Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

An aerial ammunition ad hoc network collaborative localization algorithm based on relative ranging and velocity measurement in a highly-dynamic topographic structure

In the internet of battlefield things, ammunition is becoming networked and intelligent, which depends on location information. Therefore, this paper focuses on the self-organized network collaborative localization of munitions with an aerial three-dimensional(3D) highly-dynamic topographic structure under a satellite denied environment. As for aerial networked munitions, the measurement of munitions is objectively incomplete due to the degenerated and interrupted link of munitions. For this reason, a cluster-oriented collaborative localization method is put forward in this paper. Multidimensional scaling(MDS) was first integrated with a trilateration localization method(TLM) to construct a relative localization algorithm for determining the relative location of a mobile cluster network. The information related to relative velocity was then combined into a collaborative localization framework to devise a TLM-vMDS algorithm. Finally, an iterative refinement algorithm based on scaling by majorizing a complicated function(SMACOF) was employed to effectively eliminate the influence of incomplete link observation on localization accuracy. Compared with the currently available advanced algorithms, the proposed TLM-vMDS algorithm achieves higher localization accuracy and faster convergence for a cluster of extensively networked munitions, and also offers better numerical stability and robustness for highspeed motion models.

Historical biogeography and evolutionary diversification of Lilium(Liliaceae): New insights from plastome phylogenomics

Here, we infer the historical biogeography and evolutionary diversification of the genus Lilium. For this purpose, we used the complete plastomes of 64 currently accepted species in the genus Lilium(14plastomes were newly sequenced) to recover the phylogenetic backbone of the genus and a timecalibrated phylogenetic framework to estimate biogeographical history scenarios and evolutionary diversification rates of Lilium. Our results suggest that ancient climatic changes and geological tectonic activities jointly shaped the distribution range and drove evolutionary radiation of Lilium, including the Middle Miocene Climate Optimum(MMCO), the late Miocene global cooling, as well as the successive uplift of the Qinghai-Tibet Plateau(QTP) and the strengthening of the monsoon climate in East Asia during the late Miocene and the Pliocene. This case study suggests that the unique geological and climatic events in the Neogene of East Asia, in particular the uplift of QTP and the enhancement of monsoonal climate, may have played an essential role in formation of uneven distribution of plant diversity in the Northern Hemisphere.

Species’ geographical range, environmental range and traits lead to specimen collection preference of dominant plant species of grasslands in Northern China

Many different factors,such as species traits,socio-economic factors,geographical and environmental factors,can lead to specimen collection preference.This study aims to determine whether grassland specimen collection in China is preferred by species traits(i.e.,plant height,flowering and fruiting period),environmental range(i.e.,the temperature and precipitation range)and geographical range(i.e.,distribution range and altitudinal range).Ordinary least squares models and phylogenetic generalized linear mixed models were used to analyze the relationships between specimen number and the explanatory variables.Random Forest models were then used to find the most parsimonious multivariate model.The results showed that interannual variation in specimen number between 1900 and 2020 was considerable.Specimen number of these species in southeast China was notably lower than that in northwest China.Environmental range and geographical range of species had significant positive correlations with specimen number.In addition,there were relatively weak but significant associations between specimen number and species trait(i.e.,plant height and flowering and fruiting period).Random Forest models indicated that distribution range was the most important variable,followed by flowering and fruiting period,and altitudinal range.These findings suggest that future floristic surveys should pay more attention to species with small geographical range,narrow environmental range,short plant height,and short flowering and fruiting period.The correction of specimen collection preference will also make the results of species distribution model,species evolution and other works based on specimen data more accurate.

Disparity estimation for multi-scale multi-sensor fusion

The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.

