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Robust cubature Kalman filter based on generalized hyperbolic distribution for SLAM under colored heavy-tailed measurement noise

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Digital Signal Processing: A Review Journal 2025年 166卷

作者： Zhao, Jiaxiang Wang, Guoqing School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China

The effectiveness of existing filter-based simultaneous localization and mapping (SLAM) algorithms will deteriorate under non-Gaussian measurement noise, especially when dealing with the colored heavy-tailed characteristics. In this paper, we present a novel robust cubature Kalman filter based on the generalized hyperbolic distribution for SLAM under colored heavy-tailed measurement noise. Within the proposed algorithm, the measurement differencing method is adopted to whiten the colored noise, and subsequently, the additive heavy-tailed noise is modeled by the generalized hyperbolic distribution, which contains several typical heavy-tailed distributions as special cases. We utilize the variational Bayesian inference method to jointly estimate the system state together with the measurement noise parameters, and the one-step smoothing estimation method is utilized to estimate the state vector at the previous moment to enhance the estimation accuracy. To address the varying number of landmark points observed at different moments, we perform sequential processing during the measurement update process, and this method also reduces the computational complexity. The proposed algorithm creates a flexible framework for the state estimation of nonlinear systems under colored and variable heavy-tailed noise, with several existing algorithms serving as special cases. The superior performance of the proposed algorithm in terms of estimation accuracy and robustness is validated through simulations and experiments. © 2025 Elsevier Inc.

关键词： Higher order statistics

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Morphology,microstructure and tribological properties of anodic films formed on Ti10V2Fe3Al alloy in different electrolytes

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Rare Metals 2021年第10期40卷 2905-2916页

作者： Liang Wu Lei Liu Qin Zhan Chen Wen Xue-Long Hao Jian-Hua Liu Yu-An Chen Andrej Atrens College of Materials Science and Engineering Chongqing UniversityChongqing 400044China National Engineering Research Center for Magnesium Alloys Chongqing UniversityChongqing 400044China Department of Reactor Engineering Research and Design China Institute of Atomic EnergyBeijing 102413China Beijing Spacecrafts China Academy of Space TechnologyBeijing 100090China National Center of Analysis and Testing for Nonferrous Metals and Electronic Materials General Research Institute for Nonferrous MetalsBeijing 100088China School of Materials Science and Engineering Beihang UniversityBeijing 100191China School of Mechanical and Mining Engineering The University of QueenslandBrisbaneQLD 4072Australia

This study investigated the morphology, structure and tribological properties of the three samples produced by anodic oxidation of Ti10 V2 Fe3 Al in a sulfuric/phosphoric acid electrolyte(SPA), a near-neutral sodium tartrate electrolyte without nanoparticles(STA) and a nearneutral sodium tartrate electrolyte with polytetrafluoroethylene(PTFE) nanoparticles(CA) in suspension. The STA film had a surface full of bulges and cracks, the SPA film was porous, and the CA film was nanoporous. The SPA film was mainly composed of anatase TiO2, whereas the STA and CA films were mainly amorphous TiO2 with little anatase. The tribological tests indicated that the SPA sample had a lower wear resistance than the titanium alloy substrate, which was attributed to the shedding of abrasive debris, leading to rapid wear. Both STA and CA samples exhibited much lower wear rates than the titanium alloy substrate, and CA sample displayed the lowest wear rate attributed to the formation of a lubricating layer by PTFE nanoparticles. The wear mechanisms are proposed.

关键词： Anodic oxidation Sodium tartrate PTFE nanoparticles Ti10V2Fe3Al Tribological properties

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Motion control for caterpillar vehicles using a mimo robust servo controller 6th

Motion control for caterpillar vehicles using a mimo robust ...

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6th International Conference on Advanced Engineering Theory and Applications, AETA 2019

作者： Nguyen, Van Lanh Kim, Sung Won Nguyen, Huy Hung Kim, Dae Hwan Lee, Choong Hwan Kim, Hak Kyeong Kim, Sang Bong Department of Mechanical Design Engineering Pukyong National University Busan48513 Korea Republic of Department of Machine System Engineering Dongwon Institute of Science and Technology Yangsan50598 Korea Republic of Faculty of Electronics and Telecommunication Sai Gon University Ho Chi Minh City Viet Nam

ISBN: (纸本)9783030530204

This paper proposes a MIMO robust servo controller design for Mobile Robots as Caterpillar Vehicles with an external disturbance to track desired linear displacement and orientation references using a linear shift invariant differential (LSID) operator. To do this tasks, the followings are done. Firstly, MIMO modeling of the Caterpillar Vehicle is presented. Secondly, by operating the LSID operator to the state space model and the output error vector, a new extended system and a new control law are obtained. Thirdly, a proposed MIMO robust servo controller for the given the Caterpillar Vehicle is designed by using the pole assignment approach. Fourthly, by applying the inverse LSID operator, a servo compensator and a control law for the MIMO system are obtained. Finally, in order to verify the effectiveness of the proposed MIMO robust servo controller, the simulation results are shown. The simulation results show the good tracking performance of the proposed MIMO robust servo controller under as a step type of external disturbance and step types of linear displacement and angular reference signals. This simulation results of the proposed MIMO robust servo controller are compared with the adaptive backstepping control method proposed by P.S. Pratama in 2013. The proposed MIMO robust servo controller shows the faster and better tracking performance than the that adaptive backstepping control method. © Springer Nature Switzerland AG 2021.

