Search Results (397)

To address the critical issues of geometric ill-conditioning and non-line-of-sight (NLOS) interference faced by broadcast radio positioning systems in long-distance transmission (≥200 km) and low-altitude flight scenarios (1000 m to 3000 m), this paper proposes a Differential and Robust Positioning method for Airborne Platforms (DPAP). Integrating radio differential positioning, the proposed method enhances the single-point positioning algorithm through a grid search and iteratively reweighted least squares to mitigate geometric ill-conditioning and numerical instability in low-altitude environments. Furthermore, a passive differential positioning approach is introduced to eliminate common errors using neighboring reference stations. Finally, a scenario-aware safe fusion strategy ensures that the fused solution is never inferior to the optimal sub-solution under any circumstances. Simulation results demonstrate that, under conditions involving six ground stations, user-to-station distances of no less than 200 km, and 15% of links experiencing NLOS propagation, the differential and robust positioning method achieves a positioning accuracy of 0.588 m RMS. This represents an improvement of approximately one order of magnitude compared to RSPP (12.304 m), and outperforms traditional Huber M-estimation (0.678 m) and elevation-weighted least squares methods (1.462 m). All results are based on Monte Carlo simulations; real-world validation with SDR hardware and flight tests is left for future work. This work provides a scalable, infrastructure-light backup for safe UAV operations in GNSS-hostile environments, directly supporting the emerging low-altitude economy. Full article

Sensing audio using non-acoustic modalities such as millimeter-wave radar and laser-based systems has emerged as an active research area with significant implications for privacy, security, and robust speech processing. These approaches recover speech-related information from vibration measurements captured by non-acoustic sensing modalities. Prior work spans a wide range of techniques, from classical signal-processing pipelines to modern machine-learning and deep-learning models, enabling applications such as speech reconstruction, eavesdropping, automatic speech recognition, and noise-robust enhancement. Some systems rely on radar or laser sensing as a standalone audio surrogate, while others fuse radar-derived features with microphone signals to improve robustness in noisy or non-line-of-sight environments. Experimental results across the literature demonstrate that recovering intelligible speech or discriminative speech features from radar or laser-sensed vibrations is feasible under controlled conditions. However, performance remains sensitive to practical factors including sensing distance, object material and geometries, environmental interference, multipath effects, and task complexity. Not all speech-related tasks are reliably solved, particularly in unconstrained real-world scenarios. Overall, the field is rapidly evolving, with open challenges in robustness, generalization, and deployment, offering several promising directions for future research. Full article

Ultra-wideband (UWB) technology has been widely adopted for indoor positioning due to its high temporal resolution. However, the accuracy of UWB-based indoor positioning is fundamentally limited by ranging measurement errors, particularly under non-line-of-sight (NLOS) conditions, where systematic bias and uncertainty are introduced into the measured distances. In this paper, a measurement error mitigation method is proposed to improve UWB ranging reliability in complex indoor environments. The method first identifies NLOS measurements using low-dimensional physical features and a lightweight machine learning classifier. Subsequently, an error compensation strategy is applied to correct biased ranging observations, which are then incorporated into a nonlinear least squares positioning model. Experimental results obtained in typical indoor environments demonstrate that the proposed method significantly reduces ranging errors and improves positioning accuracy compared with conventional approaches. The results indicate that the proposed framework effectively enhances measurement robustness without increasing system complexity. Full article

Many Internet of Things (IoT) applications that use LoRaWAN require node localization, often relying on signal strength or message timestamps to estimate distance. However, traditional techniques typically require prior knowledge of signal propagation models or clock synchronization between multiple nodes. Therefore, this paper proposes a one-way ranging method based on LoRa to estimate link distances using the received signal from a single node, with no additional infrastructure or synchronization requirements. The approach uses the inherent properties of the LoRa chirp-based waveform to extract time delay information and estimate distance. The proposed method consists of a transmitter and a receiver capable of detecting the link delay using demodulation of the preamble. Then, the method estimates the distance using the link delay without requiring additional hardware or information. The method was validated through MATLAB R2025a simulations, including five nodes distributed over an 18 km² area. The proposed method achieves distance estimation with mean errors of 25 m under semi-urban, non-line-of-sight conditions, outperforming existing methods. Additionally, the study identifies two practical system configurations for LoRa, at 8 Msps and 2 Msps, which reduce the ranging error while considering hardware feasibility. These findings are especially relevant for researchers developing Global Positioning System (GPS) free localization techniques in resource-constrained IoT environments. Full article