Comprehensive analysis of glacier recession(2000-2020)in the Nun-Kun Group of Glaciers,Northwestern Himalaya

Himalayan glaciers are shrinking rapidly,especially after 2000.Glacier shrinkage,however,shows a differential pattern in space and time,emphasizing the need to monitor and assess glacier changes at a larger scale.In this study,changes of 48 glaciers situated around the twin peaks of the Nun and Kun mountains in the northwestern Himalaya,hereafter referred to as Nun-Kun Group of Glaciers(NKGG),were investigated using Landsat satellite data during 2000-2020.Changes in glacier area,snout position,Equilibrium Line Altitude(ELA),surface thickness and glacier velocity were assessed using remote sensing data supplemented by field observations.The study revealed that the NKGG glaciers have experienced a recession of 4.5%±3.4%and their snouts have retreated at the rate of 6.4±1.6 m·a^(-1).Additionally,there was a 41%increase observed in the debris cover area during the observation period.Using the geodetic approach,an average glacier elevation change of-1.4±0.4 m·a^(-1)was observed between 2000 and 2012.The observed mass loss of the NKGG has resulted in the deceleration of glacier velocity from 27.0±3.7 m·a^(-1)in 2000 to 21.2±2.2 m·a^(-1)in 2020.The ELA has shifted upwards by 83.0±22 m during the period.Glacier morphological and topographic factors showed a strong influence on glacier recession.Furthermore,a higher recession of 12.9%±3.2%was observed in small glaciers,compared to 2.7%±3.1%in larger glaciers.The debris-covered glaciers showed lower shrinkage(2.8%±1.1%)compared to the clean glaciers(9.3%±5%).The glacier depletion recorded in the NKGG during the last two decades,if continued,would severely diminish glacial volume and capacity to store water,thus jeopardizing the sustainability of water resources in the basin.

Three-channel CMOS transimpedance amplifier for LiDAR sensor receiver

For time-of-flight(TOF)light detection and ranging(LiDAR),a three-channel high-performance transimpedance amplifier(TIA)with high immunity to input load capacitance is presented.A regulated cascade(RGC)as the input stage is at the core of the complementary metal oxide semiconductor(CMOS)circuit chip,giving it more immunity to input photodiode detectors.A simple smart output interface acting as a feedback structure,which is rarely found in other designs,reduces the chip size and power consumption simultaneously.The circuit is designed using a 0.5μm CMOS process technology to achieve low cost.The device delivers a 33.87 dB?transimpedance gain at 350 MHz.With a higher input load capacitance,it shows a-3 dB bandwidth of 461 MHz,indicating a better detector tolerance at the front end of the system.Under a 3.3 V supply voltage,the device consumes 5.2 mW,and the total chip area with three channels is 402.8×597.0μm2(including the test pads).

The interaction between temperature and precipitation on the potential distribution range of Betula ermanii in the alpine treeline ecotone on the Changbai Mountain

Alpine treeline ecotones are highly sensitive to climate warming.The low temperature-determined alpine treeline is expected to shift upwards in response to global warming.However,little is known about how temperature interacts with other important factors to influence the distribution range of tree species within and beyond the alpine treeline ecotone.Hence,we used a GF-2 satellite image,along with bioclimatic and topographic variables,to develop an ensemble suitable habitat model based on the species distribution modeling algorithms in Biomod2.We investigated the distribution of suitable habitats for B.ermanii under three climate change scenarios(i.e.,low(SSP126),moderate(SSP370)and extreme(SSP585)future emission trajectories)between two consecutive time periods(i.e.,current-2055,and 2055-2085).By 2055,the potential distribution range of B.ermanii will expand under all three climate scenarios.The medium and high suitable areas will decline under SSP370 and SSP585scenarios from 2055 to 2085.Moreover,under the three climate scenarios,the uppermost altitudes of low suitable habitat will rise to 2,329 m a.s.l.,while the altitudes of medium and high suitable habitats will fall to 2,201 and2,051 m a.s.l.by 2085,respectively.Warming promotes the expansion of B.ermanii distribution range in Changbai Mountain,and this expansion will be modified by precipitation as climate warming continues.This interaction between temperature and precipitation plays a significant role in shaping the potential distribution range of B.ermanii in the alpine treeline ecotone.This study reveals the link between environmental factors,habitat distribution,and species distribution in the alpine treeline ecotone,providing valuable insights into the impacts of climate change on high-elevation vegetation,and contributing to mountain biodiversity conservation and sustainable development.

