The high-precision indoor positioning technology has gradually become one of the research hotspots in indoor mobile robots. Relax and Recover (RAR) is an indoor positioning algorithm using distance observations. The algorithm restores the robot's trajectory through curve fitting and does not require time synchronization of observations. The positioning can be successful with few observations. However, the algorithm has the disadvantages of poor resistance to gross errors and cannot be used for real-time positioning. In this paper, while retaining the advantages of the original algorithm, the RAR algorithm is improved with the adaptive Kalman filter (AKF) based on the innovation sequence to improve the anti-gross error performance of the original algorithm. The improved algorithm can be used for real-time navigation and positioning. The experimental validation found that the improved algorithm has a significant improvement in accuracy when compared to the original RAR. When comparing to the extended Kalman filter (EKF), the accuracy is also increased by 12.5%, which can be used for high-precision positioning of indoor mobile robots.

Chinese Named Entity Recognition is the fundamental technology in the field of the Chinese Natural Language Process. It is extensively adopted into information extraction, intelligent question answering, and knowledge graph. Nevertheless, due to the diversity and complexity of Chinese, most Chinese NER methods fail to sufficiently capture the character granularity semantics, which affects the performance of the Chinese NER. In this work, we propose DSKE-Chinese NER: Chinese Named Entity Recognition based on Dictionary Semantic Knowledge Enhancement. We novelly integrate the semantic information of character granularity into the vector space of characters and acquire the vector representation containing semantic information by the attention mechanism. In addition, we verify the appropriate number of semantic layers through the comparative experiment. Experiments on public Chinese datasets such as Weibo, Resume and MSRA show that the model outperforms character-based LSTM baselines.

This study explores significant eye-gaze features that can be used to estimate subjective difficulty while reading educational comics. Educational comics have grown rapidly as a promising way to teach difficult topics using illustrations and texts. However, comics include a variety of information on one page, so automatically detecting learners' states such as subjective difficulty is difficult with approaches such as system log-based detection, which is common in the Learning Analytics field. In order to solve this problem, this study focused on 28 eye-gaze features, including the proposal of three new features called “Variance in Gaze Convergence,” “Movement between Panels,” and “Movement between Tiles” to estimate two degrees of subjective difficulty. We then ran an experiment in a simulated environment using Virtual Reality (VR) to accurately collect gaze information. We extracted features in two unit levels, page- and panel-units, and evaluated the accuracy with each pattern in user-dependent and user-independent settings, respectively. Our proposed features achieved an average F1 classification-score of 0.721 and 0.742 in user-dependent and user-independent models at panel unit levels, respectively, trained by a Support Vector Machine (SVM).

In this paper, we propose a new method for non-dominant limb training. The method is that a learner aims at a motion which is generated by reversing his/her own motion of dominant limb, when he/she tries to train himself/herself for non-dominant limb training. In addition, we designed and developed interface for the new method which can select feedback types. One is an interface using AR and sound, and the other is an interface using AR and vibration. We found that vibration feedback was effective for non-dominant hand training of pitching motion, while sound feedback was not so effective as vibration.

The purpose of this study was to develop a practical functional electrical stimulation (FES) controller for joint movements restoration based on an optimal control technique by cascading a linear model predictive control (MPC) and a nonlinear transformation. The cascading configuration was aimed to obtain an FES controller that is able to deal with a nonlinear system. The nonlinear transformation was utilized to transform the linear solution of linear MPC to become a nonlinear solution in form of optimized electrical stimulation intensity. Four different types of nonlinear functions were used to realize the nonlinear transformation. A simple parameter estimation to determine the value of the nonlinear transformation parameter was also developed. The tracking control capability of the proposed controller along with the parameter estimation was examined in controlling the 1-DOF wrist joint movement through computer simulation. The proposed controller was also compared with a fuzzy FES controller. The proposed MPC-FES controller with estimated parameter value worked properly and had a better control accuracy than the fuzzy controller. The parameter estimation was suggested to be useful and effective in practical FES control applications to reduce the time-consuming of determining the parameter value of the proposed controller.

The literature presents a digitized pension system based on a consortium blockchain, with the aim of overcoming existing pension system challenges such as multiparty collaboration, manual intervention, high turnaround time, cost transparency, auditability, etc. In addition, the adoption of hyperledger fabric and the introduction of smart contracts aim to transform multi-organizational workflow into a synchronized, automated, modular, and error-free procedure.

