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Indoor positioning based on Wi-Fi signals has gained a lot of attention lately. There are many advantages related to the use of Wi-Fi signals for positioning, including the availability of Wi-Fi access points in indoor environments and the integration of Wi-Fi transceivers into consumer devices. However, since Wi-Fi uses an unlicensed spectrum, anyone can create their own access points. Therefore, it is possible to affect the function of the localization system by spoofing signals from access points and thus alter positioning accuracy. Previously published works focused mainly on the evaluation of spoofing on localization systems and the detection of anomalies when updating the radio map. Spoofing mitigation solutions were proposed; however, their application to systems that use off-the-shelf items is not straightforward. In this paper filtering algorithms are proposed to minimize the impact of access point spoofing. The filtering was applied with a combination of the widely used K-Nearest Neighbours (KNN) localization algorithm and their performance is evaluated using the UJIIndoorLoc dataset. During the evaluation, the spoofing of Access Points was performed in two different scenarios and the number of spoofed access points ranged from 1 to 10. Based on the achieved results proposed SFKNN provided good detection of the spoofing and helped to reduce the mean localization error by 2–5 m, especially when the number of spoofed access points was higher. [ABSTRACT FROM AUTHOR]

The electrocardiogram (ECG) signal describes the heart's electrical activity, allowing it to detect several health conditions, including cardiac system abnormalities and dysfunctions. Nowadays, most patient medical records are still paper-based, especially those made in past decades. The importance of collecting digitized ECGs is twofold: firstly, all medical applications can be easily implemented with an engineering approach if the ECGs are treated as signals; secondly, paper ECGs can deteriorate over time, therefore a correct evaluation of the patient's clinical evolution is not always guaranteed. The goal of this paper is the realization of an automatic conversion algorithm from paper-based ECGs (images) to digital ECG signals. The algorithm involves a digitization process tested on an image set of 16 subjects, also with pathologies. The quantitative analysis of the digitization method is carried out by evaluating the repeatability and reproducibility of the algorithm. The digitization accuracy is evaluated both on the entire signal and on six ECG time parameters (R-R peak distance, QRS complex duration, QT interval, PQ interval, P-wave duration, and heart rate). Results demonstrate the algorithm efficiency has an average Pearson correlation coefficient of 0.94 and measurement errors of the ECG time parameters are always less than 1 mm. Due to the promising experimental results, the algorithm could be embedded into a graphical interface, becoming a measurement and collection tool for cardiologists. [ABSTRACT FROM AUTHOR]

Aiming at the problem that the workload of human judgment of the power line tilt angle is large and prone to large errors, this paper proposes an improved algorithm Line-YOLO based on YOLOv8s-seg. Firstly, the problem of the variable shape of the power line is solved through the introduction of deformable convolutional DCNv4, and the detection accuracy is improved. The BiFPN structure is also introduced for the Neck layer, which shortens the time required for feature fusion and improves the detection efficiency. After that, the EMA attention mechanism module is added behind the second and third C2f modules of the original model, which improves the model's ability to recognize the target, and effectively solves the problem of loss and error when power line targets overlap. Finally, a small target detection head is added after the first EMA attention mechanism module for detecting small or occluded targets in the image, which improves the model's ability to detect small targets. In this paper, we conduct experiments by collecting relevant power line connection images and making our dataset. The experimental results show that the m A P @ 0.5 of Line-YOLO is improved by 6.2% compared to the benchmark model, the number of parameters is reduced by 28.2%, the floating-point operations per second is enhanced by 35.3%, and the number of detected frames per second is improved by 14 FPS. It is proved by the experiments that the enhanced model Line-YOLO detects the results better, and it can efficiently complete the power line angle detection task. [ABSTRACT FROM AUTHOR]

The performance of passive target localization is affected by the positions of unmanned aerial vehicles (UAVs) at a large scale. In this paper, to improve resource utilization efficiency and localization accuracy, the node selection problem and the path optimization problem are jointly investigated. Firstly, the target passive localization model is established and the Chan-based time difference of arrival (TDOA) localization method is introduced. Then, the Cramer–Rao lower bound (CRLB) for Chan-TDOA localization is derived, and the problems of node selection and path optimization are formulated. Secondly, a CRLB-based node selection method is proposed to properly divide the UAVs into several groups, localizing different targets, and a CRLB-based path optimization method is proposed to search for the optimal UAV position configuration at each time step. The proposed path optimization method also effectively handles no-fly-zone (NFZ) constraints, ensuring operational safety while maintaining optimal target tracking performance. Also, to improve the efficiency of path optimization, particle swarm algorithm (PSO) is applied to accelerate the searching process. Finally, numerical simulations are performed to verify the validity and effectiveness of the proposed methods in this paper. [ABSTRACT FROM AUTHOR]

Behavioral decision-making is an important part of the high-level intelligent driving system of intelligent vehicles, and efficient and safe behavioral decision-making plays an important role in the deployment of intelligent transportation system, which is a hot topic of current research. This paper proposes a deep reinforcement learning (DRL) method based on mixed-state space and driving risk for autonomous vehicle behavior decision-making, which enables autonomous vehicles to make behavioral decisions with minimal instantaneous risk through deep reinforcement learning training. Firstly, based on the various behaviors that may be taken by autonomous vehicles during high-speed driving, a calculation method for autonomous vehicle driving risk is proposed. Then, deep reinforcement learning methods are used to improve the safety and efficiency of behavioral decision-making from the interaction between the vehicle and the driving environment. Finally, the effectiveness of the proposed method is proved by training verification in different simulation scenarios, and the results show that the proposed method can enable autonomous vehicles to make safe and efficient behavior decisions in complex driving environments. Compared with advanced algorithms, the method proposed in this paper improves the driving distance of autonomous vehicle by 3.3%, the safety by 2.1%, and the calculation time by 43% in the experiment. [ABSTRACT FROM AUTHOR]

In order to solve the issues arising from collisions, this paper proposes a network flow method combined with skeleton information for multiple C. elegans tracking. In the intra-track stage, non-colliding C. elegans are identified and associated as trajectory fragments based on their motion and positional information, and colliding C. elegans are then segmented based on an improved skeleton algorithm and matched as trajectory fragments. Subsequently, the trajectory fragments are employed as vertices to construct a network flow model. The minimum-cost method is then utilized to solve the model, thereby obtaining the optimal solution for the multiple C. elegans trajectories. The proposed method was evaluated using video data of the C. elegans population at three distinct ages: L4, young adult, and D1. The experimental results demonstrate that the method proposed in this paper exhibits a MOTA between 0.86 and 0.92, and an MOTP between 0.78 and 0.83, which indicates that the proposed method can be employed in multiple C. elegans tracking. It is our hope that this method will prove beneficial to C. elegans laboratories, offering a novel approach to multiple C. elegans tracking. [ABSTRACT FROM AUTHOR]