Mammalian carnivores play an important role in maintaining the integrity of an ecosystem; therefore, their conservation as an umbrella species ensures the conservation of other species as well as the entire ecosystem. The northern area of Pakistan has a rich diversity of globally and regionally significant carnivore species, many of which are threatened mainly due to conflict with humans. In the current study, we used multiple survey techniques: camera trapping, sign surveys, and questionnaire surveys in the Basha–Braldu Valleys of the Central Karakoram National Park (CKNP) during the period 20 May–31 July 2017. The objectives were to document mammalian carnivore diversity and relative abundance and to assess community perceptions of carnivores and human–carnivore conflicts associated with economic losses from livestock depredation. Camera trapping was only carried out in the Basha valley, where 30 motion-triggered cameras were deployed for two months, maintaining a minimum spatial distance of 1 km between the nearest cameras. Sign surveys were carried out in both valleys by dividing the area into 5 km × 5 km grids. Signs of carnivores were searched in a 50 m radius of the sampling point, and a minimum distance of 100 m was maintained between the two nearest sampling points. The questionnaire survey was conducted in communities residing in both valleys. Overall, 140 randomly selected locals from 23 villages were interviewed about the human–carnivore interaction in the area. The questionnaire covered the respondents’ demographics, carnivore sightings and status, economic loss due to livestock depredation, and local perceptions towards carnivores. The study confirmed the presence of seven carnivore species, including the snow leopard (Panthera uncia), grey wolf (Canis lupus), red fox (Vulpes vulpes), brown bear (Ursus arctos), Himalayan lynx (Lynx lynx), stone marten (Martes foina), and weasel (Mustela altaica). Of the total livestock losses reported, carnivores accounted for 30% (394 animals), while 70% (1347 animals) were attributed to disease, resulting in an overall economic loss of USD 138,778 (USD 991 per household). Livestock depredation varied with season, prey type, location, livestock guarding practices, and predator species. Due to high levels of livestock depredation, local communities perceived the grey wolf as the most dangerous carnivore, with many respondents favoring its reduction or elimination. Our findings indicate that the Basha–Braldu Valleys support a rich diversity of globally important carnivore species; however, human–carnivore conflict driven by livestock depredation remains a major conservation challenge. Effective conflict-mitigation interventions are essential to promote sustainable conservation practices and long-term coexistence within these mountain ecosystems. Further studies are recommended to improve the understanding of carnivore population status, distribution, and dietary ecology. Full article

To mitigate the loss of satellite navigation signals in indoor environments, we propose an active reconfigurable intelligent surface (ARIS)-empowered satellite positioning approach. Deployed on building structures, ARIS reflects navigation signals to indoor receivers to bypass obstructions, providing high-precision positioning services to receivers in non-line-of-sight (NLoS) areas. The path between ARIS and the receiver is defined as the extended line-of-sight (ELoS) path, and an improved carrier phase observation equation is derived to accommodate this path. The receiver compensates for its clock bias through network time synchronization, corrects the actual satellite–ARIS–receiver signal path to the satellite–receiver distance through a distance correction algorithm, and determines the position using the least squares (LS) method. Simulation results show that the proposed method provides positioning services with errors not exceeding 4 m in indoor environments, with time synchronization accuracy within an error range of 10 ns. Full article

Blind and visually impaired individuals face persistent challenges when navigating unfamiliar environments, where unseen obstacles compromise their safety and independence. Although many electronic travel aids have been proposed, most remain impractical for daily use—they often rely on bulky or costly hardware, require external processing, or provide unintuitive feedback. This work presents a wearable stereo-vision-based vibrotactile system for real-time obstacle detection and navigation assistance. The device combines an off-the-shelf stereo camera integrated with a simultaneous localization and mapping framework to perceive spatial geometry and detect obstacles in the user’s path. Two stereo-matching methods were implemented to estimate depth: a block-based algorithm optimized for low-latency performance and a semi-global approach providing denser depth maps. Detected obstacles are translated into distinct vibration patterns delivered through four skin-contact body-mounted actuators encoding both direction and distance. The system was evaluated with blindfolded sighted, visually impaired, and blind participants. Both stereo approaches supported reliable real-time guidance and high obstacle-avoidance rates, demonstrating robust performance on affordable, wearable hardware. These findings confirm the feasibility of real-time tactile guidance using commercially available components, marking a concrete step toward accessible navigation support that enhances safety and autonomy for blind and visually impaired individuals. Full article

