scholarly journals Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7325
Author(s):  
Mohamed Khalaf-Allah
Keyword(s):  
Direct Method ◽  
Computational Cost ◽  
Three Dimensional ◽  
Quadratic Equation ◽  
Position Estimation ◽  
Time Of Arrival ◽  
Posterior Probability Density ◽  
Resampling Procedure ◽  
Posterior Probability Density Function ◽  
3D Positioning

At least four non-coplanar anchor nodes (ANs) are required for the time-of-arrival (ToA)-based three-dimensional (3D) positioning to enable unique position estimation. Direct method (DM) and particle filter (PF) algorithms were developed to address the three-anchor ToA-based 3D positioning problem. The proposed DM reduces this problem to the solution of a quadratic equation, exploiting the knowledge about the workspace, to first estimate the x- or z-coordinate, and then the remaining two coordinates. The implemented PF uses 1000 particles to represent the posterior probability density function (PDF) of the AN’s 3D position. The prediction step generates new particles by a resampling procedure. The ToA measurements determine the importance of these particles to enable updating the posterior PDF and estimating the 3D position of the AN. Simulation results corroborate the viability of the developed DM and PF algorithms, in terms of accuracy and computational cost, in the pursuit and circumnavigation scenarios, and even with a horizontally coplanar arrangement of the three ANs. Therefore, it is possible to enable applications requiring real-time positioning, such as unmanned aerial vehicle (UAV) autonomous docking and circling a stationary (or moving) position, without the need for an excessive number of ANs.

scholarly journals Hybrid TOA/RSS Range-Based Localization with Self-Calibration in Asynchronous Wireless Networks

2019 ◽  
Vol 8 (2) ◽  
pp. 31 ◽  
Author(s):  
Angelo Coluccia ◽  
Alessio Fascista
Keyword(s):  
Low Cost ◽  
Computational Cost ◽  
Closed Form Solution ◽  
Target Position ◽  
Form Solution ◽  
Position Estimation ◽  
Model Parameters ◽  
Time Of Arrival ◽  
Synchronization Errors ◽  
Step Algorithm

The paper addresses the problem of localization based on hybrid received signal strength (RSS) and time of arrival (TOA) measurements, in the presence of synchronization errors among all the nodes in a wireless network, and assuming all parameters are unknown. In most existing schemes, in fact, knowledge of the model parameters is postulated to reduce the high dimensionality of the cost functions involved in the position estimation process. However, such parameters depend on the operational wireless context, and change over time due to the presence of dynamic obstacles and other modification of the environment. Therefore, they should be adaptively estimated “on the field”, with a procedure that must be as simple as possible in order to suit multiple real-time re-calibrations, even in low-cost applications, without requiring human intervention. Unfortunately, the joint maximum likelihood (ML) position estimator for this problem does not admit a closed-form solution, and numerical optimization is practically unfeasible due to the large number of nuisance parameters. To circumvent such issues, a novel two-step algorithm with reduced complexity is proposed: A first calibration phase exploits nodes in known positions to estimate the unknown RSS and TOA model parameters; then, in a second localization step, an hybrid TOA/RSS range estimator is combined with an iterative least-squares procedure to finally estimate the unknown target position. The results show that the proposed hybrid TOA/RSS localization approach outperformed state-of-the-art competitors and, remarkably, achieved almost the same accuracy of the joint ML benchmark but with a significantly lower computational cost.

scholarly journals Particle Filtering for Three-Dimensional TDoA-Based Positioning Using Four Anchor Nodes

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4516
Author(s):  
Mohamed Khalaf-Allah
Keyword(s):  
Inventory Management ◽  
Particle Filtering ◽  
Three Dimensional ◽  
Ultra Wideband ◽  
Unmanned Air Vehicle ◽  
Air Vehicle ◽  
Resampling Procedure ◽  
Anchor Nodes ◽  
State Position ◽  
3D Positioning