A solution to address the issues of environmental light interference in Remote Photoplethysmography (rPPG) methods is proposed in this paper. First, signals from the face's region of interest (ROI) and background noise signals are simultaneously collected, and the two signals are processed by a differential to obtain a more accurate rPPG signal. This method effectively suppresses background noise and enhances signal quality. Secondly, the singular spectrum analysis algorithm (SSA) is enhanced to further improve the accuracy of heart rate detection. The algorithm's parameters are adaptively optimized by integrating the spectral and periodic characteristics of the heart rate signal. Experimental results demonstrate that the method proposed in this paper effectively mitigates the effects of lighting changes on heart rate detection, thereby enhancing detection accuracy. Overall, the experiments indicate that the proposed method significantly improves the effectiveness and accuracy of heart rate detection, achieving a high level of consistency with existing contact-based detection methods. [ABSTRACT FROM AUTHOR]

In order to achieve infrared aircraft detection under interference conditions, this paper proposes an infrared aircraft detection algorithm based on high-resolution feature-enhanced semantic segmentation network. Firstly, the designed location attention mechanism is utilized to enhance the current-level feature map by obtaining correlation weights between pixels at different positions. Then, it is fused with the high-level feature map rich in semantic features to construct a location attention feature fusion network, thereby enhancing the representation capability of target features. Secondly, based on the idea of using dilated convolutions to expand the receptive field of feature maps, a hybrid atrous spatial pyramid pooling module is designed. By utilizing a serial structure of dilated convolutions with small dilation rates, this module addresses the issue of feature information loss when expanding the receptive field through dilated spatial pyramid pooling. It captures the contextual information of the target, further enhancing the target features. Finally, a dice loss function is introduced to calculate the overlap between the predicted results and the ground truth labels, facilitating deep excavation of foreground information for comprehensive learning of samples. This paper constructs an infrared aircraft detection algorithm based on a high-resolution feature-enhanced semantic segmentation network which combines the location attention feature fusion network, the hybrid atrous spatial pyramid pooling module, the dice loss function, and a network that maintains the resolution of feature maps. Experiments conducted on a self-built infrared dataset show that the proposed algorithm achieves a mean intersection over union (mIoU) of 92.74%, a mean pixel accuracy (mPA) of 96.34%, and a mean recall (MR) of 96.19%, all of which outperform classic segmentation algorithms such as DeepLabv3+, Segformer, HRNetv2, and DDRNet. This demonstrates that the proposed algorithm can achieve effective detection of infrared aircraft in the presence of interference. [ABSTRACT FROM AUTHOR]

To solve the problem of slow convergence seen in the traditional fine alignment algorithm based on linear Kalman filtering, a forward–forward backtracking fine alignment algorithm for SINS is proposed after reanalyzing the fine alignment model in this paper. First, the forward–forward backtracking fine alignment model in initial navigation frame was derived. The displacement vector of the carrier in the initial navigation frame solved by GNSS positioning was utilized as the observation of the fine alignment model. Second, under the premise of storing only part of the navigation data, the initial alignment convergence speed was improved by backtracking and reusing the navigation data. The experimental results of the simulation and vehicle tests showed that each backtracking alignment can improve the accuracy of the fine alignment to the performance requirements of the initial alignment, which proved the effectiveness and feasibility of the backtracking fine alignment algorithm proposed in this paper. [ABSTRACT FROM AUTHOR]

This paper focuses on the direction-of-arrival (DOA) estimation for noncircular coherently distributed (CD) sources with nested arrays. Usually, for point sources, sparse arrays have the potential to improve the estimation performance of algorithms by obtaining more degrees of freedom. However, algorithms have to be reconsidered for CD sources with sparse arrays and many problems arise. One thorny problem is the disappearance of displacement invariance of the virtual array manifold constructed by the virtualization technique. To deal with this issue, a nested array processing method for CD sources transmitting noncircular signals is proposed in this paper. Firstly, we construct the virtual sum-and-difference co-array by leveraging the noncircular quality of signals with a nested array. Then, an approximation is made to degrade CD sources into point sources. In this way, spatial smoothing techniques can be applied to restore the rank. Finally, in order to reduce the complexity, we modify the reduced-dimension MUSIC to estimate DOAs through a one-dimensional peak-searching procedure. The simulation results prove the superiority of our algorithm against other competitors. [ABSTRACT FROM AUTHOR]

This paper proposes an improved adaptive filtering algorithm based on the Sage–Husa adaptive Kalman filtering algorithm to address the issue of measurement noise characteristics impacting the navigation accuracy in strapdown inertial navigation system (SINS)/Doppler Velocity Log (DVL) integrated navigation systems. Addressing the non-positive definite matrix problem prevalent in traditional adaptive filtering algorithms and aiming to enhance measurement noise estimation accuracy, this method incorporates upper and lower thresholds determined by a discrimination factor. In the presence of abnormal measurement data, these thresholds are utilized to adjust the covariance of the innovation, subsequently re-estimating the system's measurement noise through a decision factor based on the innovation. Simulation and experiment results demonstrate that the proposed improved adaptive filtering algorithm outperforms the classical Kalman filter (KF) in terms of navigation accuracy and stability. Furthermore, the filtering performance surpasses that of the Sage–Husa algorithm. The simulation results in this paper show that the relative position positioning error of the improved method is reduced by 49.44% compared with the Sage–Husa filtering method. [ABSTRACT FROM AUTHOR]

When multi-dynamic target UAVs escape, the uncertainty of the formation method and the external environment causes difficulties in rounding them up, so suitable solutions are needed to improve the roundup success rate. However, traditional methods can generally only enable the encirclement of a single target, and when the target is scattered and escaping, this will lead to encirclement failure due to the inability to sufficiently allocate UAVs for encirclement. Therefore, in this paper, a real-time roundup and dynamic allocation algorithm for multiple dynamic targets is proposed. A real-time dynamic obstacle avoidance model is established for the roundup problem, drawing on the artificial potential field function. For the escape problem of the rounding process, an optimal rounding allocation strategy is established by drawing on the linear matching method. The algorithm in this paper simulates the UAV in different obstacle environments to round up dynamic targets with different escape methods. The results show that the algorithm is able to achieve the rounding up of multiple dynamic targets in a UAV and obstacle scenario with random initial positions, and the task UAV, which is able to avoid obstacles, can be used in other algorithms for real-time rounding up and dynamic allocation. The results show that the algorithm is able to achieve the rounding up of multi-dynamic targets in scenarios with a random number of UAVs and obstacles with random locations. It results in a 50% increase in the rounding efficiency and a 10-fold improvement in the formation success rate. And the mission UAV is able to avoid obstacles, which can be used in other algorithms for real-time roundup and dynamic allocation. [ABSTRACT FROM AUTHOR]

High-precision measurement of temperature value distributions in production scenarios is of great significance for industrial production, but traditional temperature field reconstruction algorithms rely on the design of manual feature extraction methods with high computational complexity and poor generalization ability. In this paper, we propose a high-precision temperature field reconstruction algorithm based on deep learning, using an efficient adaptive feature extraction method for temperature field reconstruction. We design an improved temperature field reconstruction algorithm based on the ResNet18 neural network; introduce the CBAM attention mechanism in the model; and design a feature pyramid, using M-FPN, a multi-scale feature aggregation network fusing PAN and FPN, to make the extracted feature information propagate multi-dimensionally among different layers to improve the feature characterization ability. Finally, the mean square error is used to guide the model to optimize the training so that the model pays more attention to the data and reduces the large error to ensure that the gap between the predicted value and the real value is small. The experimental results show that the reconstruction accuracy of the improved algorithm presented in this paper is significantly better than that of the original algorithm in the case of typical peaked temperature field distributions. [ABSTRACT FROM AUTHOR]

