This work presents a method for the three-dimensional localization of individual shallow NV center in diamond,leveraging the near-field quenching effect of a gold tip.Our experimental setup involves the use of an atom...This work presents a method for the three-dimensional localization of individual shallow NV center in diamond,leveraging the near-field quenching effect of a gold tip.Our experimental setup involves the use of an atomic force microscope to precisely move the gold tip close to the NV center,while simultaneously employing a home-made confocal microscope to monitor the fluorescence of the NV center.This approach allows for lateral super-resolution,achieving a full width at half maximum(FWHM)of 38.0 nm and a location uncertainty of 0.7 nm.Additionally,we show the potential of this method for determining the depth of the NV centers.We also attempt to determine the depth of the NV centers in combination with finite-difference time-domain(FDTD)simulations.Compared to other depth determination methods,this approach allows for simultaneous lateral and longitudinal localization of individual NV centers,and holds promise for facilitating manipulation of the local environment surrounding the NV center.展开更多
Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
Most of the existing non-line-of-sight(NLOS)localization methods depend on the layout information of the scene which is difficult to be obtained in advance in the practical application scenarios.To solve the problem,a...Most of the existing non-line-of-sight(NLOS)localization methods depend on the layout information of the scene which is difficult to be obtained in advance in the practical application scenarios.To solve the problem,an NLOS target localization method in unknown L-shaped corridor based ultra-wideband(UWB)multiple-input multiple-output(MIMO)radar is proposed in this paper.Firstly,the multipath propagation model of Lshaped corridor is established.Then,the localization process is analyzed by the propagation characteristics of diffraction and reflection.Specifically,two different back-projection imaging processes are performed on the radar echo,and the positions of focus regions in the two images are extracted to generate candidate targets.Furthermore,the distances of propagation paths corresponding to each candidate target are calculated,and then the similarity between each candidate target and the target is evaluated by employing two matching factors.The locations of the targets and the width of the corridor are determined based on the matching rules.Finally,two experiments are carried out to demonstrate that the method can effectively obtain the target positions and unknown scene information even when partial paths are lost.展开更多
Classical localization methods use Cartesian or Polar coordinates, which require a priori range information to determine whether to estimate position or to only find bearings. The modified polar representation (MPR) u...Classical localization methods use Cartesian or Polar coordinates, which require a priori range information to determine whether to estimate position or to only find bearings. The modified polar representation (MPR) unifies near-field and farfield models, alleviating the thresholding effect. Current localization methods in MPR based on the angle of arrival (AOA) and time difference of arrival (TDOA) measurements resort to semidefinite relaxation (SDR) and Gauss-Newton iteration, which are computationally complex and face the possible diverge problem. This paper formulates a pseudo linear equation between the measurements and the unknown MPR position,which leads to a closed-form solution for the hybrid TDOA-AOA localization problem, namely hybrid constrained optimization(HCO). HCO attains Cramér-Rao bound (CRB)-level accuracy for mild Gaussian noise. Compared with the existing closed-form solutions for the hybrid TDOA-AOA case, HCO provides comparable performance to the hybrid generalized trust region subproblem (HGTRS) solution and is better than the hybrid successive unconstrained minimization (HSUM) solution in large noise region. Its computational complexity is lower than that of HGTRS. Simulations validate the performance of HCO achieves the CRB that the maximum likelihood estimator (MLE) attains if the noise is small, but the MLE deviates from CRB earlier.展开更多
Chemical inclusions significantly alter shock responses of crystalline explosives in macroscale gap experiments but their microscale dynamics origin remains unclear.Herein shock-induced energy localization,overall phy...Chemical inclusions significantly alter shock responses of crystalline explosives in macroscale gap experiments but their microscale dynamics origin remains unclear.Herein shock-induced energy localization,overall physical responses,and reactions in a-1,3,5-trinitro-1,3,5-triazinane(a-RDX)crystal entrained various chemical inclusions were investigated by the multi-scale shock technique implemented in the reactive molecular dynamics method.Results indicated that energy localization and shock reaction were affected by the intrinsic factors within chemical inclusions,i.e.,phase states,chemical compositions,and concentrations.The atomic origin of chemical-inclusions effects on energy localization is dependent on the dynamics mechanism of interfacial molecules with free space volume,which includes homogeneous intermolecular compression,interfacial impact and shear,and void collapse and jet.As introducing various chemical inclusions,the initiation