Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy cri...Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy criterion(MCC)instead of the minimummean square error criterion(MMSE).This innovative approach is applied to the loose coupling of the Inertial Navigation System(INS)and Ultra-Wideband(UWB).By introducing the maximum correntropy criterion,the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise,thus enhancing its adaptability to diverse environmental localization requirements.Particularly in the presence of non-Gaussian noise,especially heavy-tailed noise,the MCCUKF exhibits superior accuracy and robustness compared to the traditional UKF.The method initially generates an estimate of the predicted state and covariance matrix through the unscented transform(UT)and then recharacterizes the measurement information using a nonlinear regression method at the cost of theMCC.Subsequently,the state and covariance matrices of the filter are updated by employing the unscented transformation on the measurement equations.Moreover,to mitigate the influence of non-line-of-sight(NLOS)errors positioning accuracy,this paper proposes a k-medoid clustering algorithm based on bisection k-means(Bikmeans).This algorithm preprocesses the UWB distance measurements to yield a more precise position estimation.Simulation results demonstrate that MCCUKF is robust to the uncertainty of UWB and realizes stable integration of INS and UWB systems.展开更多
The MohroCoulomb criterion has been widely used to explain formation of fractures. However, it fails to explain large strain deformation that widely occurs in nature. There is presently a new theory, the MEMC, which i...The MohroCoulomb criterion has been widely used to explain formation of fractures. However, it fails to explain large strain deformation that widely occurs in nature. There is presently a new theory, the MEMC, which is mathematically expressed as Meff = （（σ1-σ3） L.sin 2α sin α）/2, where σ1-σ3 represents the yield strength of the related rock, L is a unit length and a is the angle between σ1 and deformation bands. This criterion demonstrates that the maximum value appears at angles of ±54.7° to σ1 and there is a slight difference in the moment in the range of 55°±10°. The range covers the whole observations available from nature and experiments. Its major implications include： （1） it can be used to determine the stress state when the related deformation features formed; （2） it provides a new approach to determine the Wk of the related ductile shear zone if only the ratio of the vorticity and strain rate remains fixed; （3） It can be used to explain （a） the obtuse angle in the contraction direction of conjugate kink-bands and extensional crenulation cleavages, （b） formation of low-angle normal faults and high-angle reverse faults, （c） lozenge ductile shear zones in basement terranes, （d） some crocodile structures in seismic profiles and （e） detachment folds in foreland basins.展开更多
In this paper, we consider the numerical treatment of an inverse acoustic scattering problem that involves an impenetrable obstacle embedded in a layered medium. We begin by employing a modified version of the well kn...In this paper, we consider the numerical treatment of an inverse acoustic scattering problem that involves an impenetrable obstacle embedded in a layered medium. We begin by employing a modified version of the well known <em>factorization method</em>, in which a computationally effective numerical scheme for the reconstruction of the shape of the scatterer is presented. This is possible, due to a <em>mixed reciprocity principle</em>, which renders the computation of the Green function at the background medium unnecessary. Moreover, to further refine our inversion algorithm, an efficient Tikhonov parameter choice technique, called <em>Improved Maximum Product Criterion</em> (IMPC) is exploited. Our regularization parameter is computed via a fast iterative algorithm which requires no <em>a priori</em> knowledge of the noise level in the far-field data. Finally, the effectiveness of IMPC is illustrated with various numerical examples.展开更多
This paper tackles the maximum correntropy Kalman filtering problem for discrete time-varying non-Gaussian systems subject to state saturations and stochastic nonlinearities. The stochastic nonlinearities, which take ...This paper tackles the maximum correntropy Kalman filtering problem for discrete time-varying non-Gaussian systems subject to state saturations and stochastic nonlinearities. The stochastic nonlinearities, which take the form of statemultiplicative noises, are introduced in systems to describe the phenomenon of nonlinear disturbances. To resist non-Gaussian noises, we consider a new performance index called maximum correntropy criterion(MCC) which describes the similarity between two stochastic variables. To enhance the “robustness” of the kernel parameter selection on the resultant filtering performance, the Cauchy kernel function is adopted to calculate the corresponding correntropy. The goal of this paper is to design a Kalman-type filter for the underlying systems via maximizing the correntropy between the system state and its estimate. By taking advantage of an upper bound on the one-step prediction error covariance, a modified MCC-based performance index is constructed. Subsequently, with the assistance of a fixed-point theorem, the filter gain is obtained by maximizing the proposed cost function. In addition, a sufficient condition is deduced to ensure the uniqueness of the fixed point. Finally, the validity of the filtering method is tested by simulating a numerical example.展开更多