Compressed sensing (CS) is a powerful technique that can reduce data size while maintaining high reconstruction quality, which makes it particularly valuable in high-dimensional image applications. However, many existing methods have difficulty balancing reconstruction accuracy, computational efficiency, and fast convergence. To address these challenges, this paper proposes SSM-Net, a novel framework that combines the state-space modeling (SSM) of the Mamba architecture with the fast iterative shrinking threshold algorithm (FISTA). The Mamba-based SSM module can effectively capture local and global dependencies with linear computational complexity and significantly reduces the computation time compared to Transformer-based methods. In addition, the momentum update inspired by FISTA improves the convergence speed during deep iterative reconstruction. SSM-Net features a lightweight sampling module for efficient data compression, an initial reconstruction module for fast approximation, and a deep reconstruction module for iterative refinement. Extensive experiments on various benchmark datasets show that SSM-Net achieves state-of-the-art reconstruction performance while reducing both training and inference reconstruction time, making SSM-Net a scalable and practical solution for real-time applications of compressed sensing. [ABSTRACT FROM AUTHOR]

Frequency diverse array (FDA) beams show an "S" shape in space and cannot form a spot beam; thus, they cannot be directly combined with spotlight synthetic aperture radar (SSAR). In this paper, we propose a 2D imaging system emitting multiple repeated subpulses using an FDA and spotlight synthetic aperture radar (MRS-FDA-SSAR). This system carries the FDA on an airborne platform and uses the frequency difference between the array elements to synthesize broadband signals and obtain the distance-direction resolution, and then it uses a synthetic aperture technique to obtain the azimuth-direction resolution. Subsequently, 2D imaging results are obtained using the BP algorithm. A deconvolution algorithm is introduced to address the problem of high target sidelobes in the BP imaging results, which can result in the masking of weak targets. This allows 2D imaging results to be obtained with lower sidelobes. Finally, the MRS-FDA-SSAR model was simulated in experiments to verify its effectiveness. [ABSTRACT FROM AUTHOR]

In complex environments, traditional multi-target tracking methods often encounter challenges such as strong clutter interference and interruptions in target trajectories, which can result in insufficient tracking accuracy and robustness. To address these issues, this paper presents an improved multi-target tracking algorithm, termed Q-IMM-MHT. This method integrates Multiple Hypothesis Tracking (MHT) with Interactive Multiple Model (IMM) and introduces a Q-learning-based adaptive model switching strategy to dynamically adjust model selection in response to variations in the target's motion patterns. Furthermore, the algorithm utilizes Support Vector Machines (SVMs) for anomaly detection and trajectory recovery, thereby enhancing the accuracy of data association and the overall robustness of the system. Experimental results indicate that under high noise conditions, the Root Mean Square Error (RMSE) of position estimation decreases to 0.74 pixels, while the RMSE of velocity estimation falls to 0.04 pixels/frame. Compared to traditional methods such as the Unscented Kalman Filter (UKF), IMM, and CIMM, the RMSE is reduced by at least 10.84% and 42.86%, respectively. In scenarios characterized by target trajectory interruptions and clutter interference, the algorithm maintains an association accuracy exceeding 46.3% even after 30 frames of interruption, significantly outperforming other methods. These findings demonstrate that the Q-IMM-MHT algorithm offers substantial performance improvements in multi-target tracking tasks within complex environments, effectively enhancing both tracking accuracy and stability, with considerable application value and extensive potential for future use. [ABSTRACT FROM AUTHOR]

Noisy inputs pose significant challenges for reinforcement learning (RL) agents navigating real-world environments. While animals demonstrate robust spatial learning under dynamic conditions, the mechanisms underlying this resilience remain understudied in RL frameworks. This paper introduces a novel comparative analysis of predecessor feature (PF) and successor feature (SF) algorithms under controlled noise conditions, revealing several insights. Our key innovation lies in demonstrating that SF algorithms achieve superior noise resilience compared to traditional approaches, with cumulative rewards of 2216.88 ± 3.83 (mean ± SEM), even under high noise conditions ( σ = 0.5 ) in one-dimensional environments, while Q learning achieves only 19.22 ± 0.57 . In two-dimensional environments, we discover an unprecedented nonlinear relationship between noise level and algorithm performance, with SF showing optimal performance at moderate noise levels ( σ = 0.25 ), achieving cumulative rewards of 2886.03 ± 1.63 compared to 2798.16 ± 3.54 for Q learning. The λ parameter in PF learning is a significant factor, with λ = 0.7 consistently achieving higher λ values under most noise conditions. These findings bridge computational neuroscience and RL, offering practical insights for developing noise-resistant learning systems. Our results have direct applications in robotics, autonomous navigation, and sensor-based AI systems, particularly in environments with inherent observational uncertainty. [ABSTRACT FROM AUTHOR]

In order to enhance the precision of UAV (unmanned aerial vehicle) landings and realize the convenient and rapid deployment of the model to the mobile terminal, this study proposes a Land-YOLO lightweight UAV-guided landing algorithm based on the YOLOv8 n model. Firstly, GhostConv replaces standard convolutions in the backbone network, leveraging existing feature maps to create additional "ghost" feature maps via low-cost linear transformations, thereby lightening the network structure. Additionally, the CSP structure of the neck network is enhanced by incorporating the PartialConv structure. This integration allows for the transmission of certain channel characteristics through identity mapping, effectively reducing both the number of parameters and the computational load of the model. Finally, the bidirectional feature pyramid network (BiFPN) module is introduced, and the accuracy and average accuracy of the model recognition landing mark are improved through the bidirectional feature fusion and weighted fusion mechanism. The experimental results show that for the landing-sign data sets collected in real and virtual environments, the Land-YOLO algorithm in this paper is 1.4% higher in precision and 0.91% higher in mAP0.5 than the original YOLOv8n baseline, which can meet the detection requirements of landing signs. The model's memory usage and floating-point operations per second (FLOPs) have been reduced by 42.8% and 32.4%, respectively. This makes it more suitable for deployment on the mobile terminal of a UAV. [ABSTRACT FROM AUTHOR]

This paper contains an example of a simulation implementation of sliding mode control algorithms for the problem of adjusting the linear position of a quadrotor. A mathematical model of the drone was proposed, which was then implemented in a simulation environment. The method of designing sliding mode controllers using the Lyapunov method in order to improve stability was presented. A cascade system based entirely on sliding mode control algorithms is introduced. The article ends with a comparative analysis of simulation test results of classical control systems and controllers based on sliding mode control. [ABSTRACT FROM AUTHOR]