The finger-vein-based deep neural network authentication system has been applied widely in real scenarios, such as countries' banking and entrance guard systems. However, to ensure performance, the deep neural network should train many parameters, which needs lots of time and computing resources. This paper proposes a method that introduces artificial features with prior knowledge into the convolution layer. First, it designs a multi-direction pattern base on the traditional local binary pattern, which extracts general spatial information and also reduces the spatial dimension. Then, establishes a sample effective deep convolutional neural network via combination with convolution, with the ability to extract deeper finger vein features. Finally, trains the model with a composite loss function to increase the inter-class distance and reduce the intra-class distance. Experiments show that the proposed methods achieve a good performance of higher stability and accuracy of finger vein recognition.

Cross-modal hashing technology has attracted much attention for its favorable retrieval performance and low storage cost. However, for existing cross-modal hashing methods, the heterogeneity of data across modalities is still a challenge and how to fully explore and utilize the intra-modality features has not been well studied. In this paper, we propose a novel cross-modal hashing approach called Modality-fused Graph Network (MFGN). The network architecture consists of a text channel and an image channel that are used to learn modality-specific features, and a modality fusion channel that uses the graph network to learn the modality-shared representations to reduce the heterogeneity across modalities. In addition, an integration module is introduced for the image and text channels to fully explore intra-modality features. Experiments on two widely used datasets show that our approach achieves better results than the state-of-the-art cross-modal hashing methods.

The MPEG Immersive Video (MIV) standard for immersive video coding provides users with an immersive sense of 6 degrees of freedom (6DoF) of view position and orientation by efficiently compressing multiview video acquired from different positions in a limited 3D space. In the MIV reference software called Test Model for Immersive Video (TMIV), the number of pixels to be compressed and transmitted is reduced by removing inter-view redundancy. Therefore, the occupancy information that indicates whether each pixel is valid or invalid must also be transmitted to the decoder for viewport rendering. The occupancy information is embedded in a geometry atlas and transmitted to the decoder side. At this time, to prevent occupancy errors that may occur during the compression of the geometry atlas, a guard band is set in the depth dynamic range. Reducing this guard band can improve the rendering quality by allowing a wider dynamic range for depth representation. Therefore, in this paper, based on the analysis of occupancy error of the current TMIV, two methods of occupancy error correction which allow depth dynamic range extension in the case of computer-generated (CG) sequences are presented. The experimental results show that the proposed method gives an average 2.2% BD-rate bit saving for CG compared to the existing TMIV.

Accurate fish detection is of great significance in aquaculture. However, the non-uniform strong reflection in aquaculture ponds will affect the precision of fish detection. This paper combines YOLOv4 and CVAE to accurately detect fishes in the image with non-uniform strong reflection, in which the reflection in the image is removed at first and then the reflection-removed image is provided for fish detecting. Firstly, the improved YOLOv4 is applied to detect and mask the strong reflective region, to locate and label the reflective region for the subsequent reflection removal. Then, CVAE is combined with the improved YOLOv4 for inferring the priori distribution of the Reflection region and restoring the Reflection region by the distribution so that the reflection can be removed. For further improving the quality of the reflection-removed images, the adversarial learning is appended to CVAE. Finally, YOLOV4 is used to detect fishes in the high quality image. In addition, a new image dataset of pond cultured takifugu rubripes is constructed,, which includes 1000 images with fishes annotated manually, also a synthetic dataset including 2000 images with strong reflection is created and merged with the generated dataset for training and verifying the robustness of the proposed method. Comprehensive experiments are performed to compare the proposed method with the state-of-the-art fish detecting methods without reflection removal on the generated dataset. The results show that the fish detecting precision and recall of the proposed method are improved by 2.7% and 2.4% respectively.

Pseudorandom sequences with large linear complexity can resist the linear attack. The trace representation plays an important role in analysis and design of pseudorandom sequences. In this letter, we present the construction of a family of new binary sequences derived from Euler quotients modulo pq, where pq is a product of two primes and p divides q-1. Firstly, the linear complexity of the sequences are investigated. It is proved that the sequences have larger linear complexity and can resist the attack of Berlekamp-Massey algorithm. Then, we give the trace representation of the proposed sequences by determining the corresponding defining pair. Moreover, we generalize the result to the Euler quotients modulo pmqn with m≤n. Results indicate that the generalized sequences still have high linear complexity. We also give the trace representation of the generalized sequences by determining the corresponding defining pair. The result will be helpful for the implementation and the pseudorandom properties analysis of the sequences.