关键词： Mobile robots

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Compression and thermal conduction performance of bioinspired sandwich structures fabricated by laser powder bed fusion

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Additive Manufacturing Frontiers 2025年第1期4卷

作者： Lin, Kaijie Hu, Kaiming Gu, Dongdong Yang, Jiankai Zhou, Mingdong Xiong, Yi College of Materials Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Jiangsu Provincial Research Center for Laser Additive Manufacturing of High-Performance Components Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Shanghai Aircraft Manufacturing Co. Ltd. Shanghai 201324 China School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai 200093 China Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen 518055 China

After millions of years of natural evolution, horsetails have evolved unique stem structures that enable survival in harsh environments. Inspired by the cross-sectional characteristics of horsetail stems, a series of bioinspired sandwich structures were designed and fabricated using the laser powder bed fusion (LPBF) process. By combining experimental and finite element simulation methods, the formability, mechanical properties, deformation behavior, and thermal conduction performance of these structures were determined. Results show that the surface morphology of the bioinspired sandwich structures was smooth, with no cracks observed. The bioinspired sandwich structure with an inner tube diameter of 1.9 mm (D_1.9) exhibited optimal comprehensive mechanical properties, with a specific strength of 64.2 MPa/(g/cm³), and specific energy absorption of 3.3 J/g. Stress distribution results revealed that the D_1.9 structures had the most uniform stress distribution. Furthermore, increasing the internal conduction paths improved heat transfer;therefore, the thermal conductivities of the D_1.4, D_1.9, and D_2.4 structures were higher than that of the D₀ structure. This study demonstrates that a bioinspired design approach, combined with additive manufacturing technology, enables the development of high-performance structures with both load-bearing and thermally insulating capabilities. © 2025

关键词： Additive manufacturing Bioinspired Laser powder bed fusion Mechanical properties Thermal conduction

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Investigation the Performance Effect of QOS in MPLS-TE Network 2

Investigation the Performance Effect of QOS in MPLS-TE Netwo...

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2nd IEEE International Conference on Signal, Control and Communication, SCC 2021

作者： Bozed, Kenz A. Elbeskri, Ahlam Mohammed Zreg, Jazia R. Ali Zerek, Amer R. Benghazi University Faculty of Information Technology Department of Computer System Design Benghazi Libya Higher Institute of Technical Water Affairs Sabratha Libya Sabratha University College of Science Sabratha Libya Zawia University Faculty of Engineering Electrical and Electronic Eng. Department Zawia Libya

ISBN: (纸本)9781665402705

Due to the need for different communication types (Voice, video, and data) over the network, vendors improving enterprise networks for this purpose to minimize delays in order to support the better result, some applications like voice considered real-time applications which suffer from delay, jitter and packet losses, This paper discusses comparison of QoS performance between three QoS algorithms (PQ, FIFO, and WFQ), when using MPLS-TE technology considering the VoIP QoS parameters (end to end delay, jitter, and packet loss, as simulation done by OPNET modeler 14.5. © 2021 IEEE.

关键词： Quality of service

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Modeling of SiC cladding bowing behavior with consideration of spacer grids

Modeling of SiC cladding bowing behavior with consideration ...

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2019 Transactions of the American Nuclear Society, ANS 2019

作者： Li, Wei Shirvan, Koroush Massachusetts Institute of Technology CambridgeMA02139 United States Science Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

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Active learning for the power factor prediction in diamond-like thermoelectric materials

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npj Computational Materials 2020年第1期6卷 254-260页

作者： Sheng Yasong Wu Jiong Yang Wencong Lu Pierre Villars Wenqing Zhang Materials Genome Institute Shanghai University200444 ShanghaiChina Qianweichang College Shanghai University200444 ShanghaiChina Department of Chemistry College of ScienceShanghai University200444 ShanghaiChina Material Phases Data System CH-6354 VitznauSwitzerland Department of Physics and Shenzhen Institute for Quantum Science&Technology Southern University of Science and Technology518055 ShenzhenGuangdongChina Guangdong Provincial Key Lab for Computational Science and Material Design and Shenzhen Municipal Key Lab for Advanced Quantum Material and DeviceSouthern University of Science and Technology518055 ShenzhenGuangdongChina