To address the challenges of low accuracy and the difficulty in balancing a large field of view and long distance when tracking high-speed moving targets with a single sensor, an ROI adaptive digital zoom tracking method is proposed. In this paper, we discuss the impact of ROI on image processing and describe the design of the ROI adaptive digital zoom tracking system. Additionally, we construct an adaptive ROI update model based on normalized target information. To capture target changes effectively, we introduce the multi-scale regional measure and propose an improved particle filter algorithm, referred to as the improved multi-scale regional measure resampling particle filter (IMR-PF). This method enables high temporal resolution processing efficiency within a high-resolution large field of view, which is particularly beneficial for high-resolution videos. The IMR-PF can maintain high temporal resolution within a wide field of view with high resolution. Simulation results demonstrate that the improved target tracking method effectively improves tracking robustness to target motion changes and reduces the tracking center error by 20%, as compared to other state-of-the-art methods. The IMR-PF still maintains good performance even when confronted with various interference factors and in real-world scenario applications. [ABSTRACT FROM AUTHOR]

This study aims to explore the optimal power allocation problem under Distributed Denial of Service (DDoS) attack in wireless communication networks. The Starkberg Equilibrium (SE) framework is employed to analyze the strategic interactions between defenders and attacker under conditions of incomplete information. Considering the energy constraints of both sensors and attacker, this paper also proposes an Intrusion Detection System (IDS) based on remote estimation to achieve an optimal defense strategy, with Packet Reception Rate (PPR) serving as a criterion for intrusion detection. Targeting leaders and followers, the optimal power allocation solution is derived with Signal-to-Interference-Noise Ratio (SINR) and transmission cost as the objective functions. By combining the Adaptive Penalty Function (APF) method with the Differential Evolution (DE) algorithm, the study effectively addresses related non-linear and non-convex optimization problems. Finally, the effectiveness of the proposed method is verified through case studies. [ABSTRACT FROM AUTHOR]

Navigating crowded environments poses significant challenges for mobile robots, particularly as traditional Simultaneous Localization and Mapping (SLAM)-based methods often struggle with dynamic and unpredictable settings. This paper proposes a visual target-driven navigation method using self-attention enhanced deep reinforcement learning (DRL) to overcome these limitations. The navigation policy is developed based on the Twin-Delayed Deep Deterministic Policy Gradient (TD3) algorithm, enabling efficient obstacle avoidance and target pursuit. We utilize a single RGB-D camera with a limited field of view (FOV) for target detection and surrounding sensing, where environmental features are extracted from depth data via a convolutional neural network (CNN). A self-attention network (SAN) is employed to compensate for the limited FOV, enhancing the robot's capability of searching for the target when it is temporarily lost. Experimental results show that our method achieves a higher success rate and shorter average target-reaching time in dynamic environments, while offering hardware simplicity, cost-effectiveness, and ease of deployment in real-world applications. [ABSTRACT FROM AUTHOR]

In response to the issues of slow convergence and the tendency to fall into local optima in traditional iterative closest point (ICP) point cloud registration algorithms, this study presents a fast registration algorithm for laser point clouds based on 3D scale-invariant feature transform (3D-SIFT) feature extraction. First, feature points are preliminarily extracted using a normal vector threshold; then, more high-quality feature points are extracted using the 3D-SIFT algorithm, effectively reducing the number of point cloud registrations. Based on the extracted feature points, a coarse registration of the point cloud is performed using the fast point feature histogram (FPFH) descriptor combined with the sample consensus initial alignment (SAC-IA) algorithm, followed by fine registration using the point-to-plane ICP algorithm with a symmetric target function. The experimental results show that this algorithm significantly improved the registration efficiency. Compared with the traditional SAC−IA+ICP algorithm, the registration accuracy of this algorithm increased by 29.55% in experiments on a public dataset, and the registration time was reduced by 81.01%. In experiments on actual collected data, the registration accuracy increased by 41.72%, and the registration time was reduced by 67.65%. The algorithm presented in this paper maintains a high registration accuracy while greatly reducing the registration speed. [ABSTRACT FROM AUTHOR]

Visual SLAM relies on the motion information of static feature points in keyframes for both localization and map construction. Dynamic feature points interfere with inter-frame motion pose estimation, thereby affecting the accuracy of map construction and the overall robustness of the visual SLAM system. To address this issue, this paper proposes a method for eliminating feature mismatches between frames in visual SLAM under dynamic scenes. First, a spatial clustering-based RANSAC method is introduced. This method eliminates mismatches by leveraging the distribution of dynamic and static feature points, clustering the points, and separating dynamic from static clusters, retaining only the static clusters to generate a high-quality dataset. Next, the RANSAC method is introduced to fit the geometric model of feature matches, eliminating local mismatches in the high-quality dataset with fewer iterations. The accuracy of the DSSAC-RANSAC method in eliminating feature mismatches between frames is then tested on both indoor and outdoor dynamic datasets, and the robustness of the proposed algorithm is further verified on self-collected outdoor datasets. Experimental results demonstrate that the proposed algorithm reduces the average reprojection error by 58.5% and 49.2%, respectively, when compared to traditional RANSAC and GMS-RANSAC methods. The reprojection error variance is reduced by 65.2% and 63.0%, while the processing time is reduced by 69.4% and 31.5%, respectively. Finally, the proposed algorithm is integrated into the initialization thread of ORB-SLAM2 and the tracking thread of ORB-SLAM3 to validate its effectiveness in eliminating feature mismatches between frames in visual SLAM. [ABSTRACT FROM AUTHOR]

High-voltage (HV) cables are increasingly used in urban power grids, and their safe operation is critical to grid stability. Previous studies have analyzed various defects, including the open circuit in the sheath loop, the flooding in the cross-bonded link box, and the sheath grounding fault. However, there is a paucity of research on the defect of the reverse direction between the inner core and the outer shield of the coaxial cable. Firstly, this paper performed a theoretical analysis of the sheath current in the reversed-connection state and established a simulation model for verification. The outcomes of the simulation demonstrate that there are significant variations in the amplitudes of the sheath current under different reversed-connection conditions. Consequently, a feature vector was devised based on the amplitude of the sheath current. The support vector machine (SVM) was then applied to diagnose the reversed-connection defects in the HV cable cross-bonded grounding system. The artificial rabbits optimization (ARO) algorithm was adopted to optimize the SVM model, attaining an impressively high diagnostic accuracy rate of 99.35%. The effectiveness and feasibility of the proposed algorithm are confirmed through the analysis and validation of the practical example. [ABSTRACT FROM AUTHOR]

With the proliferation of mobile terminals and the rapid growth of network applications, fine-grained traffic identification has become increasingly challenging. Methods based on machine learning and deep learning have achieved remarkable results, but they heavily rely on the distribution of training data, which makes them ineffective in handling unseen samples. In this paper, we propose AG-ZSL, a zero-shot learning framework based on traffic behavior and attribute representations for general encrypted traffic classification. AG-ZSL primarily learns two mapping functions: one that captures traffic behavior embeddings from burst-based traffic interaction graphs, and the other that learns attribute embeddings from traffic attribute descriptions. Then, the framework minimizes the distance between these embeddings within the shared feature space. The gradient rejection algorithm and K-Nearest Neighbors are introduced to implement a two-stage method for general traffic classification. Experimental results on IoT datasets demonstrate that AG-ZSL achieves exceptional performance in classifying both known and unknown traffic, highlighting its potential for enhancing secure and efficient traffic management at the network edge. [ABSTRACT FROM AUTHOR]

