Search Results (842)

This article discusses a novel aircraft coordination algorithm for automated vertiport operation. New applications of Innovative Air Mobility (IAM) including inspection, logistics and security UAVs, Urban Air Mobility (UAM) or Regional Air Mobility (RAM) present a coordination challenge, especially near vertiports, as large numbers of vehicles with different characteristics share the airspace, and so avoiding collisions, optimizing resource usage and operating with low human intervention is important.In this paper, this problem is addressed by proposing a new formulation of the aircraft coordination problem that makes use of a discretized airspace to detect potential conflicts and collisions between cooperative and non-cooperative aircraft in the surroundings of a vertiport. The proposed algorithm not only considers the cells traversed by the aircraft, but also the set of adjacent cells, making the algorithm more conservative and robust than other algorithms found in the literature, and achieving a 100% conflict-detection rate. A mathematical model of aircraft dynamics is employed to turn high-level flight plans into detailed aircraft trajectories, using those trajectories to detect potential collisions. The deconfliction problem is formulated as a mixed-integer optimization program that computes orders of pass for every conflict while minimizing the divergence between requested time of arrival (RTA) and estimated time of arrival (ETA). This problem is implemented in OR-Tools to be solved by means of the CP-SAT solver. The validity of the solution is tested by extensive simulation, showing tactical coordination of up to 25 aircraft landing on a vertiport. Full article

The Sındırgı region of western Anatolia, located within the extensional tectonic regime of Türkiye, experienced two moderate earthquakes in 2025, occurring on 10 August (Mw 6.1) and 27 October (Mw 6.1). In this study, high-rate (1 Hz) Global Navigation Satellite System (GNSS) observations were analysed to estimate earthquake magnitudes using peak ground displacement (PGD) measurements. GNSS data from 10 stations for the August event and 12 stations for the October event were processed using the PRIDE PPP-AR software to derive displacement time series. Earthquake magnitudes were estimated from PGD values using empirical relationships proposed in previous studies. Overall, the GNSS-based magnitude estimates show good agreement with values reported in seismic catalogues, ranging between Mw ≈ 5.5 and 6.1, with one of the evaluated empirical PGD–Mw relationships providing the closest agreement (Mw = 6.07 ± 0.3 and Mw = 6.13 ± 0.2, respectively). In addition, a strong consistency was observed between GNSS-derived PGD onset times and S-wave arrival times recorded at seismometer stations, particularly within 10–50 km of the epicentre, demonstrating the capability of GNSS observations to reliably capture both coseismic displacement and seismic-wave propagation characteristics. Furthermore, the observed consistency between co-located low-cost and geodetic-grade GNSS receivers highlights the potential of low-cost GNSS systems for reliable coseismic deformation monitoring and for the development of dense GNSS observation networks. Full article

To address the convergence rate degradation of standard Newton iteration methods for nonlinear equations with multiple roots, this study systematically investigates the dynamic behavior and convergence properties of iterative methods for solving multiple roots. First, under the condition of a countable state space, we analyze, based on existing Markov chain theory, the convergence conditions and rates for nine iterative formats, including the modified Newton method and Halley method. Next, extending the research to general state spaces, we discuss a potential probabilistic analysis framework for probability convergence, first arrival time expectation, and distribution convergence rate using Markov chain and drift analysis tools. Numerical experiments demonstrate that, as the root multiplicity increases from 1 to 7, the convergence probability of the standard Newton method decreases from 0.98 to 0.35, while the average first arrival time increases from 6.2 to 190.3 iterations. The results indicate that the performance of iterative methods for multiple roots strongly depends on explicit utilization of multiple roots information or possession of high-order convergence properties, thereby improving both convergence probability and first arrival time performance. This study provides quantitative evidence and novel insights for theoretical analysis and efficient algorithm design of iterative methods in complex scenarios. In addition, the sensitivity of the iterative method to the initial value is discussed. It is pointed out that the adaptive estimation strategy provides a good compromise between robustness and efficiency compared with high-order methods, such as the Halley method, when the prior information of root weight is not available. Full article