of those dynamics mechanisms triggers diverse decay rates of bulk RDX molecules and hereby impacts on growth speeds of final reactions.Adding chemical inclusions can reduce the effectiveness of the void during the shock impacting.Under the shockwave velocity of 9 km/s,the parent RDX decay rate in RDX entrained amorphous carbon decreases the most and is about one fourth of that in RDX with a vacuum void,and solid HMX and TATB inclusions are more reactive than amorphous carbon but less reactive than dry air or acetone inclusions.The lessdense shocking system denotes the greater increases in local temperature and stress,the faster energy liberation,and the earlier final reaction into equilibrium,revealing more pronounced responses to the present intense shockwave.The quantitative models associated with the relative system density(RD_(sys))were proposed for indicating energy-localization mechanisms and evaluating initiation safety in the shocked crystalline explosive.RD_(sys)is defined by the density ratio of defective RDX to perfect crystal after dynamics relaxation and reveals the global density characteristic in shocked systems filled with chemical inclusions.When RD_(sys)is below 0.9,local hydrodynamic jet initiated by void collapse dominates upon energy localization instead of interfacial impact.This study sheds light on novel insights for understanding the shock chemistry and physical-based atomic origin in crystalline explosives considering chemical-inclusions effects.展开更多
In order to solve the problem that the performance of traditional localization methods for mixed near-field sources(NFSs)and far-field sources(FFSs)degrades under impulsive noise,a robust and novel localization method...In order to solve the problem that the performance of traditional localization methods for mixed near-field sources(NFSs)and far-field sources(FFSs)degrades under impulsive noise,a robust and novel localization method is proposed.After eliminating the impacts of impulsive noise by the weighted out-lier filter,the direction of arrivals(DOAs)of FFSs can be estimated by multiple signal classification(MUSIC)spectral peaks search.Based on the DOAs information of FFSs,the separation of mixed sources can be performed.Finally,the estimation of localizing parameters of NFSs can avoid two-dimension spectral peaks search by decomposing steering vectors.The Cramer-Rao bounds(CRB)for the unbiased estimations of DOA and range under impulsive noise have been drawn.Simulation experiments verify that the proposed method has advantages in probability of successful estimation(PSE)and root mean square error(RMSE)compared with existing localization methods.It can be concluded that the proposed method is effective and reliable in the environment with low generalized signal to noise ratio(GSNR),few snapshots,and strong impulse.展开更多
Acoustic source localization(ASL)and sound event detection(SED)are two widely pursued independent research fields.In recent years,in order to achieve a more complete spatial and temporal representation of sound field,...Acoustic source localization(ASL)and sound event detection(SED)are two widely pursued independent research fields.In recent years,in order to achieve a more complete spatial and temporal representation of sound field,sound event localization and detection(SELD)has become a very active research topic.This paper presents a deep learning-based multioverlapping sound event localization and detection algorithm in three-dimensional space.Log-Mel spectrum and generalized cross-correlation spectrum are joined together in channel dimension as input features.These features are classified and regressed in parallel after training by a neural network to obtain sound recognition and localization results respectively.The channel attention mechanism is also introduced in the network to selectively enhance the features containing essential information and suppress the useless features.Finally,a thourough comparison confirms the efficiency and effectiveness of the proposed SELD algorithm.Field experiments show that the proposed algorithm is robust to reverberation and environment and can achieve higher recognition and localization accuracy compared with the baseline method.展开更多
基金supported by the National Natural Science Foundation of China(T2325023,92265204,12104447)the National Key R&D Program of China(2023YFF0718400)+1 种基金the Innovation Program for Quantum Science and Technology(2021ZD0302200)the Fundamental Research Funds for the Central Universities。
文摘This work presents a method for the three-dimensional localization of individual shallow NV center in diamond,leveraging the near-field quenching effect of a gold tip.Our experimental setup involves the use of an atomic force microscope to precisely move the gold tip close to the NV center,while simultaneously employing a home-made confocal microscope to monitor the fluorescence of the NV center.This approach allows for lateral super-resolution,achieving a full width at half maximum(FWHM)of 38.0 nm and a location uncertainty of 0.7 nm.Additionally,we show the potential of this method for determining the depth of the NV centers.We also attempt to determine the depth of the NV centers in combination with finite-difference time-domain(FDTD)simulations.Compared to other depth determination methods,this approach allows for simultaneous lateral and longitudinal localization of individual NV centers,and holds promise for facilitating manipulation of the local environment surrounding the NV center.
