer Science 2025年 11卷 e2575-e2575页

作者： Zhang, Jianyu Zhang, Long Wu, Yixuan Ma, Linru Yang, Feng School of Automation Engineering University of Electronic Science and Technology of China Chengdu China National Key Laboratory of Science and Technology on Information System Security AMS Beijing China School of Electronics and Information Northwestern Polytechnical University Xi’an China

Uncrewed Aerial systems (UASs) are widely implemented in safety-critical fields such as industrial production, military operations, and disaster relief. Due to the diversity and complexity of implementation scenarios, UASs have become increasingly intricate. The challenge of designing and implementing highly reliable UASs while effectively controlling development costs and improving efficiency has been a pressing issue faced by academia and industry. To address this challenge, this article aims to examine an integrated method for modeling, verification, and code generation for UASs. This article begins to utilize Architecture Analysis and Design Language (AADL) to model UASs, proposing generic UAS models. Then, formal specifications describe a system’s safety properties and functions based on these models. Finally, this article introduces a method to generate flight controller codes for UASs based on the verified models. Experiments demonstrate its effectiveness in pinpointing potential vulnerabilities in UASs during the early design phase and generating viable flight controller codes from the verified models. The proposed approach can also improve the efficiency of designing and verifying high-reliability UASs. Copyright 2025 Zhang et al. Distributed under Creative Commons CC-BY 4.0

关键词： Costs

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C2P-Net: Comprehensive Depth Map to Planar Depth Conversion for Room Layout Estimation

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年 PP卷 PP页

作者： Zhang, Weidong Zhou, Mengjie Cheng, Jiyu Liu, Ying Zhang, Wei Xi'an University of Posts & Telecommunications School of Communications and Information Engineering China Xi'an Key Laboratory of Image Processing Technology and Applications for Public Security China Shandong University School of Control Science and Engineering China Ministry of Education Key Laboratory of Machine Intelligence and System Control China

Room layout estimation seeks to infer the overall spatial configuration of indoor scenes using perspective or panoramic images. As the layout is determined by the dominant indoor planes, this problem inherently requires the reconstruction of these planes. Some studies reconstruct indoor planes from perspective images by learning pixel-level or instance-level plane parameters. However, directly learning these parameters has the problems of susceptibility to occlusions and position dependency. In this paper, we introduce the Comprehensive depth map to Planar depth (C2P) conversion, which reformulates planar depth reconstruction into the prediction of a comprehensive depth map and planar visibility confidence. Based on the parametric representation of planar depth we propose, the C2P conversion is applicable to both panoramic and perspective images. Accordingly, we present an effective framework for room layout estimation that jointly learns the comprehensive depth map and planar visibility confidence. Due to the differentiability of the C2P conversion, our network autonomously learns planar visibility confidence by constraining the estimated plane parameters and reconstructed planar depth map. We further propose a novel approach for 3D layout generation through sequential planar depth map integration. Experimental results demonstrate the superiority of our method across all evaluated panoramic and perspective datasets. © 1979-2012 IEEE.

关键词： Image-Text Matching Medical Report Generation Sample-graph Consistency Self-boosting framework

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Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue

Robust UAV Path Planning with Obstacle Avoidance for Emergen...

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IEEE Conference on Wireless Communications and Networking

作者： Junteng Mao Ziye Jia Hanzhi Gu Chenyu Shi Haomin Shi Lijun He Qihui Wu The Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information Technology Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China National Mobile Communications Research Laboratory Southeast University Nanjing Jiangsu China The School of Information and Control Engineering China University of Mining and Technology Xuzhou China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APFSA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.

关键词： Three-dimensional displays Simulation Heuristic algorithms Forestry Simulated annealing Autonomous aerial vehicles Path planning Trajectory Collision avoidance Vehicle dynamics

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A Game-Theoretic Approach for Satellites Beam Scheduling and Power control in a Mega Hybrid Constellation Spectrum Sharing Scenario

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IEEE Internet of Things Journal 2025年

作者： Li, Wei Jia, Luliang Chen, Yingwu Chen, Quan Yan, Jungang Qi, Nan National University of Defense Technology College of Systems Engineering Changsha China Space Engineering University College of Space Information Beijing China National University of Defense Technology College of Aerospace Science and Engineering Changsha China Nanjing University of Aeronautics and Astronautics Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information Technology Nanjing210016 China

A mega hybrid constellation of Low Earth Orbit (LEO) and Geosynchronous Orbit (GEO) satellites represents a typical architecture for future space networks. However, the emergence of such large constellations exacerbates the shortage of spectrum resources. To address this issue, this paper investigates a hierarchical optimization method for beam scheduling and power control of LEO satellites, aiming to extend the available spectrum by sharing the downlink spectrum of GEO satellites. In the upper-layer optimization, a many-to-one matching game model is constructed to achieve optimal matching of LEO satellite beams and LEO Users (LU). A distributed beam matching learning algorithm (DBMLA) is designed to find a stable matching solution for the model, with the convergence of the algorithm theoretically proven. In the lower-layer optimization, an LEO beam power level optimization game model is developed for discrete LEO beam power levels. This model is demonstrated to be an exact potential game with at least one Nash Equilibrium (NE). To solve this NE, a dynamic power allocation logarithmic learning algorithm (DPALLA) is proposed. Simulation results verify that the proposed DBMLA-DPALLA hierarchical optimization scheme effectively balances convergence time and accuracy compared to traditional independent optimization strategies. By leveraging the combined effects of the two optimization strategies, it better mitigates the co-channel interference experienced by GEO satellites and improves the average network satisfaction of the LUs. © 2025 IEEE.

关键词： Cochannel interference

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