In this article, the four-anchor time difference of arrival (TDoA)-based three-dimensional (3D) positioning by particle filtering is addressed. The implemented particle filter uses 1000 particles to represent the probability density function (pdf) of interest, i.e., the posterior pdf of the target node’s state (position). A resampling procedure is used to generate particles in the prediction step, and TDoA measurements are used to determine the importance, i.e., weight, of each particle to enable updating the posterior pdf and estimating the position of the target node. The simulation results show the feasibility of this approach and the possibility to employ it in indoor positioning applications under the assumed working conditions using, e.g., the ultra-wideband (UWB) wireless technology. Therefore, it is possible to enable unmanned air vehicle (UAV) positioning applications, e.g., inventory management in large warehouses, without the need for an excessive number of anchor nodes.

scholarly journals The ICON Single-Column Mode

Atmosphere ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 906
Author(s):  
Ivan Bašták Ďurán ◽  
Martin Köhler ◽  
Astrid Eichhorn-Müller ◽  
Vera Maurer ◽  
Juerg Schmidli ◽  
...  
Keyword(s):  
Data Storage ◽  
Model Development ◽  
Computational Cost ◽  
Three Dimensional ◽  
Shallow Convection ◽  
Modeling Framework ◽  
Additional Tool ◽  
Eddy Simulation ◽  
Single Column ◽  
Stratocumulus Clouds

The single-column mode (SCM) of the ICON (ICOsahedral Nonhydrostatic) modeling framework is presented. The primary purpose of the ICON SCM is to use it as a tool for research, model evaluation and development. Thanks to the simplified geometry of the ICON SCM, various aspects of the ICON model, in particular the model physics, can be studied in a well-controlled environment. Additionally, the ICON SCM has a reduced computational cost and a low data storage demand. The ICON SCM can be utilized for idealized cases—several well-established cases are already included—or for semi-realistic cases based on analyses or model forecasts. As the case setup is defined by a single NetCDF file, new cases can be prepared easily by the modification of this file. We demonstrate the usage of the ICON SCM for different idealized cases such as shallow convection, stratocumulus clouds, and radiative transfer. Additionally, the ICON SCM is tested for a semi-realistic case together with an equivalent three-dimensional setup and the large eddy simulation mode of ICON. Such consistent comparisons across the hierarchy of ICON configurations are very helpful for model development. The ICON SCM will be implemented into the operational ICON model and will serve as an additional tool for advancing the development of the ICON model.

scholarly journals Retinal vessel segmentation with constrained-based nonnegative matrix factorization and 3D modified attention U-Net

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Yang Yu ◽  
Hongqing Zhu
Keyword(s):  
Matrix Factorization ◽  
Nonnegative Matrix Factorization ◽  
Computational Cost ◽  
Three Dimensional ◽  
Nonnegative Matrix ◽  
Retinal Vessel ◽  
Classification Problem ◽  
Image Resolution ◽  
Retinal Vessels ◽  
Segmentation Task

AbstractDue to the complex morphology and characteristic of retinal vessels, it remains challenging for most of the existing algorithms to accurately detect them. This paper proposes a supervised retinal vessels extraction scheme using constrained-based nonnegative matrix factorization (NMF) and three dimensional (3D) modified attention U-Net architecture. The proposed method detects the retinal vessels by three major steps. First, we perform Gaussian filter and gamma correction on the green channel of retinal images to suppress background noise and adjust the contrast of images. Then, the study develops a new within-class and between-class constrained NMF algorithm to extract neighborhood feature information of every pixel and reduce feature data dimension. By using these constraints, the method can effectively gather similar features within-class and discriminate features between-class to improve feature description ability for each pixel. Next, this study formulates segmentation task as a classification problem and solves it with a more contributing 3D modified attention U-Net as a two-label classifier for reducing computational cost. This proposed network contains an upsampling to raise image resolution before encoding and revert image to its original size with a downsampling after three max-pooling layers. Besides, the attention gate (AG) set in these layers contributes to more accurate segmentation by maintaining details while suppressing noises. Finally, the experimental results on three publicly available datasets DRIVE, STARE, and HRF demonstrate better performance than most existing methods.