Foam rolling and stretching do not provide superior acute flexibility and stiffness improvements compared to any other warm-up intervention: A systematic review with meta-analysis

Background:Acute improvement in range of motion(ROM)is a widely reported effect of stretching and foam rolling,which is commonly explained by changes in pain threshold and/or musculotendinous stiffness.Interestingly,these effects were also reported in response to various other active and passive interventions that induce responses such as enhanced muscle temperature.Therefore,we hypothesized that acute ROM enhancements could be induced by a wide variety of interventions other than stretching or foam rolling that promote an increase in muscle temperature.Methods:After a systematic search in PubMed,Web of Science,and SPORTDiscus databases,38 studies comparing the effects of stretching and foam rolling with several other interventions on ROM and passive properties were included.These studies had 1134 participants in total,and the data analysis resulted in 140 effect sizes(ESs).ES calculations were performed using robust variance estimation model with R-package.Results:Study quality of the included studies was classified as fair(PEDro score=4.58)with low to moderate certainty of evidence.Results showed no significant differences in ROM(ES=0.01,p=0.88),stiffness(ES=0.09,p=0.67),or passive peak torque(ES=-0.30,p=0.14)between stretching or foam rolling and the other identified activities.Funnel plots revealed no publication bias.Conclusion:Based on current literature,our results challenge the established view on stretching and foam rolling as a recommended component of warm-up programs.The lack of significant difference between interventions suggests there is no need to emphasize stretching or foam rolling to induce acute ROM,passive peak torque increases,or stiffness reductions.

Co-Sharing Waveform Design for Millimeter-Wave Radar Communication Systems

Millimeter-wave(mmWave)radar communication has emerged as an important technique for future wireless systems.However,the interference between the radar signal and communication data is the main issue that should be considered for the joint radar communication system.In this paper,a co-sharing waveform(CSW)is proposed to achieve communication and radar sensing simultaneously.To eliminate the co-interference between the communication and sensing signal,signal splitting and processing methods for communication data demodulation and radar signal processing are given respectively.Simulation results show that the bit error rate(BER)of CSW is close to that of the pure communication waveform.Moreover,the proposed CSW can achieve better performance than the existing waveforms in terms of range and velocity estimation.

Characteristic analysis of 5D symmetric Hamiltonian conservative hyperchaotic system with hidden multiple stability

Conservative chaotic systems have unique advantages over dissipative chaotic systems in the fields of secure communication and pseudo-random number generator because they do not have attractors but possess good traversal and pseudorandomness. In this work, a novel five-dimensional(5D) Hamiltonian conservative hyperchaotic system is proposed based on the 5D Euler equation. The proposed system can have different types of coordinate transformations and time reversal symmetries. In this work, Hamilton energy and Casimir energy are analyzed firstly, and it is proved that the new system satisfies Hamilton energy conservation and can generate chaos. Then, the complex dynamic characteristics of the system are demonstrated and the conservatism and chaos characteristics of the system are verified through the correlation analysis methods such as phase diagram, equilibrium point, Lyapunov exponent, bifurcation diagram, and SE complexity. In addition, a detailed analysis of the multistable characteristics of the system reveals that many energy-related coexisting orbits exist. Based on the infinite number of center-type and saddle-type equilibrium points, the dynamic characteristics of the hidden multistability of the system are revealed. Then, the National Institute of Standards and Technology(NIST)test of the new system shows that the chaotic sequence generated by the system has strong pseudo-random. Finally, the circuit simulation and hardware circuit experiment of the system are carried out with Multisim simulation software and digital signal processor(DSP) respectively. The experimental results confirm that the new system has good ergodicity and realizability.

