Performance Evaluation of Three-Dimensional UWB Real-Time Locating Auto-Positioning System for Fire Rescue

Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.

Performance analysis of real-time and post-mission kinematic precise point positioning in marine environments

This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.

Treatable focal region modulated by double excitation signal superimposition to realize platform temperature distribution during transcranial brain tumor therapy with high-intensity focused ultrasound

Recently, the phase compensation technique has allowed the ultrasound to propagate through the skull and focus into the brain. However, the temperature evolution during treatment is hard to control to achieve effective treatment and avoid over-high temperature. Proposed in this paper is a method to modulate the temperature distribution in the focal region. It superimposes two signals which focus on two preset different targets with a certain distance. Then the temperature distribution is modulated by changing triggering time delay and amplitudes of the two signals. The simulation model is established based on an 82-element transducer and computed tomography （CT） data of a volunteer＇s head. A finite- difference time-domain （FDTD） method is used to calculate the temperature distributions. The results show that when the distances between the two targets respectively are 7.5-12.5 mm on the acoustic axis and 2.0-3.0 mm in the direction perpendicular to the acoustic axis, a focal region with a uniform temperature distribution （64-65 ℃） can be created. Moreover, the volume of the focal region formed by one irradiation can be adjusted （26.8-266.7 mm3） along with the uniform temperature distribution. This method may ensure the safety and efficacy of HIFU brain tumor therapy.

CONTROL STRATEGY FOR ELECTRO-HYDRAULIC POSITION SERVO SYSTEM WITH GENERALIZED PULSE CODE MODULATION

A hybrid control strategy has been designed and developed for the electro-hydraulic posi-tion servo control system with generalized Pulse code modulation （GPCM）, which is suitable for the area where the work condition is poor and a large flow rate is required. It is difficult to control the GPCM system because the system is discrete. With consideration of the stability and speediness of the GPCM position servo control system, a control strategy is developed through the theoretical and ex-perimental analyses. The control strategy integrates the merits of Bang-Bang control, PID control and fuzzy control. With this hybrid control strategy, the electro hydraulic control system has good per-formances, and the servo control is carried out with GPCM through on-off valves.

Ultra-low power anti-crosstalk collision avoidance light detection and ranging using chaotic pulse position modulation approach

A novel concept of collision avoidance single-photon light detection and ranging（LIDAR） for vehicles has been demonstrated, in which chaotic pulse position modulation is applied on the transmitted laser pulses for robust anti-crosstalk purposes. Besides, single-photon detectors（SPD） and time correlated single photon counting techniques are adapted, to sense the ultra-low power used for the consideration of compact structure and eye safety. Parameters including pulse rate, discrimination threshold, and number of accumulated pulses have been thoroughly analyzed based on the detection requirements, resulting in specified receiver operating characteristics curves. Both simulation and indoor experiments were performed to verify the excellent anti-crosstalk capability of the presented collision avoidance LIDAR despite ultra-low transmitting power.

Chaotic pulse position modulation ultra-wideband system based on particle filtering

Traditional chaotic pulse position modulation(CPPM)system has many drawbacks.It introduces delay into the feedback loop,which will lead to divergence of chaotic map easily.The wrong decision of data will cause error propagation.Mismatch of parameters and synchronization error between the receiver and transmitter will arouse high bit error rate.To solve these problems,a demodulation algorithm of CPPM based on particle filtering is proposed.According to the mathematical model of the system,it tracks the real signal by online separation in demodulation.Simulation results show that the proposed method can track the true signal better than the traditional CPPM scheme.What's more,it has good synchronization robustness,reduced error propagation by wrong decision and low bit error rate.