This paper introduces a novel geometry-based synchrosqueezing S-transform (GSSST) for advanced gearbox fault diagnosis, designed to enhance diagnostic precision in both planetary and parallel gearboxes. Traditional time-frequency analysis (TFA) methods, such as the Synchrosqueezing S-transform (SSST), often face challenges in accurately representing fault-related features when significant mode closely spaced components are present. The proposed GSSST method overcomes these limitations by implementing an intuitive geometric reassignment framework, which reassigns time-frequency (TF) coefficients to maximize energy concentration, thereby allowing fault components to be distinctly isolated even under challenging conditions. The GSSST algorithm calculates a new instantaneous frequency (IF) estimator that aligns closely with the ideal IF, thus concentrating TF coefficients more effectively than existing methods. Experimental validation, including tests on simulated signals and real-world gearbox fault data, demonstrates that GSSST achieves high robustness and diagnostic accuracy across various types of gearbox faults even in the presence of noise. Moreover, unlike conventional reassignment method, GSSST supports partial signal reconstruction, a key advantage for applications requiring accurate signal recovery. This research highlights GSSST as a promising and versatile tool for diagnosing complex mechanical faults and provides new insights for the future development of TFA methods in mechanical fault analysis. [ABSTRACT FROM AUTHOR]

Frequency diversity array–multiple-input multiple-output (FDA-MIMO) radar realizes an angle- and range-dependent system model by adopting a slight frequency offset between adjacent transmitter sensors, thereby enabling potential target localization. This paper presents FDA-MIMO radar-based rapid target localization via the reduction dimension root reconstructed multiple signal classification (RDRR-MUSIC) algorithm. Firstly, we reconstruct the two-dimensional (2D)-MUSIC spatial spectrum function using the reconstructed steering vector, which involves no coupling of direction of arrival (DOA) and range. Subsequently, the 2D spectrum peaks search (SPS) is converted into one-dimensional (1D) SPS to reduce the computational complexity using a reduction dimension transformation. Finally, we conduct polynomial root finding to further eliminate computational costs, in which DOA and range can be rapidly estimated without performance degradation. The simulation results validate the effectiveness and superiority of the proposed RDRR-MUSIC algorithm over the conventional 2D-MUSIC algorithm and reduced-dimension (RD)-MUSIC algorithm. [ABSTRACT FROM AUTHOR]

With advancements in autonomous driving technology, the coupling of spatial paths and temporal speeds in complex scenarios becomes increasingly significant. Traditional sequential decoupling methods for trajectory planning are no longer sufficient, emphasizing the need for spatio-temporal joint trajectory planning. The Constrained Iterative LQR (CILQR), based on the Iterative LQR (ILQR) method, shows obvious potential but faces challenges in computational efficiency and scenario adaptability. This paper introduces three key improvements: a segmented barrier function truncation strategy with dynamic relaxation factors to enhance stability, an adaptive weight parameter adjustment method for acceleration and curvature planning, and the integration of the hybrid A* algorithm to optimize the initial reference trajectory and improve iterative efficiency. The improved CILQR method is validated through simulations and real-vehicle tests, demonstrating substantial improvements in human-like driving performance, traffic efficiency improvement, and real-time performance while maintaining comfortable driving. The experiment's results demonstrate a significant increase in human-like driving indicators by 16.35% and a 12.65% average increase in traffic efficiency, reducing computation time by 39.29%. [ABSTRACT FROM AUTHOR]

This paper introduces RWA-BFT, a reputation-weighted asynchronous Byzantine Fault Tolerance (BFT) consensus algorithm designed to address the scalability and performance challenges of blockchain systems in large-scale IoT scenarios. Traditional centralized IoT architectures often face issues such as single points of failure and insufficient reliability, while blockchain, with its decentralized and tamper-resistant properties, offers a promising solution. However, existing blockchain consensus mechanisms struggle to meet the high throughput, low latency, and scalability demands of IoT applications. To address these limitations, RWA-BFT adopts a two-layer blockchain architecture; the first layer leverages reputation-based filtering to reduce computational complexity by excluding low-reputation nodes, while the second layer employs an asynchronous consensus mechanism to ensure efficient and secure communication among high-reputation nodes, even under network delays. This dual-layer design significantly improves performance, achieving higher throughput, lower latency, and enhanced scalability, while maintaining strong fault tolerance even in the presence of a substantial proportion of malicious nodes. Experimental results demonstrate that RWA-BFT outperforms HB-BFT and PBFT algorithms, making it a scalable and secure blockchain solution for decentralized IoT applications. [ABSTRACT FROM AUTHOR]

In recent years, wireless sensor networks (WSNs) have become a crucial technology for infrastructure monitoring. To ensure the reliability of monitoring services, evaluating the network's reliability is particularly important. Sensor nodes are distributed linearly when monitoring linear structures, such as railway bridges, forming what is known as a Linear Wireless Sensor Network (LWSN). Although existing evaluation methods, such as enumeration and Binary Decision Diagram (BDD)-based methods, can be used to assess the reliability of various types of networks, their efficiency is relatively low. Therefore, we classified network states based on the number of failed nodes located at the network's ends and analyzed the arrangement characteristics of nodes under different network states. This paper proposed a new reliability assessment method for LWSNs. This method is based on the combinatorial patterns of nodes and uses the concept of integer partitions to calculate the total number of states at different performance levels, applying probability formulas to assess network reliability. Compared to Multi-Valued Decision Diagram (MDD)-based evaluation algorithms, this method is suitable for large-scale LWSNs and offers lower time complexity. [ABSTRACT FROM AUTHOR]

Modern city construction focuses on developing smart transportation, but the recognition of the large number of non-motorized vehicles in the city is still not sufficient. Compared to fixed recognition equipment, drones have advantages in image acquisition due to their flexibility and maneuverability. With the dataset collected from aerial images taken by drones, this study proposed a novel lightweight architecture for small objection detection based on YOLO framework, named EBR-YOLO. Firstly, since the targets in the application scenario are generally small, the number of Backbone layers is reduced, and the AZML module is proposed to enrich the detail information and enhance the model learning capability. Secondly, the C2f module is reconstructed using part of the convolutional PConv to reduce the network's computational volume and improve the detection speed. Finally, the downsampling operation is reshaped by combining with the introduced ADown module to further reduce the computational amount of the model. The experimental results show that the algorithm achieves an mAP of 98.9% and an FPS of 89.8 on the self-built dataset of this paper, which is only 0.2% and 0.3 lower compared to the original YOLOv8 network, respectively, and the number of parameters is 70% lower compared to the baseline, which ensures the accuracy and computational speed of the model while reducing its computational volume greatly. At the same time, the model generalization experiments are carried out on the UCAS-AOD and CARPK datasets, and the performance of the model is almost the same as the baseline. [ABSTRACT FROM AUTHOR]