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金supported by National Natural Science Foundation of China(U20B2070,62001091)Sichuan Science and Technology Program(2022YFS0531).
文摘Most of the existing non-line-of-sight(NLOS)localization methods depend on the layout information of the scene which is difficult to be obtained in advance in the practical application scenarios.To solve the problem,an NLOS target localization method in unknown L-shaped corridor based ultra-wideband(UWB)multiple-input multiple-output(MIMO)radar is proposed in this paper.Firstly,the multipath propagation model of Lshaped corridor is established.Then,the localization process is analyzed by the propagation characteristics of diffraction and reflection.Specifically,two different back-projection imaging processes are performed on the radar echo,and the positions of focus regions in the two images are extracted to generate candidate targets.Furthermore,the distances of propagation paths corresponding to each candidate target are calculated,and then the similarity between each candidate target and the target is evaluated by employing two matching factors.The locations of the targets and the width of the corridor are determined based on the matching rules.Finally,two experiments are carried out to demonstrate that the method can effectively obtain the target positions and unknown scene information even when partial paths are lost.
基金supported by the National Natural Science Foundation of China (62101359)Sichuan University and Yibin Municipal People’s Government University and City Strategic Cooperation Special Fund Project (2020CDYB-29)+1 种基金the Science and Technology Plan Transfer Payment Project of Sichuan Province (2021ZYSF007)the Key Research and Development Program of Science and Technology Department of Sichuan Province (2020YFS0575,2021KJT0012-2 021YFS-0067)。
文摘Classical localization methods use Cartesian or Polar coordinates, which require a priori range information to determine whether to estimate position or to only find bearings. The modified polar representation (MPR) unifies near-field and farfield models, alleviating the thresholding effect. Current localization methods in MPR based on the angle of arrival (AOA) and time difference of arrival (TDOA) measurements resort to semidefinite relaxation (SDR) and Gauss-Newton iteration, which are computationally complex and face the possible diverge problem. This paper formulates a pseudo linear equation between the measurements and the unknown MPR position,which leads to a closed-form solution for the hybrid TDOA-AOA localization problem, namely hybrid constrained optimization(HCO). HCO attains Cramér-Rao bound (CRB)-level accuracy for mild Gaussian noise. Compared with the existing closed-form solutions for the hybrid TDOA-AOA case, HCO provides comparable performance to the hybrid generalized trust region subproblem (HGTRS) solution and is better than the hybrid successive unconstrained minimization (HSUM) solution in large noise region. Its computational complexity is lower than that of HGTRS. Simulations validate the performance of HCO achieves the CRB that the maximum likelihood estimator (MLE) attains if the noise is small, but the MLE deviates from CRB earlier.