Activity Pattern and Habitat Use of Shorebirds in an Artificial Wetland Complex:A Case Study of Breeding Pied Avocet in the Yellow River Delta,China

With the loss of substantial natural wetlands in coastal zones,artificial wetlands provide alternative habitats for many shorebirds.Scientific management of artificial wetlands used by shorebirds plays an important role in maintaining the stability of shorebird population.Satellite tracking technique can obtain high-precision location information of individuals day and night,providing a good technical support for the study of quantitative relationship between waterfowls and their habitats.In this study,satellite tracking method,Remote Sensing(RS)and Geographic Information System(GIS)technology were used to analyze the activity pattern and habitat utilization characteristics of Pied Avocet during breeding period in an artificial wetland complex in the Yellow River Delta(YRD),China.The results showed that the breeding Pied Avocets had a small range of activity,with a total core and main home range of 33.10 km^(2) and 216.30 km^(2),respectively.This species tended to forage in the pond and salt pan during the day and night,respectively,with an unfixed staying time in the breeding ground.The distance between breeding ground and feeding ground was less than 6 km.It is emphasized that in addition to improving the conditions of the remaining natural habitats,effective managing artificial habitats is a priority for shorebird conservation.This research could provide reference for the management of artificial wetlands in coastal zones and supply technique support for the protection of shorebirds and their habitats,and alleviate human-bird conflicts and sustainable development of coastal zones.

Source Enrichment Control on the Scale of Magmatic-Hydrothermal W-Sn Mineralization:Insights from Triassic and Jurassic Magma Reservoirs in the Continental Crust,Xitian,South China

There are two factors,source composition and magmatic differentiation,potentially controlling W-Sn mineralization.Which one is more important is widely debated and may need to be determined for each individual deposit.The Xitian granite batholith located in South China is a natural laboratory for investigating the above problem.It consists essentially of two separate components,formed in the Triassic at ca.226 Ma and Jurassic at ca.152 Ma,respectively.The Triassic and Jurassic rocks are both composed of porphyritic and fine-grained phases.The latter resulted from highlydifferentiated porphyritic ones but they have similar textural characteristics and mineral assemblages,indicating that they reached a similar degree of crystal fractionation.Although both fine-grained phases are highly differentiated with elevated rare metal contents,economic W–Sn mineralization is rare in the Triassic granitoids and this can be attributed to less fertile source materials than their Jurassic counterparts,with a slightly more enriched isotopic signature and whole-rockεNd(226 Ma)of−10.4 to−9.2(2σ=0.2)compared withεNd(152 Ma)of−9.2 to−8.2(2σ=0.2)for the Jurassic rocks.The initial W-Sn enrichment was derived from the metasedimentary rocks and strongly enhanced by reworking of the continental crust,culminating in the Jurassic.

Extraction of Acoustic Normal Mode Depth Functions Using Range-Difference Method with Vertical Linear Array Data

Data-derived normal mode extraction is an effective method for extracting normal mode depth functions in the absence of marine environmental data.However,when the corresponding singular vectors become nonunique when two or more singular values obtained from the cross-spectral density matrix diagonalization are nearly equal,this results in unsatisfactory extraction outcomes for the normal mode depth functions.To address this issue,we introduced in this paper a range-difference singular value decomposition method for the extraction of normal mode depth functions.We performed the mode extraction by conducting singular value decomposition on the individual frequency components of the signal's cross-spectral density matrix.This was achieved by using pressure and its range-difference matrices constructed from vertical line array data.The proposed method was validated using simulated data.In addition,modes were successfully extracted from ambient noise.