In mission-critical environments such as industrial and military settings, the use of unmanned vehicles is on the rise. These scenarios typically involve a ground control system (GCS) and nodes such as unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). The GCS and nodes exchange different types of information, including control data that direct unmanned vehicle movements and sensor data that capture real-world environmental conditions. The GCS and nodes communicate wirelessly, leading to loss or delays in control and sensor data. Minimizing these issues is crucial to ensure nodes operate as intended over wireless links. In dynamic networks, distributed path calculation methods lead to increased network traffic, as each node independently exchanges control messages to discover new routes. This heightened traffic results in internal interference, causing communication delays and data loss. In contrast, software-defined networking (SDN) offers a centralized approach by calculating paths for all nodes from a single point, reducing network traffic. However, shifting from a distributed to a centralized approach with SDN does not inherently guarantee faster route creation. The speed of generating new routes remains independent of whether the approach is centralized, so SDN does not always lead to faster results. Therefore, a key challenge remains: determining how to create new routes as quickly as possible even within an SDN framework. This paper introduces a caching technique for forwarding rules based on predicted link states in SDN, which was named the CRIMSON (Cashing Routing Information in Mobile SDN Network) algorithm. The CRIMSON algorithm detects network link state changes caused by node mobility and caches new forwarding rules based on predicted topology changes. We validated that the CRIMSON algorithm consistently reduces end-to-end latency by an average of 88.96% and 59.49% compared to conventional reactive and proactive modes, respectively. [ABSTRACT FROM AUTHOR]

In this paper, we propose an optimal parking path planning method based on numerical solving, which leverages the concept of the distance between convex sets. The obstacle avoidance constraints were transformed into continuous, smooth nonlinear constraints using the Lagrange dual function. This approach enables the determination of a globally optimal parking path while satisfying vehicular kinematic constraints. To address the inefficiency typically associated with numerical solving, a warm start strategy was employed for the optimization variables: first, the Hybrid A* algorithm was utilized to generate the initial path values; next, a velocity planning problem was formulated to obtain initial velocity values; and finally, converted convex optimization problems were used to compute the initial dual variables. The optimality of the proposed method was validated through a real car test with ACADO as a solver in three typical parking scenarios. The results demonstrate that the proposed method achieved smoother parking paths in real time. [ABSTRACT FROM AUTHOR]

The American Conference of Governmental Industrial Hygienists (ACGIH) Threshold Limit Values (TLVs) for lifting provides risk zones for assessing two-handed lifting tasks. This paper describes two computational models for identifying the lifting risk zones using gyroscope information from five inertial measurement units (IMUs) attached to the lifter. Two models were developed: (1) the ratio model using body segment length ratios of the forearm, upper arm, trunk, thigh, and calf segments, and (2) the ratio + length model using actual measurements of the body segments in the ratio model. The models were evaluated using data from 360 lifting trials performed by 10 subjects (5 males and 5 females) with an average age of 51.50 (±9.83) years. The accuracy of the two models was compared against data collected by a laboratory-based motion capture system as a function of 12 ACGIH lifting risk zones and 3 grouped risk zones (low, medium, and high). Results showed that only the ratio + length model provides acceptable estimates of lifting risk with an average of 69% accuracy level for predicting one of the 3 grouped zones and a higher rate of 92% for predicting the high lifting zone. [ABSTRACT FROM AUTHOR]

Effective network intrusion detection using anomaly scores from unsupervised machine learning models depends on the performance of the models. Although unsupervised models do not require labels during the training and testing phases, the assessment of their performance metrics during the evaluation phase still requires comparing anomaly scores against labels. In real-world scenarios, the absence of labels in massive network datasets makes it infeasible to calculate performance metrics. Therefore, it is valuable to develop an algorithm that calculates robust performance metrics without using labels. In this paper, we propose a novel algorithm, Expectation Maximization-Area Under the Curve (EM-AUC), to derive the Area Under the ROC Curve (AUC-ROC) and the Area Under the Precision-Recall Curve (AUC-PR) by treating the unavailable labels as missing data and replacing them through their posterior probabilities. This algorithm was applied to two network intrusion datasets, yielding robust results. To the best of our knowledge, this is the first time AUC-ROC and AUC-PR, derived without labels, have been used to evaluate network intrusion detection systems. The EM-AUC algorithm enables model training, testing, and performance evaluation to proceed without comprehensive labels, offering a cost-effective and scalable solution for selecting the most effective models for network intrusion detection. [ABSTRACT FROM AUTHOR]

In this paper, we propose a method for applying the p-ary m-sequence as a channel-searching pattern for rendezvous in the asymmetric channel model of cognitive radio. We mathematically analyzed and calculated the ETTR when the m-sequence is applied to the conventional scheme, and our simulation results demonstrated that the ETTR performance is significantly better than that of the JS algorithm. Furthermore, we introduced a new channel-searching scheme that maximizes the benefits of the m-sequence and proposed a method to adapt the generation of the m-sequence for use in the newly proposed scheme. We also derived the ETTR mathematically for the new scheme with the m-sequence and showed through simulations that the performance of the new scheme with the m-sequence is superior to that of the conventional scheme with the m-sequence. Notably, when there is only one common channel, the new scheme with the m-sequence achieved approximately four times the improvement in the ETTR compared to the conventional scheme. [ABSTRACT FROM AUTHOR]

An adaptive Nesterov quasi-Newton acceleration (an-QNA)-optimized low-noise amplifier (LNA) is proposed in this paper. An optimized single-ended-to-differential two-stage LNA circuit is presented. It includes an improved post-linearization (IPL) technique to enhance the linearity. Traditional methods like conventional quasi-Newton (c-QN) often suffer from slow convergence and the tendency to get trapped in local minima. However, the proposed an-QNA method significantly accelerates the convergence speed. Furthermore, in this paper, modifications have been made to the an-QNA algorithm using a quadratic estimation to guarantee global convergence. The optimized an-QNA-based LNA, using standard 65 nm CMOS technology, achieves a simulated gain of 17.5 dB, a noise figure (NF) of 3.7 dB, and a 1 dB input compression point (IP1dB) of −13.1 dBm. It is also noted that the optimized LNA achieves a measured gain of 12.9 dB and an NF of 4.98 dB, and the IP1dB is −17.8 dB. The optimized LNA has a chip area of 0.67 mm2. [ABSTRACT FROM AUTHOR]

The small area of a printed circuit board (PCB) results in densely distributed defects, leading to a lower detection accuracy, which subsequently impacts the safety and stability of the circuit board. This paper proposes a new YOLO-BFRV network model based on the improved YOLOv8 framework to identify PCB defects more efficiently and accurately. First, a bidirectional feature pyramid network (BIFPN) is introduced to expand the receptive field of each feature level and enrich the semantic information to improve the feature extraction capability. Second, the YOLOv8 backbone network is refined into a lightweight FasterNet network, reducing the computational load while improving the detection accuracy of minor defects. Subsequently, the high-speed re-parameterized detection head (RepHead) reduces inference complexity and boosts the detection speed without compromising accuracy. Finally, the VarifocalLoss is employed to enhance the detection accuracy for densely distributed PCB defects. The experimental results demonstrate that the improved model increases the mAP by 4.12% compared to the benchmark YOLOv8s model, boosts the detection speed by 45.89%, and reduces the GFLOPs by 82.53%, further confirming the superiority of the algorithm presented in this paper. [ABSTRACT FROM AUTHOR]