scholarly journals Data-Informed Decomposition for Localized Uncertainty Quantification of Dynamical Systems

Vibration ◽  
2020 ◽  
Vol 4 (1) ◽  
pp. 49-63
Author(s):  
Waad Subber ◽  
Sayan Ghosh ◽  
Piyush Pandita ◽  
Yiming Zhang ◽  
Liping Wang
Keyword(s):  
Dynamical Systems ◽  
Computational Cost ◽  
Three Dimensional ◽  
Region Of Interest ◽  
System Response ◽  
Computational Domain ◽  
User Interest ◽  
Numerical Resolution ◽  
Multi Scale ◽  
Operation Conditions

Industrial dynamical systems often exhibit multi-scale responses due to material heterogeneity and complex operation conditions. The smallest length-scale of the systems dynamics controls the numerical resolution required to resolve the embedded physics. In practice however, high numerical resolution is only required in a confined region of the domain where fast dynamics or localized material variability is exhibited, whereas a coarser discretization can be sufficient in the rest majority of the domain. Partitioning the complex dynamical system into smaller easier-to-solve problems based on the localized dynamics and material variability can reduce the overall computational cost. The region of interest can be specified based on the localized features of the solution, user interest, and correlation length of the material properties. For problems where a region of interest is not evident, Bayesian inference can provide a feasible solution. In this work, we employ a Bayesian framework to update the prior knowledge of the localized region of interest using measurements of the system response. Once, the region of interest is identified, the localized uncertainty is propagate forward through the computational domain. We demonstrate our framework using numerical experiments on a three-dimensional elastodynamic problem.

scholarly journals Joint clock synchronization and position estimation in time of arrival–based passive positioning systems

2018 ◽  
Vol 14 (11) ◽  
pp. 155014771878689 ◽  
Author(s):  
Shenghong Li ◽  
Lingyun Lu ◽  
Mark Hedley ◽  
David Humphrey ◽  
Iain B Collings
Keyword(s):  
Clock Synchronization ◽  
Likelihood Estimation ◽  
Least Square Method ◽  
Position Estimation ◽  
Least Square ◽  
Time Of Arrival ◽  
Positioning Systems ◽  
Reference Node ◽  
Localization Scheme ◽  
Wireless Signal

A widely used scheme for target localization is to measure the time of arrival of a wireless signal emitted by a tag, which requires the clocks of the anchors (receivers at known locations) to be accurately synchronized. Conventional systems rely on transmissions from a timing reference node at a known location for clock synchronization and therefore are susceptible to reference node failure. In this article, we propose a novel localization scheme which jointly estimates anchor clock offsets and target positions. The system does not require timing reference nodes and is completely passive (non-intrusive). The positioning algorithm is formulated as a maximum likelihood estimation problem, which is solved efficiently using an iterative linear least square method. The Cramér–Rao lower bound of positioning error is also analyzed. It is shown that the performance of the proposed scheme improves with the number of targets in the system and approaches that of a system with perfectly synchronized anchors.

Distribution of arrival times in cosmic ray showers

1978 ◽  
Vol 10 (4) ◽  
pp. 730-735
Author(s):  
H. S. Green
Keyword(s):  
Cosmic Radiation ◽  
Three Dimensional ◽  
Stochastic Theory ◽  
Cosmic Ray ◽  
Time Of Arrival ◽  
Air Showers ◽  
Actual Distribution ◽  
Arrival Times ◽  
Primary Particles ◽  
Theoretical Analyses