Image Steganography by Pixel-Value Differencing Using General Quantization Ranges

A new steganographic method by pixel-value differencing(PVD)using general quantization ranges of pixel pairs’difference values is proposed.The objective of this method is to provide a data embedding technique with a range table with range widths not limited to powers of 2,extending PVD-based methods to enhance their flexibility and data-embedding rates without changing their capabilities to resist security attacks.Specifically,the conventional PVD technique partitions a grayscale image into 1×2 non-overlapping blocks.The entire range[0,255]of all possible absolute values of the pixel pairs’grayscale differences in the blocks is divided into multiple quantization ranges.The width of each quantization range is a power of two to facilitate the direct embedding of the bit information with high embedding rates.Without using power-of-two range widths,the embedding rates can drop using conventional embedding techniques.In contrast,the proposed method uses general quantization range widths,and a multiple-based number conversion mechanism is employed skillfully to implement the use of nonpower-of-two range widths,with each pixel pair being employed to embed a digit in the multiple-based number.All the message bits are converted into a big multiple-based number whose digits can be embedded into the pixel pairs with a higher embedding rate.Good experimental results showed the feasibility of the proposed method and its resistance to security attacks.In addition,implementation examples are provided,where the proposed method adopts non-power-of-two range widths and employsmultiple-based number conversion to expand the data-hiding and steganalysis-resisting capabilities of other PVD methods.

SOME PROPERTIES OF THE INTEGRATION OPERATORS ON THE SPACES F(p,q,s)

We study the closed range property and the strict singularity of integration operators acting on the spaces F(p,pα-2,s).We completely characterize the closed range property of the Volterra companion operator I_(g)on F(p,pα-2,s),which generalizes the existing results and answers a question raised in[A.Anderson,Integral Equations Operator Theory,69(2011),no.1,87-99].For the Volterra operator J_(g),we show that,for 0<α≤1,J_(g)never has a closed range on F(p,pα-2,s).We then prove that the notions of compactness,weak compactness and strict singularity coincide in the case of J_(g)acting on F(p,p-2,s).

Development of endemicity and conservation importance indices for tropical forests and the floral diversity assessment of Mt.Natoo in Benguet,Philippines

The scientific community faces the challenge of measuring progress toward biodiversity targets and indices have been traditionally used.However,recent inventories in secondary tropical mountain forests using traditional biodiversity indices have yielded results that are indistinct with primary ones.This shows the need to develop complementary indices that goes beyond species count but integrates the distribution and conservation status of the species.This study developed endemicity and conservation importance index for tropical forest that incorporated the distribution and conservation status of the species.These indices were applied to Mt.Natoo,a remnant primary mossy forest in Buguias,Benguet,Philippines,that resulted to endemicity index of 81.07 and conservation importance index of 42.90.Comparing these with secondary forest sites with comparable Shannon-Wiener,Simpson,Evenness and Margalef’s indices,our endemicity and conservation indices clearly differentiates primary forest(our study site)with higher values from secondary forests with much lower values.Thus,we are proposing these indices for a direct but scientifically-informed identification of specific sites for conservation and protection in tropical forests.Additionally,our study documented a total of 168 vascular plant species(79 endemic and 12 locally threatened species)in Mt.Nato-o.Majority are of tropical elements for both generic and species levels with some temperate elements that could be attributed to the site's high elevation and semi-temperate climate.These are important baseline information for conservation plans and monitoring of tropical mossy forests.