Simultaneous Localization and Mapping (SLAM) enables mobile robots to autonomously perform localization and mapping tasks in unknown environments. Despite significant progress achieved by visual SLAM systems in ideal conditions, relying solely on a single robot and point features for mapping in large-scale indoor environments with weak-texture structures can affect mapping efficiency and accuracy. Therefore, this paper proposes a multi-robot collaborative mapping method based on point-line fusion to address this issue. This method is designed for indoor environments with weak-texture structures for localization and mapping. The feature-extraction algorithm, which combines point and line features, supplements the existing environment point feature-extraction method by introducing a line feature-extraction step. This integration ensures the accuracy of visual odometry estimation in scenes with pronounced weak-texture structure features. For relatively large indoor scenes, a scene-recognition-based map-fusion method is proposed in this paper to enhance mapping efficiency. This method relies on visual bag of words to determine overlapping areas in the scene, while also proposing a keyframe-extraction method based on photogrammetry to improve the algorithm's robustness. By combining the Perspective-3-Point (P3P) algorithm and Bundle Adjustment (BA) algorithm, the relative pose-transformation relationships of multi-robots in overlapping scenes are resolved, and map fusion is performed based on these relative pose relationships. We evaluated our algorithm on public datasets and a mobile robot platform. The experimental results demonstrate that the proposed algorithm exhibits higher robustness and mapping accuracy. It shows significant effectiveness in handling mapping in scenarios with weak texture and structure, as well as in small-scale map fusion. [ABSTRACT FROM AUTHOR]

In order to improve the reading efficiency of pointer meter, this paper proposes a reading method based on LinkNet. Firstly, the meter dial area is detected using YOLOv8. Subsequently, the detected images are fed into the improved LinkNet segmentation network. In this network, we replace traditional convolution with partial convolution, which reduces the number of model parameters while ensuring accuracy is not affected. Remove one pair of encoding and decoding modules to further compress the model size. In the feature fusion part of the model, the CBAM (Convolutional Block Attention Module) attention module is added and the direct summing operation is replaced by the AFF (Attention Feature Fusion) module, which enhances the feature extraction capability of the model for the segmented target. In the subsequent rotation correction section, this paper effectively addresses the issue of inaccurate prediction by CNN networks for axisymmetric images within the 0–360° range, by dividing the rotation angle prediction into classification and regression steps. It ensures that the final reading part receives the correct angle of image input, thereby improving the accuracy of the overall reading algorithm. The final experimental results indicate that our proposed reading method has a mean absolute error of 0.20 and a frame rate of 15. [ABSTRACT FROM AUTHOR]

The ability to make informed decisions in complex scenarios is crucial for intelligent automotive systems. Traditional expert rules and other methods often fall short in complex contexts. Recently, reinforcement learning has garnered significant attention due to its superior decision-making capabilities. However, there exists the phenomenon of inaccurate target network estimation, which limits its decision-making ability in complex scenarios. This paper mainly focuses on the study of the underestimation phenomenon, and proposes an end-to-end autonomous driving decision-making method based on an improved TD3 algorithm. This method employs a forward camera to capture data. By introducing a new critic network to form a triple-critic structure and combining it with the target maximization operation, the underestimation problem in the TD3 algorithm is solved. Subsequently, the multi-timestep averaging method is used to address the policy instability caused by the new single critic. In addition, this paper uses Carla platform to construct multi-vehicle unprotected left turn and congested lane-center driving scenarios and verifies the algorithm. The results demonstrate that our method surpasses baseline DDPG and TD3 algorithms in aspects such as convergence speed, estimation accuracy, and policy stability. [ABSTRACT FROM AUTHOR]

A deep-seated landslide could release numerous microseismic signals from creep-slip movement, which includes a rock-soil slip from the slope surface and a rock-soil shear rupture in the subsurface. Machine learning can effectively enhance the classification of microseismic signals in landslide seismic monitoring and interpret the mechanical processes of landslide motion. In this paper, eight sets of triaxial seismic sensors were deployed inside the deep-seated landslide, Jiuxianping, China, and a large number of microseismic signals related to the slope movement were obtained through 1-year-long continuous monitoring. All the data were passed through the seismic event identification mode, the ratio of the long-time average and short-time average. We selected 11 days of data, manually classified 4131 data into eight categories, and created a microseismic event database. Classical machine learning algorithms and ensemble learning algorithms were tested in this paper. In order to evaluate the seismic event classification performance of each algorithmic model, we evaluated the proposed algorithms through the dimensions of the accuracy, precision, and recall of each model. The validation results demonstrated that the best performing decision tree algorithm among the classical machine learning algorithms had an accuracy of 88.75%, while the ensemble algorithms, including random forest, Gradient Boosting Trees, Extreme Gradient Boosting, and Light Gradient Boosting Machine, had an accuracy range from 93.5% to 94.2% and also achieved better results in the combined evaluation of the precision, recall, and F1 score. The specific classification tests for each microseismic event category showed the same results. The results suggested that the ensemble learning algorithms show better results compared to the classical machine learning algorithms. [ABSTRACT FROM AUTHOR]

Autonomous vehicles are rapidly advancing and have the potential to revolutionize transportation in the future. This paper primarily focuses on vehicle motion trajectory planning algorithms, examining the methods for estimating collision risks based on sensed environmental information and approaches for achieving user-aligned trajectory planning results. It investigates the different categories of planning algorithms within the scope of local trajectory planning applications for autonomous driving, discussing and differentiating their properties in detail through a review of the recent studies. The risk estimation methods are classified and introduced based on their descriptions of the sensed collision risks in traffic environments and their integration with trajectory planning algorithms. Additionally, various user experience-oriented methods, which utilize human data to enhance the trajectory planning performance and generate human-like trajectories, are explored. The paper provides comparative analyses of these algorithms and methods from different perspectives, revealing the interconnections between these topics. The current challenges and future prospects of the trajectory planning tasks in autonomous vehicles are also discussed. [ABSTRACT FROM AUTHOR]