Quality monitoring of real-time GNSS precise positioning service system

The Real-Time Global Navigation Satellite System(GNSS)Precise Positioning Service(RTPPS)is recognized as the most promising system by providing precise satellite orbit and clock correc-tions for users to achieve centimeter-level positioning with a stand-alone receiver in real-time.Although the products are available with high accuracy almost all the time,they may occasionally suffer from unexpected significant biases,which consequently degrades the positioning perfor-mance.Therefore,quality monitoring at the system-level has become more and more crucial for providing a reliable GNSS service.In this paper,we propose a method for the monitoring of realtime satellite orbit and clock products using a monitoring station network based on the Quality Control(QC)theory.The satellites with possible biases are first detected based on the outliers identified by Precise Point Positioning(PPP)in the monitoring station network.Then,the corresponding orbit and clock parameters with temporal constraints are introduced and esti-mated through the sequential Least Square(LS)estimator and the corresponding Instantaneous User Range Errors(IUREs)can be determined.A quality indicator is calculated based on the IUREs in the monitoring network and compared with a pre-defined threshold.The quality monitoring method is experimentally evaluated by monitoring the real-time orbit and clock products generated by GeoForschungsZentrum(GFZ),Potsdam.The results confirm that the problematic satellites can be detected accurately and effectively with missed detection rate 4×10^(-6) and false alarm rate 1:2×10^(-5).Considering the quality alarms,the PPP results in terms of RMS of positioning differences with respect to the International GNSS Service(IGS)weekly solution in the north,east and up directions can be improved by 12%,10%and 27%,respectively.

Real-time programmable coding metasurface antenna for multibeam switching and scanning

Novel electromagnetic wave modulation by programmable dynamic metasurface promotes the device design freedom,while multibeam antennas have sparked tremendous interest in wireless communications.A programmable coding antenna based on active metasurface elements(AMSEs)is proposed in this study,allowing scanning and state switching of multiple beams in real time.To obtain the planar array phase distribution in quick response,the aperture field superposition and discretization procedures are investigated.Without the need for a massive algorithm or elaborate design,this electronically controlled antenna with integrated radiation and phase-shift functions can flexibly manipulate the scattering state of multiple beams under field-programmable gate array(FPGA)control.Simulation and experimental results show that the multiple directional beams dynamically generated in the metasurface upper half space have good radiation performance,with the main lobe directions closely matching the predesigned angles.This metasurface antenna has great potential for future applications in multitarget radar,satellite navigation,and reconfigurable intelligent metasurfaces.

Design of a Foot-End Three-Axis Force Sensing Module for Gecko-Like Robot

The problems of attachment failure and detachment impact within gecko-like robots’ locomotion control are considered in this paper. A real-time foot-end force intelligent sensing module with integrated sensing and structure is developed to help the robot get the foot-end force information in time and realize stable locomotion in an uncertain environment. Firstly,a structure/sensing integrated elastomer based on a Maltese cross/cantilever beam structure is completed by designing and finite element analysis. Secondly,a real-time data acquisition and transmission system is designed to obtain the foot-end reaction force which is miniaturized and distributed. Thirdly,based on this system,a force sensor calibration platform is built to complete the calibration,decoupling,and performance testing of the sensing module. Finally,the experiment of single-leg attachment performance is carried out. The results indicate that the three-axis sensing module can detect robot’s weight,measure the reaction force with high precision and provide real-time force from robot’s foot end.

Efficient Harmonic Analysis Technique for Prediction of IGS Real-Time Satellite Clock Corrections

Real-time satellite orbit and clock corrections obtained from the broadcast ephemerides can be improved using IGS real-time service (RTS) products. Recent research showed that applying such corrections for broadcast ephemerides can significantly improve the RMS of the estimated coordinates. However, unintentional streaming interruption may happen for many reasons such as software or hardware failure. Streaming interruption, if happened, will cause sudden degradation of the obtained solution if only the broadcast ephemerides are used. A better solution can be obtained in real-time if the predicted part of the ultra-rapid products is used. In this paper, Harmonic analysis technique is used to predict the IGS RTS corrections using historical broadcasted data. It is shown that using the predicted clock corrections improves the RMS of the estimated coordinates by about 72%, 58%, and 72% in latitude, longitude, and height directions, respectively and reduces the 2D and 3D errors by about 80% compared with the predicted part of the IGS ultra-rapid clock corrections.