This study presents a hybrid method based on traveling wave (TW) analysis and machine learning to determine the locations of lightning-induced faults in grid-connected photovoltaic (PV) systems. As part of the study, various lightning scenarios were simulated on a transmission line modeled in the ATP-EMTP environment, and a comprehensive dataset was created using the wave arrival times obtained from both terminals. Using these data, artificial neural networks (ANNs), Random Forest (RF), and XGBOOST algorithms were trained, and the performance of the models was compared using MSE, RMSE, MAE, and R² metrics. The simulation results demonstrate that the ANN model exhibits the highest accuracy with an RMSE of 0.1987 and an R² of 0.9997. The results indicate that the proposed hybrid traveling wave and machine learning approach can accurately estimate lightning-induced fault locations in PV-integrated transmission systems within the investigated simulation scenarios. Full article

Robust tsunami casualty estimation is vital for Peru’s central coast. While static maps ignore evacuation dynamics, precise agent-based models (ABMs) are often too computationally demanding for rapid screening. To bridge this gap, we propose an efficient geospatial workflow coupling TUNAMI-N2 simulations with shortest-path routing. Evaluating four subduction scenarios across Chorrillos and Villa El Salvador, the model tracks census-block evacuation progress. By intersecting evacuation trajectories with tsunami arrival times, casualties are calculated using empirical depth-dependent fragility functions. Results highlight that delayed reaction times significantly increase mortality. Furthermore, a counterintuitive dynamic emerges in spatially constrained corridors lacking vertical evacuation: higher walking speeds can paradoxically increase fatalities by advancing evacuees into deeper inundation zones before being overtaken. This highlights that behavioral preparedness must be coupled with structural urban interventions. Ultimately, our scalable approach enables DRR (Disaster Risk Reduction) managers to rapidly map mortality hotspots and prioritize critical infrastructure improvements in highly exposed coastal zones. Full article

This study evaluates the feasibility of airborne acoustic source localisation (ASL) for in situ crack localisation in industrial laser-based directed energy deposition (DED-LB/M) fabricated structures. A four-microphone array combined with a Generalised Cross-Correlation with Phase Transform (GCC-PHAT) algorithm was used to estimate crack positions from time differences of arrival (TDOAs) extracted from raw acoustic emissions during multi-layer single-track fabrication. Prior to experimentation, the microphone array geometry was numerically optimised under industrial placement constraints by introducing controlled TDOA perturbations and minimising three-dimensional localisation uncertainty using alpha-shape volume analysis. Experimental validation was performed on six-layer single-track structures, with estimated crack positions compared against post-process microscopic measurements. Localisation errors ranged from 12 to 68 mm in the X-direction, 0.7–32 mm in the Y-direction, and 5–100 mm in the Z-direction. While horizontal localisation demonstrated centimetre-scale accuracy for most cracks, depth estimation exhibited greater variability. The results confirm that airborne ASL can provide meaningful spatial information regarding crack formation during DED-LB/M. However, localisation performance remains sensitive to TDOA estimation accuracy, microphone array constraints, and the complex acoustic environment inherent to the process. This work demonstrates the industrial feasibility of ASL for in situ crack investigation while highlighting the need for further advancements in array design and signal processing to achieve robust three-dimensional defect localisation in additive manufacturing systems. Full article