The theoretical analyses of the extensive air showers developing from the cosmic radiation has its origins in the work of Carlson and Oppenheimer (1937) and Bhabha and Heitler (1937), at a time when it was thought that such showers were initiated by electrons. The realization that protons and other nuclei were the primary particles led to a reformulation of the theory by Heitler and Janossy (1949), Messel and Green (1952) and others, in which the production of energetic pions and the three-dimensional development of air showers were accounted for. But as the soft (electromagnetic) component of the cosmic radiation is the most prominent feature of air showers at sea level, there has been a sustained interest in the theory of this component. Most of the more recent work, such as that by Butcher and Messel (1960) and Thielheim and Zöllner (1972) has relied on computer simulation; but this method has disadvantages in terms of accuracy and presentation of results, especially where a simultaneous analysis of the development of air showers in terms of several physical variables is required. This is so for instance when the time of arrival is one of the variables. Moyal (1956) played an important part in the analytical formulation of a stochastic theory of cosmic ray showers, with time as an explicit variable, and it is essentially this approach which will be adopted in the following. The actual distribution of arrival times is cosmic ray showers, for which results are obtained, is of current experimental interest (McDonald, Clay and Prescott (1977)).

An Exact Three-Dimensional Beam Element With Nonuniform Cross Section

2010 ◽  
Vol 77 (6) ◽  
Author(s):  
M. Jafari ◽  
M. J. Mahjoob
Keyword(s):  
Cross Section ◽  
Stiffness Matrix ◽  
Degrees Of Freedom ◽  
Direct Method ◽  
Three Dimensional ◽  
Curved Beams ◽  
Element Analysis ◽  
Shear Loads ◽  
Line Passing ◽  
Exact Stiffness Matrix

In this paper, the exact stiffness matrix of curved beams with nonuniform cross section is derived using direct method. The considered element has two nodes and 12 degrees of freedom, with three forces and three moments applied at each node. The noncoincidence effect of shear center and center of area is also considered in this element. The deformations of the beam are due to bending, torsion, tensile, and shear loads. The line passing through center of area is a general three-dimensional curve and the cross section properties may change arbitrarily along it. The method is extended to deal with distributed loads on the curved beams. The stiffness matrix of some selected types of beams is determined by this method. The results are compared (where possible) with previously published results, simple beam finite element analysis and analytic solution. It is shown that the determined stiffness matrix is exact and that any type of beam can be analyzed by this method.

scholarly journals Prediction of Residual Stresses in a Multipass Pipe Weld by a Novel 3D Finite Element Approach

2018 ◽  
Author(s):  
Hui Huang ◽  
Jian Chen ◽  
Blair Carlson ◽  
Hui-Ping Wang ◽  
Paul Crooker ◽  
...  
Keyword(s):  
Finite Element ◽  
Residual Stresses ◽  
High Performance ◽  
Large Scale ◽  
Graphics Processing Unit ◽  
Computational Cost ◽  
Three Dimensional ◽  
Processing Unit ◽  
Girth Welds ◽  
Welding Processes

Due to enormous computation cost, current residual stress simulation of multipass girth welds are mostly performed using two-dimensional (2D) axisymmetric models. The 2D model can only provide limited estimation on the residual stresses by assuming its axisymmetric distribution. In this study, a highly efficient thermal-mechanical finite element code for three dimensional (3D) model has been developed based on high performance Graphics Processing Unit (GPU) computers. Our code is further accelerated by considering the unique physics associated with welding processes that are characterized by steep temperature gradient and a moving arc heat source. It is capable of modeling large-scale welding problems that cannot be easily handled by the existing commercial simulation tools. To demonstrate the accuracy and efficiency, our code was compared with a commercial software by simulating a 3D multi-pass girth weld model with over 1 million elements. Our code achieved comparable solution accuracy with respect to the commercial one but with over 100 times saving on computational cost. Moreover, the three-dimensional analysis demonstrated more realistic stress distribution that is not axisymmetric in hoop direction.

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