COMBINATION OF PRONE POSITION AND INTENSITY-MODULATED RADIATION THERAPY (IMRT) REDUCES SMALL BOWEL DOSES IN RADIATION THERAPY FOR GYNECOLOGIC MALIGNANCIES

Objective： To evaluate if the combination of both prone position on a belly board and intensity-modulated radiotherapy （IMRT） further reduces the radiation dose to small bowel in pelvic RT for gynecologic malignancies. Methods： Conformal pelvic RT plans were computed in 13 patients with gynecologic malignancies who had pre-existing planning computed tomography （CT） scans in both the supine position and prone position on a belly board. There were 10 cervical cancer and 3 endometrial cancer patients. A limited arc technique （180° arc length） and an extended arc technique （340° arc length） were used in IMRT plans. Normal tissue regions of interest （ROI） included small bowel, large bowel and bladder. Dose and volume for normal tissue structures were traced and compared between supine and prone plans using the paired t-test. Results： For the limited arc technique, prone position using a belly board device improved small bowel sparing. Analysis of the results showed a 12~26 Gy reduction of volume of small bowel irradiation compared to the supine position. With the extended arc technique, there was no obvious radiation reduction in the prone position. Large bowel and bladder dose showed no significant differences between prone and supine position with either technique. Conclusion： Prone positioning on a belly board decreases the small bowel dose in gynecologic pelvic IMRT, and the magnitude of improvement depended on the limited arc IMRT technique used.

用于新型符号的频偏补偿和解调的算法与电路

为提高传统脉冲位置调制(pulse position modulation,PPM)符号的频谱效率,提出了一种新型码片内4-PPM符号调制方法,在实现1 Gbit/s通信速率的同时,又大大减少所需频谱资源。可在解调时,该符号调制的误码率性能受到发射端时钟和接收端本地时钟之间的频率偏移的极大影响。针对此问题,又提出了一种在模拟域对该符号进行频偏补偿,并实现符号同步和高速数据解调的算法与电路。该电路系统通过消除接收数据和本地时钟的初始相差、提取两者的频偏信息、周期性改变本地时钟的瞬时相位3步实现频偏补偿,并同时在第3步利用本地时钟对接收数据进行解调。为提高相位插值器(phase interpolator,PI)的线性度,本文将延迟锁定环与PI相结合。在2π的插值范围内,实现插值区间32个,插值步长992个,分辨率2.016 ps,最大差分非线性(differential nonlinearity,DNL)0.183°,最大积分非线性(integral nonlinearity,INL)0.325°。此外,本文提出的相位控制算法有效避免了由电流毛刺所引起的输出相位突变。电路基于UMC 40 nm CMOS RF LP工艺进行设计与仿真。仿真结果表明:本文所提出的算法与电路,在典型工艺角下,将接收数据和本地时钟间的50×10^(-6)频率偏差度降至1.03×10^(-6),频偏补偿准确度达到97.94%,并实现1 Gbit/s的解调速率。该方法对高速PPM数据同步与解调具有良好的工程应用价值。

基于DPPM的激光雷达通信测距一体化方案

针对激光雷达系统建设成本高和测量精度低的问题,提出了一种基于差分脉冲位置调制(DPPM)的激光雷达通信测距一体化方案。该方案通过使用DPPM的不同脉冲时隙位置来表示通信和测距帧信息。接收机可以根据脉冲时隙位置解调出通信信号,并通过飞行时间测距模块实现测距功能。此外,为了应对回波信号的低信噪比(SNR)问题,使用脉冲累加算法对回波信号进行组帧处理以提高回波信号的SNR。最终,通过现场可编程门阵列(FPGA)搭建了该通信测距一体化系统并进行了测试。实验结果表明:该系统不仅能在300 cm的范围内实现平均测距误差为±2.04 cm的测距功能,而且还能同时达到5 Mb/s的通信速率。

基于GDCORS的北斗终端高精度定位算法实现及性能分析

为了提升广东省卫星导航定位基准服务系统(以下简称“GDCORS”)的社会化应用范围,扩充GDCORS的服务对象,提出了基于时间差分和卡尔曼滤波的实时高精度定位方法,利用该方法开发了高精度定位APP,并且研制了与之配套的外接北斗定位模块,然后基于GDCORS提供的实时差分产品数据使用多种智能手机在广州市内开展了静态和动态定位测试。测试结果表明,提出的高精度定位算法实现了基于手机观测数据的米级北斗伪距差分定位,基于单频外接设备的分米级、基于多频外接设备的厘米级北斗载波相位差分定位,以上基于GDCORS的北斗终端高精度定位算法具备应用推广价值。