In single-photon detection, dark count represents a critical limitation, particularly for high-sensitivity applications. Conventional estimators based on the binary per-gate observable become ill-conditioned when the dark count per-gate probability approaches unity, a situation common in first-photon-gated detectors with extended gate width. This work proposes a complementary characterization method based on the statistical expectation of dark count arrival time. This approach captures the cumulative temporal behavior of dark count across multiple gating cycles, providing a more accurate estimation of the dark count rate. Both numerical simulations and experimental results demonstrate that our method yields significantly more stable and precise measurements compared to the conventional approach. Specifically, while the conventional method introduces errors up to ±4% at larger gate widths, the proposed timing-based method converges to a significantly lower residual error of approximately −0.17%. These findings offer a promising route to enhance the characterization and performance of first-photon-gated single-photon detectors in practical applications. Full article

Optical Wireless Sensor Networks (OWSNs) have emerged as a promising solution for energy-efficient and secure data collection in free-space optical (FSO) environments. A key challenge in such networks is minimizing the decision error rate (DER) during decision aggregation at the central entity (CE). Building on earlier Time-Difference-of-Arrival (TDoA) reporting methods, this paper introduces an Angle-of-Arrival (AoA) framework for decision gathering. In the proposed scheme, sensor nodes equipped with Corner Cube Retro-reflectors (CCRs) passively communicate their local decisions, while the CE identifies such decisions based on AoA estimation. A closed-form expression for the DER is derived, incorporating false-alarm and missed-detection probabilities, and is validated through Monte Carlo simulations. Comparative evaluation against TDoA, Single Wavelength Parallel (SWP), and Multiple Wavelength Series (MWS) schemes shows that the AoA-based approach achieves consistently lower DERs, particularly in high-SNR regimes and larger node counts, closely approaching the theoretical lower bound. These results highlight AoA as a practical and scalable alternative to conventional decision-gathering methods in OWSNs. Full article

Real-time Direction of Arrival (DOA) estimation demands high computational throughput and numerical precision. Consequently, dedicated hardware accelerators are essential. This paper presents an architecture to accelerate the MUSIC algorithm using an improved complex bilateral Jacobi eigenvalue decomposition (EVD). First, we design a triangular systolic array for Hermitian matrices. It employs an output-stationary dataflow to enable efficient parallel covariance computation. Second, we propose an enhanced EVD algorithm. It replaces CORDIC approximations with direct analytical rotations. This significantly improves numerical stability and accuracy. Third, we introduce hardware optimizations. These include unit reuse, integrated termination conditions, and pre-stored steering vectors. These measures reduce resource consumption while maintaining full functionality. Experiments on a Xilinx Virtex-6 platform validate the design. The architecture achieves a root mean square error (RMSE) below $0.24°$ with 300 snapshots. Processing latency is only 76.17 µs. The design utilizes 10,775 LUTs and 73 DSP slices. This work balances accuracy, speed, and efficiency. It offers a practical solution for real-time, high-precision DOA systems. Full article

Multidimensional line spectral estimation plays a fundamental role in communication and sensing systems, where it is often used for estimating channel parameters such as angles of arrival and time delays. Existing channel parameter estimation methods often suffer from limited resolution, high computational complexity, or strong sensitivity to noise, and the multidimensional variational line spectral estimation (MDVALSE) algorithm, although effective in off-grid estimation, degrades significantly under low signal-to-noise ratio (SNR) conditions. Recently, generative models, especially diffusion models, have demonstrated strong capabilities in prior-guided denoising and reconstruction of noise-contaminated signals by effectively learning the underlying data structure. Motivated by this, we propose a diffusion-enhanced multidimensional variational line spectral estimation algorithm for channel parameter extraction. Specifically, a diffusion model is first employed to denoise the estimated channel response and improve the observation quality. Then, considering that the residual error after diffusion-based denoising is generally colored rather than white, a colored-noise extension of MDVALSE, termed C-MDVALSE, is derived to better match the statistical structure of the denoised observations. Simulation results in various scenarios show that the proposed algorithm achieves more accurate channel reconstruction and channel parameter estimation than MDVALSE and other existing methods, with particularly significant improvements in low-SNR regimes. Full article