基金the financial support from National Natural Science Foundation of China(Grant Nos.11872119,12172051,and 11972329)Natural Science Foundation of Hubei Province(Grant No.2021CFB120)。
文摘Chemical inclusions significantly alter shock responses of crystalline explosives in macroscale gap experiments but their microscale dynamics origin remains unclear.Herein shock-induced energy localization,overall physical responses,and reactions in a-1,3,5-trinitro-1,3,5-triazinane(a-RDX)crystal entrained various chemical inclusions were investigated by the multi-scale shock technique implemented in the reactive molecular dynamics method.Results indicated that energy localization and shock reaction were affected by the intrinsic factors within chemical inclusions,i.e.,phase states,chemical compositions,and concentrations.The atomic origin of chemical-inclusions effects on energy localization is dependent on the dynamics mechanism of interfacial molecules with free space volume,which includes homogeneous intermolecular compression,interfacial impact and shear,and void collapse and jet.As introducing various chemical inclusions,the initiation of those dynamics mechanisms triggers diverse decay rates of bulk RDX molecules and hereby impacts on growth speeds of final reactions.Adding chemical inclusions can reduce the effectiveness of the void during the shock impacting.Under the shockwave velocity of 9 km/s,the parent RDX decay rate in RDX entrained amorphous carbon decreases the most and is about one fourth of that in RDX with a vacuum void,and solid HMX and TATB inclusions are more reactive than amorphous carbon but less reactive than dry air or acetone inclusions.The lessdense shocking system denotes the greater increases in local temperature and stress,the faster energy liberation,and the earlier final reaction into equilibrium,revealing more pronounced responses to the present intense shockwave.The quantitative models associated with the relative system density(RD_(sys))were proposed for indicating energy-localization mechanisms and evaluating initiation safety in the shocked crystalline explosive.RD_(sys)is defined by the density ratio of defective RDX to perfect crystal after dynamics relaxation and reveals the global density characteristic in shocked systems filled with chemical inclusions.When RD_(sys)is below 0.9,local hydrodynamic jet initiated by void collapse dominates upon energy localization instead of interfacial impact.This study sheds light on novel insights for understanding the shock chemistry and physical-based atomic origin in crystalline explosives considering chemical-inclusions effects.
基金supported by the National Natural Science Foundation of China(62073093)the initiation fund for postdoctoral research in Heilongjiang Province(LBH-Q19098)the Natural Science Foundation of Heilongjiang Province(LH2020F017).
文摘In order to solve the problem that the performance of traditional localization methods for mixed near-field sources(NFSs)and far-field sources(FFSs)degrades under impulsive noise,a robust and novel localization method is proposed.After eliminating the impacts of impulsive noise by the weighted out-lier filter,the direction of arrivals(DOAs)of FFSs can be estimated by multiple signal classification(MUSIC)spectral peaks search.Based on the DOAs information of FFSs,the separation of mixed sources can be performed.Finally,the estimation of localizing parameters of NFSs can avoid two-dimension spectral peaks search by decomposing steering vectors.The Cramer-Rao bounds(CRB)for the unbiased estimations of DOA and range under impulsive noise have been drawn.Simulation experiments verify that the proposed method has advantages in probability of successful estimation(PSE)and root mean square error(RMSE)compared with existing localization methods.It can be concluded that the proposed method is effective and reliable in the environment with low generalized signal to noise ratio(GSNR),few snapshots,and strong impulse.
基金supported by the National Natural Science Foundation of China(61877067)the Foundation of Science and Technology on Near-Surface Detection Laboratory(TCGZ2019A002,TCGZ2021C003,6142414200511)the Natural Science Basic Research Program of Shaanxi(2021JZ-19)。
文摘Acoustic source localization(ASL)and sound event detection(SED)are two widely pursued independent research fields.In recent years,in order to achieve a more complete spatial and temporal representation of sound field,sound event localization and detection(SELD)has become a very active research topic.This paper presents a deep learning-based multioverlapping sound event localization and detection algorithm in three-dimensional space.Log-Mel spectrum and generalized cross-correlation spectrum are joined together in channel dimension as input features.These features are classified and regressed in parallel after training by a neural network to obtain sound recognition and localization results respectively.The channel attention mechanism is also introduced in the network to selectively enhance the features containing essential information and suppress the useless features.Finally,a thourough comparison confirms the efficiency and effectiveness of the proposed SELD algorithm.Field experiments show that the proposed algorithm is robust to reverberation and environment and can achieve higher recognition and localization accuracy compared with the baseline method.