This study examines a cost-shaping method that considers distance information to obstacles in a line-of-sight (LOS) any-angle path-planning approach on grid-based maps. In the proposed approach, the safety distance to obstacles is added to the cost in a controlled manner via a single adjustable and interpretable parameter; thus, the balance between safety and efficiency becomes practically adjustable. Node selection in the planning process is performed while maintaining the classical search rule; the additional penalty related to the safety distance is only included in the transit cost. This design strengthens consistency between method definition and implementation and eliminates the risk of the same safety term being considered multiple times. The experimental evaluation was conducted on a three-by-three scenario set encompassing map type and difficulty level dimensions. Starting and ending points were selected in a layered and matched manner as easy/medium/difficult; the safety parameter was scanned at different values, following a repeatable protocol under all conditions. Outputs were evaluated using efficiency metrics such as path length and number of turns, as well as minimum safety distance, safety distance violation rate, and a curvature indicator representing the smoothness of the path geometry. In addition, practical costs such as planning time, an expanded number of nodes, and memory footprint were reported. The results show that exposure to low safety distance zones decreases and the path geometry becomes more regular with increasing safety parameters. Furthermore, it was observed that the success rate increased in pooled analyses while memory usage remained constant; paired statistical tests and effect size measurements confirmed that the improvements were strong and consistent. These findings reveal that safety distance-sensitive cost-shaping offers a lean control mechanism that enhances safety and maintains practical applicability within line-of-sight-based any-angle planning. Full article

Safe and energy-aware navigation is still difficult for unmanned surface vehicles (USVs), especially in cluttered waters where obstacles, smooth motion, and wind or current effects must be considered at the same time. If these issues are handled separately, the path may become longer and the vehicle may turn more often, which raises propulsion effort and hurts stability. To reduce these problems, a hybrid path planning method called ${\theta }^{\ast }$-APF-Q is proposed, and it combines global planning, learning-based decisions, and local adjustment in a three-layer structure. First, an any-angle ${\theta }^{\ast }$ global planner is employed to generate a near-optimal backbone trajectory by line-of-sight pruning, thereby reducing redundant waypoints and limiting detours. Second, an enhanced tabular Q-learning model is executed in an expanded eight-direction action space, and policy learning is guided by a multi-objective reward that jointly encourages distance reduction, alignment with ocean current and wind-induced forces for energy saving, smooth heading variation to suppress excessive steering, and maintenance of a safety margin near obstacles. Third, an adaptive artificial potential field (APF) module is used for real-time local correction, providing repulsion in high-risk regions and assisting trajectory smoothing to reduce unnecessary turning operations. A decision bias strategy further couples instantaneous APF forces with long-term state–action values, while the influence weight is adaptively adjusted according to environmental complexity. The algorithm is validated on the randomly generated marine grid maps and on the real-world satellite map scenario, with comparisons against a conventional four-direction Q-learning baseline. Across randomized tests, average path length, turning frequency, and the composite energy indicator are reduced by 22.3%, 55.6%, and 26.4%, respectively, and the success rate increases by 16%. The results indicate that integrating global guidance, adaptive learning, and local reactive decision making supports practical, energy-aware USV navigation. Full article

Speed management plays a critical role in road safety; however, conventional speed limits are determined based on characteristics such as geometry and traffic volume. Limited consideration is given to the structural condition of pavements and surface distress. This study proposes an integrated mechanistic–quantitative framework that links pavement distress and road safety indicators to the selection of speed limits. A flexible pavement section on Highway No. 80 in Iraq is analyzed as a case study. Mechanistic pavement analysis using KENPAVE is employed to estimate critical strains based on field traffic data and Equivalent Single-Axle Loads (ESALs). The rate of failure is estimated by comparing ESALs and the allowable load repetitions. Safety-related constraints are then derived to quantify hydroplaning risk, braking performance through stopping sight distance, and the vertical shock criterion. The results indicate that the existing pavement structure is marginal, with a high probability of fatigue failure and sensitivity to rutting under increased traffic loads. The integrated safety analysis yields a critical wet-weather speed of approximately 67–70 km/h, while localized settlements exceeding 10 mm require speed reductions of 50–60 km/h to maintain vehicle stability. The proposed framework demonstrates that pavement conditions directly influence safe speed, providing a rational basis for safety-oriented speed management. Full article