High-frequency (HF) skywave propagation exploits ionospheric reflection for beyond-line-of-sight transmission, making time-difference-of-arrival (TDOA)-based geolocation a primary technique for localizing non-cooperative HF emitters. However, reliable TDOA estimation remains challenging due to time-varying ionospheric conditions, wideband multipath dispersion, and low signal-to-noise ratio (SNR). This paper proposes an integrated framework coupling realistic channel synthesis, deep learning-based TDOA estimation, and convex optimization-based localization. Three contributions are made. First, an improved wideband ionospheric channel model is constructed by integrating the International Reference Ionosphere (IRI) with region-specific calibration and a stochastic perturbation module, yielding time-varying multipath responses for physics-consistent waveform generation. Second, a convolutional neural network (CNN)-based TDOA estimator is designed to jointly exploit time-domain complex-baseband in-phase/quadrature (I/Q) waveforms, multi-weight generalized cross-correlation (GCC) feature maps, and channel-state information (CSI) within a unified regression network, achieving robust delay estimation under severe noise and multipath conditions. Third, the geolocation problem is formulated as a bias-regularized constrained least-squares problem with unknown ionospheric excess-delay surrogates, and a semidefinite programming (SDP) relaxation is derived to yield a tractable solution without prescribing a fixed virtual reflection height. Simulations show that the proposed estimator consistently outperforms competing algorithms across a wide SNR range and narrows the gap to the Cramér–Rao lower bound (CRLB) at high SNR. On field-recorded signals, the estimator reduces the mean absolute TDOA deviation by 51% relative to GCC with phase transform (GCC-PHAT), and the end-to-end pipeline achieves a mean geolocation error of 19.67 km across 100 field segments, outperforming all compared baselines. Full article

Underwater gated time-correlated single-photon-counting (TCSPC) LiDAR is advantageous when weak target echoes coexist with strong backscatter. However, under the first-photon-triggering and SPAD dead-time mechanism, the estimated time of flight becomes dependent on the return strength, thereby producing a range walk error (RWE). This paper develops a condition-calibrated correction framework for accumulated-histogram underwater ranging in the low-photon regime. A non-homogeneous Poisson first-arrival model that jointly includes gate-limited signal photons and in-gate background triggering yields a computable expression for the total trigger probability and the conditional first-arrival time. A first-order expansion around $N_{pe}\approx 0$ leads to an approximately linear RWE–$N_{pe}$ relation under the present system–water condition. A density-based signal-window localization method and a noise-occlusion-compensated estimator of $N_{pe}$ are combined with reference-plane differential calibration. Experiments in a 10 m clear-freshwater tank at 9.11 m show that the mean absolute error is reduced from 39.205 mm to 2.130 mm, corresponding to a 94.57% improvement. Compared with a quadratic model used under higher-photon conditions, the proposed linear model yields an order-of-magnitude smaller residual error in the low-photon region ($N_{pe}<1.6$). Full article