The Materials Genome Initiative requires the crossing of material calculations,machine learning,and experiments to accelerate the material development *** recent years,data-based methods have been applied to the thermoelectric field,mostly on the transport *** this work,we combined data-driven machine learning and first-principles automated calculations into an active learning loop,in order to predict the p-type power factors(PFs)of diamond-like pnictides and *** active learning loop contains two procedures(1)based on a high-throughput theoretical database,machine learning methods are employed to select potential candidates and(2)computational verification is applied to these candidates about their transport *** verification data will be added into the database to improve the extrapolation abilities of the machine learning *** strategies of selecting candidates have been tested,finally the Gradient Boosting Regression model of Query by Committee strategy has the highest extrapolation accuracy(the Pearson R=0.95 on untrained systems).Based on the prediction from the machine learning models,binary pnictides,vacancy,and small atom-containing chalcogenides are predicted to have large *** bonding analysis reveals that the alterations of anionic bonding networks due to small atoms are beneficial to the PFs in these compounds.

关键词： learning bonding prediction

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The bending vibration characteristics of the hull grillage structure based on back propagation neural network

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Ocean Engineering 2025年 337卷

作者： Dongyan Shi Liang Yan Xiaofan Zhuang Qinlin Xie College of Mechanical and Electrical Engineering Harbin Engineering University Harbin 150001 People's Republic of China China Ship Design & Research Center Co. Ltd Qingdao 266520 People's Republic of China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chendu 610041 People's Republic of China

This study investigates the longitudinal bending vibration characteristics of hull grillage structures through a synergistic approach integrating wave propagation methodology and back propagation neural network. The spring oscillator coupled beam system is established as the equivalent physical model to represent the low-frequency bending vibration behaviour of the grillage structure. The governing equations for this coupled beam system with elastic boundary conditions are systematically derived using the wave propagation approach. Subsequently, the back propagation neural network is developed to predict the natural frequencies of longitudinal bending vibrations, effectively circumventing the requirement for constructing finite element models during preliminary frequency analysis. The bending vibration of the grillage structure is conducted using the proposed equivalent model, with validation performed through comparative analysis with finite element simulations and model experiments. The research further explores the effects of structural parameters on longitudinal bending vibration characteristics. The neural network-based prediction methodology demonstrates significant advantages in rapidly estimating natural frequencies. This integrated approach provides an efficient alternative for preliminary vibration assessment of grillage structures, demonstrating both theoretical validity and practical applicability through comprehensive validation.

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Effect of gamma radiation on the sensing characteristics of FPs and FBGs 27

Effect of gamma radiation on the sensing characteristics of ...

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27th International Conference on Optical Fiber Sensors, OFS 2020

作者： Li, Zhuoyue Xiao, Yaqin Ran, Zengling Yang, Tingting He, Xiu Xiao, Yanbo Shen, Feng Rao, Yunjiang He, Zhengxi Zhu, Jialiang He, Peng Xu, Sijie Chu, Wangwei Zeng, Debiao Fiber Optics Research Center Key Laboratory of Optical Fiber Sensing & Communications Ministry of Education University of Electronic Science & Technology of China Sichuan Chengdu611731 China Center for Optical Fiber Sensing Zhejiang Laboratory Hangzhou310000 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China Chengdu Aircraft Industrial Group Co. Limited 610092 China

The sensing characteristics of Fabry-Perot interferometers (FPIs) and fiber Bragg gratings (FBGs) after irradiation were studied, in which pressure sensitivity of FPI was stable while temperature sensitivity curves of... 详细信息

ISBN: (纸本)9781557523075

关键词： Fiber Bragg gratings

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Local Morphology Change of Tpms Structure for the design of Functionally Graded Porous Media

SSRN

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SSRN 2022年

作者： Lee, Jun-Won Oh, Seo-Hyeon Jeon, Eunji Kim, Jungwoo Park, Keun Department of Mechanical System Design Engineering Seoul National University of Science and Technology Seoul01811 Korea Republic of Mechatronics Research Institute Samsung Electronics Co. Ltd. Gyeonggi-do 18448 Korea Republic of

A triply periodic minimal surface (TPMS) is a surface-type cellular structure expressed using trigonometric combinations of sinusoidal functions. TPMS-based solid structures are generally designed by defining the signed distance field (SDF) for periodically repeated unit cells, enabling constructing uniform cellular structures. In this study, a novel design methodology is proposed to locally change the morphology of a TPMS structure for design of a functionally graded porous medium. Mathematical filtering was performed to change the SDF distribution through a superposition of multiple sigmoid functions, thus locally changing the TPMS geometry. The proposed local filtering was then implemented in the design of a TPMS flow channel to reduce the flow resistance in the inlet and outlet regions of the channel. Pressure drop tests were conducted using additively manufactured TPMS channels, and the results showed that the pressure drop decreased by 20% for the filtered design with a volume change of only 2.6%. Flow visualization experiments and numerical simulations were performed to analyze the cause of reduced flow resistance in the locally filtered regions. Considering that a TPMS structure has a complex geometry, the proposed filtering method offers an efficient approach for functionally changing the morphology of the TPMS structure. © 2022, The Authors. All rights reserved.

关键词： Porous materials

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