面向超分辨率重建的层次间局部特征增强网络

基于卷积神经网络的超分辨率重建模型以单项传播为主,层次越靠后感知信息的能力越微弱,导致层次间局部特征部分丢失,难以实质提升网络的特征表达能力。针对此问题,提出层次间局部特征增强网络。该方法由级联残差模块、层次间特征增强块和特征感知注意力机制组成。级联残差模块通过有效残差连接增加对残差分支信息的利用;层次间特征增强块提取不同深度特征的依赖关系,自适应调整中间层特征权值增强捕获关键信息的能力;特征感知注意力机制采用方向感知和位置判断的方式准确定位和识别感兴趣对象。多项标准数据集的实验结果表明,该方法能改善超分辨率的视觉重建效果,整体性能优于现有方法。

基于可解释网络解耦表征的低成本雷达定位解算方法

为降低调频连续波(FMCW)雷达成本,同时提高定位精度,设计可解释解耦表征模型。该模型由网络解算器、虚假信号生成器以及可解释潜变量三部分组成。首先处理雷达信号获得中频频谱;然后输入到网络解算器中生成位置潜变量;再通过物理机制对潜变量进行转换,生成虚假中频信号频谱;最后,设计局部光滑损失函数对模型进行自监督训练,实现潜变量的解耦物理表征。实验结果表明:所提算法能对雷达系统频谱信号的粗粒度进行超分辨率细化,其机理能有效应对雷达系统的硬件公差、环境噪声、安装误差等问题,并可自动地训练出雷达的解算网络,从而具有大规模室内、机载联网定位的应用潜力。

基于单片机的GPS定位系统的设计

随着城乡基础设施的迅猛发展,道路状况变得复杂,有效掌握交通流量和保障车辆出行安全变得尤其重要。从车辆出行的准确定位需求出发,设计一款车载GPS定位系统,其以STM32F103为控制核心,利用SIM868模块进行GPS定位并转换为可靠的定位信息,通过GPRS通信将信号传输至One NET服务器,再通过APP方式将所有的经纬度信息及其他相关的功能信息传至用户的智能手机,使用户能更精准地查询和定位车辆,获取出行车辆的位置信息,有效保障用户的出行安全。

胸部肿瘤三维适形调强放疗摆位误差相关因素分析

分析胸部肿瘤患者行三维适形调强放疗(IMRT)时产生摆位误差的相关因素,以准确计算出临床靶区(CTV)外放边界(摆位扩边(SM)值),从而实现安全放疗.以莆田学院附属医院接受IMRT治疗的83例胸部恶性肿瘤患者为研究对象,应用体位固定技术及电子射野影像装置(EPID)测量比较胸部恶性肿瘤IMRT的摆位误差,采用多元线性回归分析方法对摆位误差相关因素进行分析,进而分类计算出其SM值.结果显示,83例受试者在X轴、Y轴、Z轴上的SM值分别为0.31、0.28、0.28 cm;靶区定位、性别及肺容量分别为Y轴个体随机误差、Z轴个体系统误差、Z轴个体随机误差的独立影响因素.这表明肿瘤患者行IMRT治疗时靶区定位、性别及肺容量在不同方向上影响其摆位误差.

智能室内停车场定位导航系统设计

如今,各大商场的地下停车场日趋普遍化和复杂化。随着汽车持有量的急剧增长,车主在庞大的地下停车场中泊车寻车成为了难题。为此,提出了一种实现智能导航和停车管理的解决方案。依据室内定位及导航技术的应用需求,利用光敏模块、环形线圈检测及红外循迹技术,对停车场地形进行红外扫描,通过STM32单片机将数据传输到接收端。用户只需按照主控制器返回给终端的信息,即可快速实现点对点的定位服务。这一方案旨在提高人们出行的便捷性,并为加强城市停车规范管理提供可行性方案。

基于490 nm垂直外腔面发射激光器的长距离水下激光通信系统

水下无线光通信技术为深海勘探和海洋资源开发利用带来了一种效率高且可靠性强的通信新方案.本文采用490 nm垂直外腔面发射激光器作为光源,基于声光外调制技术,采用脉冲位置调制方式(pulseposition modulation,PPM)搭建了长距离水下无线光通信系统.结合光源的优势并经过软判决算法优化PPM解调来提升水下通信性能,采用64 PPM调制,成功实现了96 m的水下传输距离,在50 MHz时隙频率下得到传输的误码率为1.9×10^(-5).同时测量到采用软判决解调相较于硬判决解调在性能增益上有着大约2 dB的提升,验证了软判决算法在提升水下通信性能方面相比硬判决算法的显著优势.