As an indispensable part of the vehicle environment perception task, road traffic marking detection plays a vital role in correctly understanding the current traffic situation. However, the existing traffic marking detection algorithms still have some limitations. Taking lane detection as an example, the current detection methods mainly focus on the location information detection of lane lines, and they only judge the overall attribute of each detected lane line instance, thus lacking more fine-grained dynamic detection of lane line attributes. In order to meet the needs of intelligent vehicles for the dynamic attribute detection of lane lines and more perfect road environment information in urban road environment, this paper constructs a fine-grained attribute detection method for lane lines, which uses pixel-level attribute sequence points to describe the complete attribute distribution of lane lines and then matches the detection results of the lane lines. Realizing the attribute judgment of different segment positions of lane instances is called the fine-grained attribute detection of lane lines (Lane-FGA). In addition, in view of the lack of annotation information in the current open-source lane data set, this paper constructs a lane data set with both lane instance information and fine-grained attribute information by combining manual annotation and intelligent annotation. At the same time, a cyclic iterative attribute inference algorithm is designed to solve the difficult problem of lane attribute labeling in areas without visual cues such as occlusion and damage. In the end, the average accuracy of the proposed algorithm reaches 97% on various types of lane attribute detection. [ABSTRACT FROM AUTHOR]

In autonomous driving, the fusion of multiple sensors is considered essential to improve the accuracy and safety of 3D object detection. Currently, a fusion scheme combining low-cost cameras with highly robust radars can counteract the performance degradation caused by harsh environments. In this paper, we propose the IRBEVF-Q model, which mainly consists of BEV (Bird's Eye View) fusion coding module and an object decoder module.The BEV fusion coding module solves the problem of unified representation of different modal information by fusing the image and radar features through 3D spatial reference points as a medium. The query in the object decoder, as a core component, plays an important role in detection. In this paper, Heat Map-Guided Query Initialization (HGQI) and Dynamic Position Encoding (DPE) are proposed in query construction to increase the a priori information of the query. The Auxiliary Noise Query (ANQ) then helps to stabilize the matching. The experimental results demonstrate that the proposed fusion model IRBEVF-Q achieves an NDS of 0.575 and a mAP of 0.476 on the nuScenes test set. Compared to recent state-of-the-art methods, our model shows significant advantages, thus indicating that our approach contributes to improving detection accuracy. [ABSTRACT FROM AUTHOR]

With the addition of Bluetooth AOA/AOD direction-finding capabilities in the Bluetooth 5.1 protocol and the introduction of antenna array technology into the Bluetooth platform to further enhance positioning accuracy, Bluetooth has gradually become a research hotspot in the field of indoor positioning due to its standard protocol specifications, rich application ecosystem, and outstanding advantages such as low power consumption and low cost compared to other indoor positioning technologies. However, current indoor positioning based on Bluetooth AOA/AOD suffers from overly simplistic core algorithm implementations. When facing different application scenarios, the standalone AOA or AOD algorithms exhibit weak applicability, and they also encounter challenges such as poor positioning accuracy, insufficient real-time performance, and significant effects of multipath propagation. These existing problems and deficiencies render Bluetooth lacking an efficient implementation solution for indoor positioning. Therefore, this paper proposes a study on Bluetooth AOA and AOD indoor positioning algorithms. Through an analysis of the principles of Bluetooth's newly added direction-finding functionality and combined with research on array signal DOA estimation algorithms, the paper ultimately integrates the least squares algorithm to optimize positioning errors in terms of accuracy and incorporates an anti-multipath interference algorithm to address the impacts of multipath effects in different scenarios. Experimental testing demonstrates that the indoor positioning algorithms applicable to Bluetooth AOA and AOD can effectively mitigate accuracy errors and overcome multipath effects, exhibiting strong applicability and significant improvements in real-time performance. [ABSTRACT FROM AUTHOR]

This paper explores the generalization ability of defogging algorithms on RICE (A Remote Sensing Image Dataset for Cloud Removal) remotely sensed images. RICE is a dataset of remotely sensed images used for removing clouds, allowing the researcher to better evaluate the performance of defogging algorithms for cloud removal from remotely sensed images. In this paper, four classical defogging algorithms, including AOD-Net, FFA-Net, dark channel prior, and DehazeFormer, are selected and applied to the task of de-cloud in RICE remote sensing images. The performance of these algorithms on the RICE dataset is analyzed by comparing the experimental results, and their differences, advantages, and disadvantages in dealing with de-clouded remote sensing images are explored. The experimental results show that the four defogging algorithms are capable of performing well on uniform thin cloud images, but there is a color distortion and the performance is weak when it comes to inhomogeneous clouds as well as thick clouds. So, the generalization ability of the algorithms is weak when the defogging algorithms are applied to the problem of cloud removal. Finally, this paper proposes improvement ideas for the de-cloud problem of RICE remote sensing images and looks forward to possible future research directions. [ABSTRACT FROM AUTHOR]

In recent years, the incidence of cardiac arrhythmias has been on the rise because of changes in lifestyle and the aging population. Electrocardiograms (ECGs) are widely used for the automated diagnosis of cardiac arrhythmias. However, existing models possess poor noise robustness and complex structures, limiting their effectiveness. To solve these problems, this paper proposes an arrhythmia recognition system with excellent anti-noise performance: a convolutionally optimized broad learning system (COBLS). In the proposed COBLS method, the signal is convolved with blind source separation using a signal analysis method based on high-order-statistic independent component analysis (ICA). The constructed feature matrix is further feature-extracted and dimensionally reduced using principal component analysis (PCA), which reveals the essence of the signal. The linear feature correlation between the data can be effectively reduced, and redundant attributes can be eliminated to obtain a low-dimensional feature matrix that retains the essential features of the classification model. Then, arrhythmia recognition is realized by combining this matrix with the broad learning system (BLS). Subsequently, the model was evaluated using the MIT-BIH arrhythmia database and the MIT-BIH noise stress test database. The outcomes of the experiments demonstrate exceptional performance, with impressive achievements in terms of the overall accuracy, overall precision, overall sensitivity, and overall F1-score. Specifically, the results indicate outstanding performance, with figures reaching 99.11% for the overall accuracy, 96.95% for the overall precision, 89.71% for the overall sensitivity, and 93.01% for the overall F1-score across all four classification experiments. The model proposed in this paper shows excellent performance, with 24 dB, 18 dB, and 12 dB signal-to-noise ratios. [ABSTRACT FROM AUTHOR]

The efficient and accurate identification of traffic signs is crucial to the safety and reliability of active driving assistance and driverless vehicles. However, the accurate detection of traffic signs under extreme cases remains challenging. Aiming at the problems of missing detection and false detection in traffic sign recognition in fog traffic scenes, this paper proposes a recognition algorithm for traffic signs based on pix2pixHD+YOLOv5-T. Firstly, the defogging model is generated by training the pix2pixHD network to meet the advanced visual task. Secondly, in order to better match the defogging algorithm with the target detection algorithm, the algorithm YOLOv5-Transformer is proposed by introducing a transformer module into the backbone of YOLOv5. Finally, the defogging algorithm pix2pixHD is combined with the improved YOLOv5 detection algorithm to complete the recognition of traffic signs in foggy environments. Comparative experiments proved that the traffic sign recognition algorithm proposed in this paper can effectively reduce the impact of a foggy environment on traffic sign recognition. Compared with the YOLOv5-T and YOLOv5 algorithms in moderate fog environments, the overall improvement of this algorithm is achieved. The precision of traffic sign recognition of the algorithm in the fog traffic scene reached 78.5%, the recall rate was 72.2%, and mAP@0.5 was 82.8%. [ABSTRACT FROM AUTHOR]