The efficacy of vitamin E in preventing arthrofibrosis after joint replacement

Background:Arthrofibrosis is a joint disorder characterized by excessive scar formation in the joint tissues.Vitamin E is an antioxidant with potential anti-fibroblastic effect.The aim of this study was to establish an arthrofibrosis rat model after joint replacement and assess the effects of vitamin E supplementation on joint fibrosis.Methods:We simulated knee replacement in 16 male Sprague–Dawley rats.We immobilized the surgical leg with a suture in full flexion.The control groups were killed at 2 and 12 weeks(n=5 per group),and the test group was supplemented daily with vitamin E(0.2 mg/mL)in their drinking water for 12 weeks(n=6).We performed histological staining to investigate the presence and severity of arthrofibrosis.Immunofluorescent staining andα2-macroglobulin(α2M)enzyme-linked immunosorbent assay(ELISA)were used to assess local and systemic inflammation.Static weight bearing(total internal reflection)and range of motion(ROM)were collected for functional assessment.Results:The ROM and weight-bearing symmetry decreased after the procedure and recovered slowly with still significant deficit at the end of the study for both groups.Histological analysis confirmed fibrosis in both lateral and posterior periarticular tissue.Vitamin E supplementation showed a moderate anti-inflammatory effect on the local and systemic levels.The vitamin E group exhibited significant improvement in ROM and weight-bearing symmetry at day 84 compared to the control group.Conclusions:This model is viable for simulating arthrofibrosis after joint replacement.Vitamin E may benefit postsurgical arthrofibrosis,and further studies are needed for dosing requirements.

Correlation of work function and stacking fault energy through Kelvin probe force microscopy and nanohardness in diluteα-magnesium

Electronic interactions of the Group 2A elements with magnesium have been studied through the dilute solid solutions in binary Mg-Ca,Mg-Sr and Mg-Ba systems.This investigation incorporated the difference in the‘Work Function'(ΔWF)measured via Kelvin Probe Force Microscopy(KPFM),as a property directly affected by interatomic bond types,i.e.the electronic structure,nanoindentation measurements,and Stacking Fault Energy values reported in the literature.It was shown that the nano-hardness of the solid-solutionα-Mg phase changed in the order of Mg-Ca>Mg-Sr>Mg-Ba.Thus,it was shown,by also considering the nano-hardness levels,that SFE of a solid-solution is closely correlated with its‘Work Function'level.Nano-hardness measurements on the eutectics andΔWF difference between eutectic phases enabled an assessment of the relative bond strength and the pertinent electronic structures of the eutectics in the three alloys.Correlation withΔWF and at least qualitative verification of those computed SFE values with some experimental measurement techniques were considered important as those computational methods are based on zero Kelvin degree,relatively simple atomic models and a number of assumptions.As asserted by this investigation,if the results of measurement techniques can be qualitatively correlated with those of the computational methods,it can be possible to evaluate the electronic structures in alloys,starting from binary systems,going to ternary and then multi-elemental systems.Our investigation has shown that such a qualitative correlation is possible.After all,the SFE values are not treated as absolute values but rather become essential in comparative investigations when assessing the influences of alloying elements at a fundamental level,that is,free electron density distributions.Our study indicated that the principles of‘electronic metallurgy'in developing multi-elemental alloy systems can be followed via practical experimental methods,i.e.ΔWF measurements using KPFM and nanoindentation.

Simulation of ion cyclotron wave heating in the EXL-50U spherical tokamak based on dispersion relations

This study investigates the single-pass absorption(SPA) of ion cyclotron range of frequency(ICRF) heating in hydrogen plasma of the EXL-50U spherical tokamak,which is an upgraded EXL-50 device with a central solenoid and a stronger magnetic field.The reliability of the kinetic dispersion equation is confirmed by the one-dimensional full-wave code,and the applicability of Porkolab's simplified theoretical SPA model is discussed based on the kinetic dispersion equation.Simulations are conducted to investigate the heating effects of the fundamental and second harmonic frequencies.The results indicate that with the design parameters of the EXL-50U device,the SPA for second harmonic heating is 63%,while the SPA for fundamental heating is 13%.Additionally,the optimal injection frequencies are 23 MHz at 0.9 T and 31 MHz at 1.2 T.The wave vector of the antenna parallel to the magnetic field,with a value of k_‖=7.5 m^(-1),falls within the optimal heating region.Simulations reveal that the ICRF heating system can play an important role in the ion heating of the EXL-50U.