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UKF‐MOT:An unscented Kalman filter‐based 3D multi‐object tracker

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CAAI Transactions on Intelligence Technology 2024年第4期9卷 1031-1041页

作者： Meng liu Jianwei Niu yu liu Collective Intelligence&Collaboration Laboratory China North Artificial Intelligence and Innovation Research InstituteBeijingChina China North Vehicle Research Institute BeijingChina State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijingChina State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijingChina School of Computer Science and Engineering Beihang UniversityBeijingChina

Multi‐object tracking in autonomous driving is a non‐linear *** better address the tracking problem,this paper leveraged an unscented Kalman filter to predict the object's *** the association stage,the Mahalanobis distance was employed as an affinity metric,and a Non‐minimum Suppression method was designed for *** the detections fed into the tracker and continuous‘predicting‐matching’steps,the states of each object at different time steps were described as their own continuous *** conducted extensive experiments to evaluate tracking accuracy on three challenging datasets(KITTI,nuScenes and Waymo).The experimental results demon-strated that our method effectively achieved multi‐object tracking with satisfactory ac-curacy and real‐time efficiency.

关键词： autonomous vehicle transportation

Numerical investigations of the interactions between bubble induced shock waves and particle based on OpenFOAM

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Journal of Hydrodynamics 2024年第2期36卷 355-362页

作者： Jia-xin yu Jin-sen Hu yu-hang liu Yi-fan liu Dan Gao yu-ning Zhang Key Laboratory of Power Station Energy Transfer Conversion and System Ministry of EducationSchool of Energy Power and Mechanical EngineeringNorth China Electric Power UniversityBeijing102206China

The presence of particles and the shock waves generated by the cavitation bubbles can significantly affect the safety and the performance of hydrodynamic *** the present paper,the shock waves generated by cavitation bubble collapsing near the particle are numerically investigated based on the OpenFOAM together with the numerical schlieren for the shock wave *** numerical results reveal that the stand-off distance is one of the paramount factors affecting the interactions between the particle and the shock *** different kinds of shock waves(e.g.,bubble-inception,jet formation,particle reflected and jet-split shock waves)are observed during the bubble collapsing near the *** stand-off distance smaller than 0.5 or larger than 1.1,the maximum pressure at particle surface generated by the bubble growth can surpass those of the collapse stage.

关键词： Particle-bubble interaction shockwaves jetdynamics

Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

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Defence Technology（防务技术） 2024年第3期33卷 327-338页

作者： Lin Qi yu liu Chuanshun Gao Tao Feng yue yu School of Communication and Information Engineering Chongqing University of Posts and TelecommunicationsChongqing 400065China Department of Land Surveying and Geo-Informatics The Hong Kong Polytechnic UniversityHong Kong 999077China

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,*** 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 *** 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 *** 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 ***,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 *** 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.

关键词： Pedestrian positioning system Wearable inertial sensors Ultrasonic ranging Deep-learning Data and model dual-driven

Thermodynamic nature of black holes in coexistence region

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Science China(Physics,Mechanics & Astronomy) 2024年第5期67卷 27-32页

作者： Shao-Wen Wei yu-Xiao liu Lanzhou Center for Theoretical Physics Key Laboratory of Theoretical Physics of Gansu Provinceand Key Laboratory of Quantum Theory and Applications of Mo ELanzhou UniversityLanzhou 730000China Institute of Theoretical Physics&Research Center of Gravitation Lanzhou UniversityLanzhou 730000China

Studying the system state of coexistence regions will peek into to reveal microscopic interactions between different phases of a thermodynamic ***,there is no effective method to study thermodynamic nature of the coexistence black hole regions for the failure of the equation of *** at these coexistence states,in this work,we develop a general approach by introducing two new ratio *** first one is the ratio of the horizon radii of the saturated coexistence small and large black holes,and the second one measures that of the small black hole molecule number to the total molecule *** demonstrate that the first parameter can serve as an order parameter to characterize the first-order phase *** study also shows that the black hole state in the coexistence region is uniquely determined by these two introduced parameters bounded between 0 and *** results are quite significant in the analytical study of phase transition and the microscopic nature of black hole in the coexistence regions.

关键词： transition. state. thermodynamic

Combining stochastic density functional theory with deep potential molecular dynamics to study warm dense matter

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Matter and Radiation at Extremes 2024年第1期9卷 44-57页

作者： Tao Chen Qianrui liu yu liu Liang Sun Mohan Chen HEDPS CAPTCollege of Engineering and School of PhysicsPeking UniversityBeijing 100871People’s Republic of China

In traditional finite-temperature Kohn–Sham density functional theory(KSDFT),the partial occupation of a large number of high-energy KS eigenstates restricts the use of first-principles molecular dynamics methods at extremely high ***,stochastic density functional theory(SDFT)can overcome this ***,SDFT and the related mixed stochastic–deterministic density functional theory,based on a plane-wave basis set,have been implemented in the first-principles electronic structure software ABACUS[*** and ***,***.B 106,125132(2022)].In this study,we combine SDFT with the Born–Oppenheimer molecular dynamics method to investigate systems with temperatures ranging from a few tens of eV to 1000 ***,we train machine-learning-based interatomic models using the SDFT data and employ these deep potential models to simulate large-scale systems with long ***,we compute and analyze the structural properties,dynamic properties,and transport coefficients of warm dense matter.

