Robust Fingerprint Construction Based on Multiple Path Loss Model (M-PLM) for Indoor Localization

A robust radio map is essential in implementing a fingerprint-based indoor positioning system(IPS).However,the offline site survey to manually construct the radio map is time-consuming and labour-intensive.Various interpolation techniques have been proposed to infer the virtual fingerprints to reduce the time and effort required for offline site surveys.This paper presents a novel fingerprint interpolator using a multi-path loss model(MPLM)to create the virtual fingerprints from the collected sample data based on different signal paths from different access points(APs).Based on the historical signal data,the poor signal paths are identified using their standard deviations.The proposed method reduces the positioning errors by smoothing out the wireless signal fluctuations and stabilizing the signals for those poor signal paths.By consideringmultipath signal propagations from different APs,the inherent noise from these signal paths can be alleviated.Firstly,locations of the signal data with standard deviations higher than the threshold are identified.The new fingerprints are then generated at these locations based on the proposed M-PLM interpolation function to replace the old fingerprints.The proposed technique interpolates virtual fingerprints based on good signal paths with more stable signals to improve the positioning performance.Experimental results show that the proposed scheme enhances the positioning accuracy by up to 44%compared to the conventional interpolation techniques such as the Inverse DistanceWeighting,Kriging,and single Path LossModel.As a result,we can overcome the site survey problems for IPS by building an accurate radio map with more reliable signals to improve indoor positioning performance.

Convergence analysis of filtered-X LMS algorithm with secondary path modeling error

A more relaxed sufficient condition for the convergence of filtered-X LMS (FXLMS) algorithm is presented. It is pointed out that if some positive real condition for secondary path transfer function and its estimates is satisfied within all the frequency bands, FXLMS algorithm converges whatever the reference signal is like. But if the above positive real condition is satisfied only within some frequency bands, the convergence of FXLMS algorithm is dependent on the distribution of power spectral density of the reference signal, and the convergence step size is determined by the distribution of some specific correlation matrix eigenvalues.Applying the conclusion above to the Delayed LMS (DLMS) algorithm, it is shown that DLMS algorithm with some error of time delay estimation converges in certain discrete frequency bands, and the width of which are determined only by the 'time-delay estimation error frequency' which is equal to one fourth of the inverse of estimated error of the time delay.

Performance analysis of FXLMS algorithm with secondary path modeling error

Performance analysis of filtered-X LMS (FXLMS) algorithm with secondary path modeling error is carried out in both time and frequency domain. It is shown firstly that the effects of secondary path modeling error on the performance of FXLMS algorithm are determined by the distribution of the relative error of secondary path model along with frequency. In case of that the distribution of relative error is uniform the modeling error of secondary path will have no effects on the performance of the algorithm. In addition, a limitation property of FXLMS algorithm is proved, which implies that the negative effects of secondary path modeling error can be compensated by increasing the adaptive filter length. At last, some insights into the 'spillover' phenomenon of FXLMS algorithm are given.

Chemical-reaction-path modeling of ore-depositional processes in the Shangmanggang gold deposit, Yunnan, China

THE Shangmanggang gold deposit is located at the southwestern corner of Yunnan, China. The deposit occurs along the southwest-trending Shangmanggang Fault. Near the surface, the hanging wall of the fault consists of sandstone and mudstone of the Middle Jurassic Mongga Formation (J2m), and also severs asthe hanging wall of the gold orebodies. The footwall of the fault is composed of dolomitite locally intercalated with medium-bedded limestone of Lower Permian Sazipo Formation (P1s). In the depth, the faultcut into strata of the Sazipo Formation (P1s). The deposit is characterized by intense clay alteration,which is similar to the Mercur Gold Deposit, Utah of USA, and by unique hydrothermal pinnacle karsl,

Path Classification and Estimation Model Based Prognosis of Pneumatic Cylinder Lifetime

Prognosis is a key technology to improve reliability,safety and maintainability of products,a lot of researchers have been devoted to this technology.But to improve the predict accuracy of remaining life of products has been difficult.To predict the lifetime specification of pneumatic cylinders with high reliability and long lifetime and small specimen,this paper put forward the prognosis algorithm based on the path classification and estimation（PACE） model.PACE model is based entirely on failure data instead of failure threshold.Pneumatic cylinders normally characterize with failure mechanism wear and tear.Since the minimum working pressure increases with the number of working cycles,the minimum working pressure is chosen as degradation signal.PACE model is fundamentally composed of two operations：path classification and remaining useful life（RUL） estimation.Path classification is to classify a current degradation path as belonging to one or more of previously collected exemplary degradation paths.RUL estimation is to use the resulting memberships to estimate the remaining useful life.In order for verification and validation of PACE prognostic method,six pneumatic cylinders are tested.The test data is analyzed by PACE prognostics.It is found that the PACE based prognosis method has higher prediction accuracy and smaller variance and PACE model is significantly outperform population based prognostics especially for small specimen condition.PACE model based method solved the problem of prediction accuracy for small specimen pneumatic cylinders＇ prognosis.