Reliable short-term prediction of bus travel time on signalized urban arterials is essential for improving service reliability and may provide a useful forecasting basis for prediction-informed transit signal priority (TSP) and arterial coordination applications. However, bus operations on urban arterials are highly variable due to stop dwell times, signal delays, and interactions with mixed traffic, leading to nonlinear and nonstationary travel time patterns with strong spatiotemporal dependence. This study proposes a hybrid KNN–ConvLSTM framework for short-term arterial bus travel time prediction using real-world field data. A K-nearest neighbors (KNNs) module is first employed to retrieve historical operation sequences that are most similar to the current corridor state, thereby reducing interference from mismatched traffic regimes and improving robustness. Smart-card (IC card) transaction data are incorporated as demand-related features to represent passenger activity and its impact on dwell time and travel time variability. The selected sequences are then organized into a corridor-ordered spatiotemporal representation and further refined by lightweight temporal enhancement operations, including relevance gating, multi-scale aggregation, adaptive feature fusion, and residual enhancement, before being fed into the convolutional long short-term memory (ConvLSTM) predictor. The proposed approach is evaluated using weekday service-hour data extracted from 30 days of real-world bus operation records collected from a typical urban arterial corridor in Changchun, China, and is compared with several benchmark models, including ARIMA, KNN, LSTM, CNN, ConvLSTM, Transformer, and DCRNN. The results indicate that the proposed KNN–ConvLSTM framework achieves an MAE of 40.1 s, an RMSE of 55.8 s, a SMAPE of 10.7%, and an R² of 0.878, outperforming all benchmark models. Specifically, compared with the Transformer baseline, the proposed framework reduces MAE by 1.5%, RMSE by 5.1%, and SMAPE by 7.0%, while increasing R² by 0.014. Compared with the DCRNN baseline, it reduces MAE by 10.7%, RMSE by 1.9%, and SMAPE by 2.7%, while increasing R² by 0.008. These findings demonstrate that similarity-aware retrieval combined with spatiotemporal deep learning can substantially enhance short-term bus travel time prediction on signalized urban arterials. More accurate short-term forecasts may support prediction-informed transit signal priority and arterial coordination by providing more reliable downstream arrival-time estimates. However, the generalizability of the reported results is still constrained by the relatively short 30-day observation period and the single-corridor case setting, and the operational and environmental effects of downstream applications remain to be validated through dedicated closed-loop control evaluation in future work. Full article

Uncertainty in vessel arrival times can substantially reduce the efficiency of berth planning in port operations. To address this issue, this study proposes a unified, data-driven, predict-then-optimize framework that explicitly links vessel arrival time (VAT) prediction with downstream continuous berth allocation optimization. In the prediction stage, heterogeneous maritime data, including port call records, AIS trajectories, and vessel physical characteristics, are integrated to construct VAT prediction models. In the optimization stage, the predicted VAT is embedded into a continuous berth allocation problem (BAP) model to support berth scheduling decisions. To better reflect real operations, a two-stage evaluation framework is further developed, in which berth plans generated from estimated arrival times (ETAs) or predicted VATs are re-evaluated under realized actual arrival times while preserving the original temporal and spatial service order. Experimental results show that the proposed framework improves VAT prediction accuracy substantially, reducing the MAE and RMSE from 4.795 h and 7.255 h for the vessel-reported ETAs to 2.844 h and 4.934 h, respectively. More importantly, the predicted-VAT-based BAP consistently outperforms the ETA-based benchmark, yielding an overall 35.96% reduction in objective value across tested scenarios. These findings demonstrate that improved VAT prediction can be effectively translated into meaningful operational gains in berth allocation. Full article

Signals of opportunity (SoO) enable emission-free passive sensing, but low Earth orbit (LEO) satellite illumination with unmanned aerial vehicle (UAV) array receivers exhibits rapid geometry variation. As a result, the received phase evolves in a space–time coupled manner, and the array snapshots become nonstationary even within one coherent processing interval (CPI), degrading conventional stationary-snapshot direction-of-arrival (DOA) estimators. This paper proposes a decomposition-based sparse reconstruction with successive interference cancellation (D-SR-SIC) framework for dynamic DOA estimation in LEO SoO UAV passive sensing. The proposed estimator leverages a sparse-reconstruction signal model and is implemented via a computationally efficient decomposition-based search-and-cancel procedure. A short-CPI parameterized space–time phase model captures the common motion-induced phase history and the time-varying steering drift; the coupled multi-parameter estimation is decomposed into two low-dimensional correlation searches followed by least-squares amplitude estimation and multi-target peeling. Optional local refinement and multi-beam pre-screening improve robustness to off-grid mismatch, near–far interference, and wide field-of-view operation. Simulations show that the proposed method achieves about 0.11° DOA root-mean-square error (RMSE) at −20 dB signal-to-noise ratio (SNR) in a representative highly dynamic setting. Full article