The two most severe cosmological tensions in the Hubble constant $H_0$ and the matter clustering amplitude $S_8$ have the same relative discrepancy of 8.3%, which suggests that they may have a common origin. Modifications of gravity and exotic dark fields with numerous free parameters introduced in the Einstein field equations often struggle to simultaneously alleviate both tensions; thus, we need to look for a common cause within the standard $\Lambda$CDM framework. At the same time, linear perturbation analyses of matter in the expanding $\Lambda$CDM universe have always neglected the impact of comoving peculiar velocities $\mathbf{v}$ (generally thought to be a second-order effect), the same velocities that, in physical space, cannot be fully accounted for in the observed late-time universe when the cosmic distance ladder is used to determine the local value of $H_0$. We have reworked the linear density perturbation equations in the conformal Newtonian gauge (sub-horizon limit) by introducing an additional drag force per unit mass $-\Gamma \left(t\right)\mathbf{v}$ in the Euler equation with $\Gamma \equiv \gamma \left(2H\right)$, where $\gamma \ll 1$ is a positive dimensionless constant and $2H\left(t\right)$ is the time-dependent Hubble friction. We find that a damping parameter of $\gamma =0.083$ is sufficient to resolve the $S_8$ tension by suppressing the growth of structure at low redshifts, starting at $z_{★}\simeq 3.5–6.5$ to achieve $S_8\simeq 0.78–0.76$, respectively. Furthermore, we argue that the physical source causing this additional friction (a tidal field generated by nonlinear structures in the late-time universe) is also responsible for a systematic error in the local determinations of $H_0$—the inability to subtract peculiar tidal velocities along the lines of sight when determining the Hubble flow via the cosmic distance ladder. Finally, the dual action of the tidal field on the expanding background—reducing both the matter and the dark energy sources of the squared Hubble rate $H^2$, thereby holding back the cosmic acceleration $\ddot{a}$—is of fundamental importance in resolving cosmological tensions and can also substantially alleviate the density coincidence problem. Full article

The rapid expansion of smart city infrastructures and Internet of Things (IoT) networks has led to extremely dense wireless deployments, driving unsustainable energy consumption and exacerbating environmental concerns. To improve sustainability in the long term, future wireless systems must fundamentally prioritize energy-efficient and autonomous operation. Integrated sensing and communication (ISAC) is emerging as a key enabler for next-generation systems by jointly supporting sensing and communication through shared spectrum, hardware, and signal processing resources. In IoT systems, sensing of target parameters, e.g., range, angle, velocity and identity, etc., form the basis of autonomous and environment-aware applications. However, this integration increases overall power consumption due to the added coordination overhead and the workload placed on shared hardware components. To this end, backscatter communication provides a low-power alternative that enables passive data transmission through energy harvesting and sharply reduces the need for active radio circuits. However, the coexistence of sensing and backscatter functions introduces mutual interference, which often requires large multiple-input multiple-output (MIMO) arrays for effective mitigation. Furthermore, sensing performance depends heavily on line-of-sight conditions, while backscatter links operate only over short ranges. Although increasing array size or transmit power can extend coverage, it imposes substantial energy and hardware costs and undermines sustainability goals. To address these limitations, cell-free MIMO is emerging as a promising candidate technology for next-generation systems. Cell-free MIMO relies on a dense deployment of distributed access points that cooperate to serve devices across a wide area. This cooperation enables effective beamforming and interference management, providing spatial diversity comparable to large, centralized antenna arrays without incurring their associated hardware or power costs. They also enable aggregation of weak double-hop reflections, reduced effective-illumination distances, multi-view sensing, and robustness to blockage, which is invaluable to backscatter communication. This perspective article introduces the foundations, challenges, and architectural considerations of cell-free backscatter-aided integrated sensing and communication (CF-BISAC) systems. By leveraging the advantages of battery-less backscatter IoT devices and the distributed nature of cell-free MIMO, CF-ISABC aims to maximize sensing and communication performance under strict energy constraints, contributing toward energy-aware ISAC systems capable of supporting high-density, low-power wireless applications. Full article