Path following control of underactuated ships based on nonswitch analytic model predictive control

A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.

Numerical Method for Modeling the Constitutive Relationship of Sand under Different Stress Paths

A numerical method was used in order to establish the constitutive relationship of sands under different stress paths, Firstly, based on the numerical method modeling the constitutive law of sands, the elastoplastic constitutive relationship of sand was established for three paths： the constant proportion of principle stress path, the conventional triaxial compression （CTC） path, and the p=constant （TC） path. The yield lines of plastic volumetric strain and plastic generalized shear strain were given. Through visualization, the three dimensional surface of the stress-strain relationship in the whole stress field （p, q） obtained under the three paths was plotted. Also, by comparing the stress-strain surfaces and yield locus of the three stress paths, the differences were found to be obvious, which demonstrates that the influence of the stress paths on constitutive law was not neglected. The numerical modeling method overcame the difficulty of finding an analytical expression for plastic potential. The results simulated the experimental data with an accuracy of 90% on average, so the constitutive model established in this paper provides an effective constitutive equation for this kind of engineering, reflecting the effect of practical stress paths that occur in sands.

Non-smooth environment modeling and global path planning for mobile robots

An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.

Green development model and cultivating path for characteristic small town

In the context of the new urbanization,the characteristic town,as a new hotspot to developing rapidly to explore the industry,humanities,community integration town model,a urbanization and high-tech industry development booster,by the government and developers attention.At the same time,the green development model applies to the characteristic town of industrial upgrading and transformation,guiding the future characteristic town of green economic industry development direction.This paper studies the green development model of the characteristic town,and puts forward the implementation of the green industry through the greening industry structure,promoting green consumption and optimizing the green management.

Indoor Radio Propagation Model Based on Dominant Path

When there are bigger obstacles in the indoor environment such as elevator, the radio waves basically can not penetrate it. The contribution of received signal strength by transmission and reflection will be greatly reduced, and most of the time, the radio waves will reach the user by bypass diffraction. Therefore, the traditional path loss model is no longer applicable, and the improved model should be proposed. In this paper, we firstly proposed an indoor radio propagation model based on dominant path in which the received signal strength has nothing to do with the direct distance between user and access point, but is related to the length of dominant path. Then on the basis of dominant path model, the NLOS influence is considered in order to further improve the accuracy of dominant path model. Experimental results demonstrated that the proposed dominant path model can improve the accuracy of traditional path loss model remarkably.

Bi-objective path optimization of flapping airfoils based on a surrogate model

A bi-objective optimization problem for flapping airfoils is solved to maximize the time-averaged thrust coefficient and the propulsive efficiency. Design variables include the plunging amplitude, the pitching amplitude and the phase shift angle. A well defined Kriging model is used to substitute the time-consuming high fidelity model, and a multi-objective genetic algorithm is employed as the search algorithm. The optimization results show that the propulsive efficiency can be improved by reducing the plunging amplitude and the phase shift angle in a proper way. The results of global sensitivity analysis using the Sobol’s method show that both of the time-averaged thrust coefficient and the propulsive efficiency are most sensitive to the plunging amplitude, and second most sensitive to the pitching amplitude. It is also observed that the phase shift angle has an un-negligible influence on the propulsive efficiency, and has little effect on the time-averaged thrust coefficient.

Modeling and Kinematics Simulation of Hydro-mechanical Split Path Steering Device of Tracked Vehicle Based on CATIA

Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.

Modeling of UAV path planning based on IMM under POMDP framework

In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.

Modified Ceiling Bounce Model for Computing Path Loss and Delay Spread in Indoor Optical Wireless Systems

This paper proposes modifications to the tradional Ceiling Bounce Model and uses it to characterize diffuse indoor optical wireless channel by analyzing the effect of transceiver position on signal propagation properties. The modified approach uses a combination of the tradional ceiling bounce method and a statistical approach. The effects of different transmitter-receiver separations and height of the ceiling on path loss and delay spread are studied in detail.