光伏最大功率点跟踪是提高光伏发电效率的重要手段。在局部阴影条件下,光伏阵列的特性曲线呈现多峰形状,常规的传统算法容易陷入局部最优。如何在局部阴影条件下找到全局最大功率点(global maximum power point,GMPP)至关重要。提出了...光伏最大功率点跟踪是提高光伏发电效率的重要手段。在局部阴影条件下,光伏阵列的特性曲线呈现多峰形状,常规的传统算法容易陷入局部最优。如何在局部阴影条件下找到全局最大功率点(global maximum power point,GMPP)至关重要。提出了一种定位收缩法(locate and shrink algorithm,LSA),采用收缩边界的思想使得边界逐渐收缩到GMPP。LSA第一阶段提出了一种峰的定位方法,通过自适应采样结合I-V特性曲线能够定位主要峰的占空比范围。定位法能够与其他单峰算法结合,具有较强的扩展性。第二阶段提出了一种基于三点准则的收缩法,能够在单峰范围内通过收缩边界快速找到峰值点,并且具有很强的环境适应性。将LSA与多个算法进行仿真和硬件实验对比,结果表明LSA在跟踪速度、跟踪精度和稳态振荡方面有着明显优势。展开更多
Micron-scale crack propagation in red-bed soft rocks under hydraulic action is a common cause of engineering disasters due to damage to the hard rockesoft rockewater interface.Previous studies have not provided a theo...Micron-scale crack propagation in red-bed soft rocks under hydraulic action is a common cause of engineering disasters due to damage to the hard rockesoft rockewater interface.Previous studies have not provided a theoretical analysis of the length,inclination angle,and propagation angle of micron-scale cracks,nor have they established appropriate criteria to describe the crack propagation process.The propagation mechanism of micron-scale cracks in red-bed soft rocks under hydraulic action is not yet fully understood,which makes it challenging to prevent engineering disasters in these types of rocks.To address this issue,we have used the existing generalized maximum tangential stress(GMTS)and generalized maximum energy release rate(GMERR)criteria as the basis and introduced parameters related to micron-scale crack propagation and water action.The GMTS and GMERR criteria for micronscale crack propagation in red-bed soft rocks under hydraulic action(abbreviated as the Wmic-GMTS and Wmic-GMERR criteria,respectively)were established to evaluate micron-scale crack propagation in redbed soft rocks under hydraulic action.The influence of the parameters was also described.The process of micron-scale crack propagation under hydraulic action was monitored using uniaxial compression tests(UCTs)based on digital image correlation(DIC)technology.The study analyzed the length,propagation and inclination angles,and mechanical parameters of micron-scale crack propagation to confirm the reliability of the established criteria.The findings suggest that the Wmic-GMTS and Wmic-GMERR criteria are effective in describing the micron-scale crack propagation in red-bed soft rocks under hydraulic action.This study discusses the mechanism of micron-scale crack propagation and its effect on engineering disasters under hydraulic action.It covers topics such as the internal-external weakening of nano-scale particles,lateral propagation of micron-scale cracks,weakening of the mechanical properties of millimeter-scale soft rocks,and resulting interface damage at the engineering scale.The study provides a theoretical basis for the mechanism of disasters in red-bed soft-rock engineering under hydraulic action.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.62273083 and 61803077Natural Science Foundation of Hebei Province under Grant No.F2020501012.
文摘Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy criterion(MCC)instead of the minimummean square error criterion(MMSE).This innovative approach is applied to the loose coupling of the Inertial Navigation System(INS)and Ultra-Wideband(UWB).By introducing the maximum correntropy criterion,the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise,thus enhancing its adaptability to diverse environmental localization requirements.Particularly in the presence of non-Gaussian noise,especially heavy-tailed noise,the MCCUKF exhibits superior accuracy and robustness compared to the traditional UKF.The method initially generates an estimate of the predicted state and covariance matrix through the unscented transform(UT)and then recharacterizes the measurement information using a nonlinear regression method at the cost of theMCC.Subsequently,the state and covariance matrices of the filter are updated by employing the unscented transformation on the measurement equations.Moreover,to mitigate the influence of non-line-of-sight(NLOS)errors positioning accuracy,this paper proposes a k-medoid clustering algorithm based on bisection k-means(Bikmeans).This algorithm preprocesses the UWB distance measurements to yield a more precise position estimation.Simulation results demonstrate that MCCUKF is robust to the uncertainty of UWB and realizes stable integration of INS and UWB systems.
基金This work is financed by the grants of the National Natural Science Foundation of China （Grant No 40272084, 40472101 and 40572123）.
文摘The MohroCoulomb criterion has been widely used to explain formation of fractures. However, it fails to explain large strain deformation that widely occurs in nature. There is presently a new theory, the MEMC, which is mathematically expressed as Meff = （（σ1-σ3） L.sin 2α sin α）/2, where σ1-σ3 represents the yield strength of the related rock, L is a unit length and a is the angle between σ1 and deformation bands. This criterion demonstrates that the maximum value appears at angles of ±54.7° to σ1 and there is a slight difference in the moment in the range of 55°±10°. The range covers the whole observations available from nature and experiments. Its major implications include： （1） it can be used to determine the stress state when the related deformation features formed; （2） it provides a new approach to determine the Wk of the related ductile shear zone if only the ratio of the vorticity and strain rate remains fixed; （3） It can be used to explain （a） the obtuse angle in the contraction direction of conjugate kink-bands and extensional crenulation cleavages, （b） formation of low-angle normal faults and high-angle reverse faults, （c） lozenge ductile shear zones in basement terranes, （d） some crocodile structures in seismic profiles and （e） detachment folds in foreland basins.