To investigate the impact of “bright to dark” uneven lighting conditions on driver recognition of retroreflective guide signs in the diverging zones of underwater ramp interchanges, this study adjusts the luminance contrast between adjacent lighting segments in a tunnel to explore its effect on the recognition distance of retroreflective guide signs, thereby providing a basis for the rational design of lighting conditions in this area. Based on the driver’s safe recognition process, the minimum sight distance requirements for retroreflective guide signs were first determined under three representative operating speeds. Following the tunnel lighting design principles specified in Chinese standards, eight dark-environment luminance levels and nineteen bright-environment luminance levels were established. A total of 124 non-uniform “bright–dark” lighting combinations were then generated by varying the luminance difference in 1 cd/m² increments. Subsequently, 24 passenger car drivers were selected to conduct dynamic recognition experiments of guide signs under the “bright–dark” lighting transition conditions in the tunnel ramp diverging zone. Recognition distances were measured using a non-contact speedometer to capture the driver’s distance to the sign. A regression model was developed to quantify the relationship between sign recognition distance, luminance difference, and dark-environment luminance. The model’s accuracy is reflected in the fact that 92.7% of the predicted values had an absolute error of less than 10 m compared to the observed values. The results show that luminance difference has a significant impact on recognition distance, which increases initially and then stabilizes as luminance difference grows. When the dark-environment luminance is below 3.5 cd/m², the effect of luminance difference on recognition distance is more pronounced than when it exceeds 3.5 cd/m². Based on these findings, threshold values of bright-environment luminance ensuring safe recognition distances under varying dark-environment luminance conditions are proposed. It is further recommended that, for design speeds of 100 km/h or higher, the dark-environment luminance should not be lower than 2.5 cd/m² to maintain safe visibility of retroreflective guide signs. Full article

Accurate indoor localization is essential for navigation, monitoring, and industrial applications, especially in environments with Non-line of sight (NLOS) conditions. An indoor positioning system consists of fixed physical nodes, referred to as anchors, which serve as reference nodes with known locations, and entities that could be persons or objects that are also equipped with a node, referred to as targets, whose positions are estimated based on signal measurements exchanged with the surrounding anchors. Although RSSI is widely used due to hardware simplicity, its performance is often affected by signal degradation, multipath propagation, and environmental interference. To address this limitation, this work aims to develop an indoor positioning system, especially in wide areas with a minimal number of physical anchors, while maintaining high positioning accuracy and low latency. The proposed approach integrates VA, RSSI-based multilateration, and ML as a tool to refine and improve positioning accuracy, where ML models are used to predict the VA features and subsequently predict the corresponding distances. In addition, the system relies on energy-efficient WuRx nodes, which ensure a low power consumption and support on-demand communication. The study area covers two distinct floors with a total area of 366.9 m², covered using only four physical anchors. Two studies were performed, the offline and the online, in order to evaluate the proposed system under both the theoretical performance and real implementation conditions. In the offline phase, hexagonal and rectangular grid architectures were compared using multiple machine learning models under varying numbers of virtual anchors. By comparing different architectures and machine learning models, the rectangular grid with 10 virtual anchors combined with the XGBoost model achieved the best performance, resulting in an RMSE of $1.49\mathrm{m}$ with a processing time of approximately $0.15\mathrm{s}$. The online evaluation confirmed the performance of the proposed system, achieving an RMSE of $2.48\mathrm{m}$. Full article

Due to increasing human activities underwater, there is a growing demand for high-speed underwater optical communication (UOWC) data links for security surveillance, environmental monitoring, pipeline inspection, and other applications. Line-of-sight communication is impossible under certain conditions due to misalignment, physical obstructions, irregular usage, and difficulty adjusting the receiver orientation, especially when used in environments with mobile users or submerged sensor networks. Therefore, non-line-of-sight (NLOS) optical communication is used in this study. Advanced modulation schemes—quadrature amplitude modulation and orthogonal frequency-division multiplexing (QAM-OFDM)—were used to transmit the signal underwater between two network nodes. QAM increases the data transfer rate, while OFDM reduces dispersion and inter-symbol interference (ISI). The proposed UOWC system is investigated using a 532 nm green laser diode (LD). Reliable high-speed data transmission of up to 15 Gbps is achieved over horizontal distances of 134 m, 43 m, 21 m, and 5 m in four different aquatic environments—pure water (PW), clear ocean (CLO), coastal ocean (COO), and harbor II (HarII), respectively. The system achieves effectively error-free performance within the simulation duration (BER < 10⁻⁹), with a received optical signal power of approximately −41.5 dBm. Clear constellation patterns and low BER values are observed, confirming the robustness of the proposed architecture. Despite the limitations imposed by non-line-of-sight (NLOS) communication and the diversity aquatic environments, our proposed architecture excels at underwater long-distance data transmission at high speeds. Full article