数字融合背景下大学生数字素养培育:模型与路径

大学生数字素养培育是推进高等教育专业建设的必要举措,是助力高等教育数字化转型的重要议题。数字素养是包含知识、技能、特质、态度、伦理等要素的数字能力体系。该文从大学生群体出发,构建了数字素养陀螺模型,涵盖了多元知识、实践技能、个性特质、态度动机和道德伦理五个维度。基于此,立足于高等教育专业建设和数字化转型的背景,有针对性地提出大学生数字素养培育的路径:丰富数字资源供给,编制多元知识专业教材;强化数字培训力度,提升实践技能研习成效;加强个性特质培养,搭建虚实融合学习场景;重视数字意识培植,激活强化主体态度动机;拓展数字伦理边界,架构数字道德评价机制。

Research on Model and Algorithm of Task Allocation and Path Planning for Multi-Robot

Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.

Cybersecurity: A Statistical Predictive Model for the Expected Path Length

The object of this study is to propose a statistical model for predicting the Expected Path Length (expected number of steps the attacker will take, starting from the initial state to compromise the security goal—EPL) in a cyber-attack. The model we developed is based on utilizing vulnerability information along with having host centric attack graph. Utilizing the developed model, one can identify the interaction among the vulnerabilities and individual variables (risk factors) that drive the Expected Path Length. Gaining a better understanding of the relationship between vulnerabilities and their interactions can provide security administrators a better view and an understanding of their security status. In addition, we have also ranked the attributable variables and their contribution in estimating the subject length. Thus, one can utilize the ranking process to take precautions and actions to minimize Expected Path Length.

Calculation of the Model of Coesite Inclusions and Analysis of Their Retrometamorphic Paths

The process and path of retrometamorphism of coesite have great significance to our understanding of the P-T tracks of the exhumation of ultrahigh-pressure metamorphic rocks. Most of the coesites in the eclogite from Shima, Anhui Province, the Dabie Mountains, China, are found degraded to quartz partly or wholly, with ruptures occurring in the shells, outside which include the coesite and quartz. According to the microscopic observation, the sample of coesite inclusion is composed of garnet, quartz and coesite, based on which we have built a three-shelled composite sphere model to compute the transition of coesite. Based on the crystal growth formulas and pressure conditions of the ruptures in the garnet, we have calculated the radius of the quartz sphere, which depends on temperature, and eventually drawn the different retrometamorphic paths for different retrometamorphism rates.

科技成果转化新路径和新模式的探索:国内外技术转移概念验证中心的建设启示

[研究目的]概念验证是技术转移机构核心职能之一,可弥补早期科技成果与可进行市场化成果之间的空白,提高科技成果转化效率。[研究方法]就概念验证在科技成果转化技术创新链中所处的位置、特点详细阐明,对国内代表性城市概念验证中心建设、发布政策情况开展梳理与研究。[研究结论]在借鉴国外概念验证中心建设的具体举措基础上,针对我国概念验证在科技成果转化链条中的薄弱点与瓶颈制约提出对策建议,以进一步促进科技成果向现实新质生产力转化、让创新成果更快更好落地。

无人驾驶农机避障路径跟踪仿真与验证

【目的】为便于验证无人驾驶农机避障路径跟踪的效果,减少实际无人农机试验次数与消耗,设计一种无人驾驶农机避障路径跟踪仿真验证方法,构建一个仿真验证应用系统。【方法】以无人农机为基础,集成真实复杂地形环境仿真、实际作业农机仿真和路径规划算法植入,构建一个一体化仿真验证应用系统。基于三维SLAM技术,采集环境点云数据,实现农田地形环境仿真建模,构建阿克曼转向机械结构的农机仿真建模,提出一种基于农机动力学约束的TEB局部路径规划算法;在仿真验证应用系统中实现路径规划跟踪及避障,并通过多次测试验证该算法的有效性。【结果】避障路径跟踪有效性对比测试和避障路径跟踪平顺性验证测试结果表明,无人农机行驶过程中可有效动态避障,最短有效避障距离为4.1 m。路径跟踪控制效果良好,障碍物距离大于5.0 m时,可控平均误差≤0.4305 m,均方根误差≤0.3151 m;障碍物距离在4.5~5.0 m时,可控误差均值≤1.3538 m,均方根误差≤1.6126 m。【结论】本文提出的改进TEB算法具有较强的作业能力以及较高的作业精度,满足农业机械导航避障路径跟踪仿真验证的需求,该算法可应用于无人农机在实际农田环境的避障路径跟踪。该应用系统易于扩充,为精准农业中针对各种复杂作业环境的农机运作状态的优化设计研究提供基础。