关键词： stochastic theory functional

High-performance,stable CoNi LDH@Ni foam composite membrane with innovative peroxymonosulfate activation for 2,4-dichlorophenol destruction

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Journal of Environmental Sciences 2024年第7期141卷 235-248页

作者： yu liu Weibao liu Xinrui Gan Jiangwei Shang Xiuwen Cheng College of Chemistry and Environmental Science Xinjiang Laboratory of Phase Transitions and Microstructures of Condensed Matter PhysicsYili Normal UniversityYining 835000China Key Laboratory for Environmental Pollution Prediction and Control Gansu ProvinceCollege of Earth and Environmental SciencesLanzhou UniversityLanzhou 730000China

In this study,the cobalt-nickel layered double hydroxides(CoNi LDH)were synthesized with a variety of Co/Ni mass ratio,as *** comparison,Co1Ni3LDH presented the best peroxymonosulfate(PMS)activation efficiency for 2,4-dichlorophenol ***,CoNi LDH@Nickel foam(CoNi LDH@NF)composite membrane was constructed for enhancing the stability of catalytic ***,CoNi LDH@NF-PMS system exerted high degradation efficiency of 99.22%within 90 min for 2,4-DCP when[PMS]_(0)=0.4 g/L,Co^(1)Ni^(3)LDH@NF=2 cm×2 cm(0.2 g/L),reaction temperature=298 *** the surface morphology and structure of the catalyst,it was demonstrated that the CoNi LDH@NF composite membrane possessed abundant cavity structure,good specific surface area and sufficient active ***,·OH,SO_(4)·^(-)and^(1)O_(2)played the primary role in the CoNi LDH@NF-PMS system for 2,4-DCP decomposition,which revealed the PMS activation mechanism in CoNi LDH@NF-PMS ***,this study eliminated the stability and adaptability of CoNi LDH@NF composite membrane,proposing a new theoretical basis of PMS heterogeneous catalysts selection.

关键词： CoNi LDH@NF composite membrane Peroxymonosulfate 2,4-dichlorophenol Reactive radicals

Design and Gait Planning of a Worm-inspired Metameric Robot for Pipe Crawling

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Journal of Bionic Engineering 2024年第3期21卷 1265-1277页

作者： yu liu Qingbiao Shi Zhen Chen Pen-Tung Sah Institute of Micro-Nano Science and Technology Xiamen UniversityXiamen361102China

The earthworm has been attracted much attention in the research and development of biomimetic robots due to their unique locomotion mechanism,compact structure,and small motion *** paper presents a new design and prototype of a worm-inspired metameric robot with a movement pattern similar to that of *** robot consists of multiple telescopic modules connected in series through joint *** telescopic module mimics the contraction and elongation motion modes of the earthworm segments.A kinematic and dynamic analysis is conducted on the telescopic module,and an input torque calculation method is provided to ensure sufficient friction between the robot and the pipe *** gait modes of the prototype robot for straight and turning locomotion are introduced,and these modes are extended to robots constructed by different numbers of telescopic *** addition,a method is proposed to increase the friction between the robot and the pipe wall in the aforementioned gait modes without changing the robot structure,thereby improving the robot’s motion ability in *** theoretical model of gait modes has also been validated through gait *** findings of this paper would provide a useful basis for the design,modeling,and control of future worm inspired robots.

关键词： Bio-inspired robot Spatial linkage mechanism Kinematics model Peristaltic locomotion

Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1190-1201页

作者： Xiangqian Yao Hao Sun Zhijia Zhao yu liu School of Automation Science and Engineering South China University of TechnologyGuangzhou 510640China Yongjiang Laboratory Ningbo 315202 School of Astronautics Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Electrical Engineering Guangzhou UniversityGuangzhou 510006China

For bipartite angle consensus tracking and vibration suppression of multiple Timoshenko manipulator systems with time-varying actuator faults,parameter and modeling uncertainties,and unknown disturbances,a novel distributed boundary event-triggered control strategy is proposed in this *** contrast to the earlier findings,time-varying consensus tracking and actuator defects are taken into account *** addition,the constructed event-triggered control mechanism can achieve a more flexible design because it is not required to satisfy the input-to-state *** achieve the control objectives,some new integral control variables are given by using back-stepping technique and boundary ***,adaptive neural networks are applied to estimate system *** the proposed event-triggered scheme,control inputs can reduce unnecessary ***,tracking errors and vibration states of the closed-looped network can be exponentially convergent into some small fields,and Zeno behaviors can be *** last,some simulation examples are given to state the effectiveness of the control algorithms.

关键词： Vibration satisfy bipartite

GraphSTGAN:Situation understanding network of slow-fast high maneuvering targets for maritime monitor services of IoT data

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Digital Communications and Networks 2024年第3期10卷 620-630页

作者： Guanlin Wu Haipeng Wang yu liu You He Shenzhen International Graduate School Tsinghua UniversityShenzhen518071China Institute of Space Science and Applied Technology Harbin Institute of TechnologyShenzhen518055China Department of Electronic Engineering Tsinghua UniversityBeijing100084China

With the rapid growth of the maritime Internet of Things(IoT)devices for Maritime Monitor Services(MMS),maritime traffic controllers could not handle a massive amount of data in *** unmanned MMS,one of the key technologies is situation ***,the presence of slow-fast high maneuvering targets and track breakages due to radar blind zones make modeling the dynamics of marine multi-agents difficult,and pose significant challenges to maritime situation *** order to comprehend the situation accurately and thus offer unmanned MMS,it is crucial to model the complex dynamics of multi-agents using IoT big ***,previous methods typically rely on complex assumptions,are plagued by unstructured data,and disregard the interactions between multiple agents and the spatial-temporal correlations.A deep learning model,Graph Spatial-Temporal Generative Adversarial Network(GraphSTGAN),is proposed in this paper,which uses graph neural network to model unstructured data and uses STGAN to learn the spatial-temporal dependencies and *** experiments show the effectiveness and robustness of the proposed method.

关键词： Internet of things Multi-agents Graph neural network Maritime monitoring services