文摘In this paper, we consider the numerical treatment of an inverse acoustic scattering problem that involves an impenetrable obstacle embedded in a layered medium. We begin by employing a modified version of the well known <em>factorization method</em>, in which a computationally effective numerical scheme for the reconstruction of the shape of the scatterer is presented. This is possible, due to a <em>mixed reciprocity principle</em>, which renders the computation of the Green function at the background medium unnecessary. Moreover, to further refine our inversion algorithm, an efficient Tikhonov parameter choice technique, called <em>Improved Maximum Product Criterion</em> (IMPC) is exploited. Our regularization parameter is computed via a fast iterative algorithm which requires no <em>a priori</em> knowledge of the noise level in the far-field data. Finally, the effectiveness of IMPC is illustrated with various numerical examples.
基金supported in part by the National Natural Science Foundation of China (62273088, 62273087)the Shanghai Pujiang Program of China (22PJ1400400)the Program of Shanghai Academic/Technology Research Leader (20XD1420100)。
文摘This paper tackles the maximum correntropy Kalman filtering problem for discrete time-varying non-Gaussian systems subject to state saturations and stochastic nonlinearities. The stochastic nonlinearities, which take the form of statemultiplicative noises, are introduced in systems to describe the phenomenon of nonlinear disturbances. To resist non-Gaussian noises, we consider a new performance index called maximum correntropy criterion(MCC) which describes the similarity between two stochastic variables. To enhance the “robustness” of the kernel parameter selection on the resultant filtering performance, the Cauchy kernel function is adopted to calculate the corresponding correntropy. The goal of this paper is to design a Kalman-type filter for the underlying systems via maximizing the correntropy between the system state and its estimate. By taking advantage of an upper bound on the one-step prediction error covariance, a modified MCC-based performance index is constructed. Subsequently, with the assistance of a fixed-point theorem, the filter gain is obtained by maximizing the proposed cost function. In addition, a sufficient condition is deduced to ensure the uniqueness of the fixed point. Finally, the validity of the filtering method is tested by simulating a numerical example.
文摘光伏最大功率点跟踪是提高光伏发电效率的重要手段。在局部阴影条件下,光伏阵列的特性曲线呈现多峰形状,常规的传统算法容易陷入局部最优。如何在局部阴影条件下找到全局最大功率点(global maximum power point,GMPP)至关重要。提出了一种定位收缩法(locate and shrink algorithm,LSA),采用收缩边界的思想使得边界逐渐收缩到GMPP。LSA第一阶段提出了一种峰的定位方法,通过自适应采样结合I-V特性曲线能够定位主要峰的占空比范围。定位法能够与其他单峰算法结合,具有较强的扩展性。第二阶段提出了一种基于三点准则的收缩法,能够在单峰范围内通过收缩边界快速找到峰值点,并且具有很强的环境适应性。将LSA与多个算法进行仿真和硬件实验对比,结果表明LSA在跟踪速度、跟踪精度和稳态振荡方面有着明显优势。
基金funded by the National Natural Science Foundation of China(NSFC)(Grant Nos.42293354,42293351,and 42277131).
文摘Micron-scale crack propagation in red-bed soft rocks under hydraulic action is a common cause of engineering disasters due to damage to the hard rockesoft rockewater interface.Previous studies have not provided a theoretical analysis of the length,inclination angle,and propagation angle of micron-scale cracks,nor have they established appropriate criteria to describe the crack propagation process.The propagation mechanism of micron-scale cracks in red-bed soft rocks under hydraulic action is not yet fully understood,which makes it challenging to prevent engineering disasters in these types of rocks.To address this issue,we have used the existing generalized maximum tangential stress(GMTS)and generalized maximum energy release rate(GMERR)criteria as the basis and introduced parameters related to micron-scale crack propagation and water action.The GMTS and GMERR criteria for micronscale crack propagation in red-bed soft rocks under hydraulic action(abbreviated as the Wmic-GMTS and Wmic-GMERR criteria,respectively)were established to evaluate micron-scale crack propagation in redbed soft rocks under hydraulic action.The influence of the parameters was also described.The process of micron-scale crack propagation under hydraulic action was monitored using uniaxial compression tests(UCTs)based on digital image correlation(DIC)technology.The study analyzed the length,propagation and inclination angles,and mechanical parameters of micron-scale crack propagation to confirm the reliability of the established criteria.The findings suggest that the Wmic-GMTS and Wmic-GMERR criteria are effective in describing the micron-scale crack propagation in red-bed soft rocks under hydraulic action.This study discusses the mechanism of micron-scale crack propagation and its effect on engineering disasters under hydraulic action.It covers topics such as the internal-external weakening of nano-scale particles,lateral propagation of micron-scale cracks,weakening of the mechanical properties of millimeter-scale soft rocks,and resulting interface damage at the engineering scale.The study provides a theoretical basis for the mechanism of disasters in red-bed soft-rock engineering under hydraulic action.