In mobile communication systems, the channel state information (CSI) is severely affected by the noise effect of the receiver. The adaptive subcarrier grouping (ASG) for sample matrix inversion (SMI) based minimum mean square error (MMSE) adaptive array has been previously proposed. Although it can reduce the additive noise effect by increasing samples to derive the array weight for co-channel interference suppression, it needs to know the signal-to-noise ratio (SNR) in advance to set the threshold for subcarrier grouping. This paper newly proposes adaptive zero padding (AZP) in the time domain to improve the weight accuracy of the SMI matrix. This method does not need to estimate the SNR in advance, and even if the threshold is always constant, it can adaptively identify the position of zero-padding to eliminate the noise interference of the received signal. Simulation results reveal that the proposed method can achieve superior bit error rate (BER) performance under various Rician K factors.

Variable strength orthogonal array, as a special form of variable strength covering array, plays an important role in computer software testing and cryptography. In this paper, we study the construction of variable strength orthogonal arrays with strength two containing strength greater than two by Galois field and construct some variable strength orthogonal arrays with strength l containing strength greater than l by Fan-construction.

This research develops a new automatic path following control method for a car model based on just-in-time modeling. The purpose is that a lot of basic driving data for various situations are accumulated into a database, and we realize automatic path following for unknown roads by using only data in the database. Especially, just-in-time modeling is repeatedly utilized in order to follow the desired points on the given road. From the results of a numerical simulation, it turns out that the proposed new method can make the car follow the desired points on the given road with small error, and it shows high computational efficiency.

Direction of arrival (DOA) estimation has been a primary focus of research for many years. Research on DOA estimation continues to be immensely popular in the fields of the internet of things, radar, and smart driving. In this paper, a simple new two-dimensional DOA framework is proposed in which a triangular array is used to receive wideband linear frequency modulated continuous wave signals. The mixed echo signals from various targets are separated into a series of single-tone signals. The unwrapping algorithm is applied to the phase difference function of the single-tone signals. By using the least-squares method to fit the unwrapped phase difference function, the DOA information of each target is obtained. Theoretical analysis and simulation demonstrate that the framework has the following advantages. Unlike traditional phase goniometry, the framework can resolve the trade-off between antenna spacing and goniometric accuracy. The number of detected targets is not limited by the number of antennas. Moreover, the framework can obtain highly accurate DOA estimation results.

Clipping is an efficient and simple method that can reduce the peak-to-average power ratio (PAPR) of orthogonal frequency division multiplexing (OFDM) signals. However, clipping causes in-band distortion referred to as clipping noise. To resolve this problem, a novel iterative estimation and cancellation (IEC) scheme for clipping noise is one of the most popular schemes because it can significantly improve the performance of clipped OFDM systems. However, IEC exploits detected symbols at the receiver to estimate the clipping noise in principle and the detected symbols are not the sufficient statistic in terms of estimation theory. In this paper, we propose the post-processing technique of IEC, which fully exploits given sufficient statistic at the receiver and thus further enhances the performance of a clipped OFDM system as verified by simulations.

High gain antennas with narrow-beamforming are required to compensate for the high propagation loss expected in high frequency bands such as the millimeter wave and sub-terahertz wave bands, which are promising for achieving extremely high speeds and capacity. However using narrow-beamforming for initial access (IA) beam search in all directions incurs an excessive overhead. Using wide-beamforming can reduce the overhead for IA but it also shrinks the coverage area due to the lower beamforming gain. Here, it is assumed that there are some situations in which the required coverage distance differs depending on the direction from the antenna. For example, the distance to an floor for a ceiling-mounted antenna varies depending on the direction, and the distance to the obstruction becomes the required coverage distance for an antenna installation design that assumes line-of-sight. In this paper, we propose a novel IA beam search scheme with adaptive beam width control based on the distance to shield obstacles in each direction. Simulations and experiments show that the proposed method reduces the overhead by 20%-50% without shrinking the coverage area in shield environments compared to exhaustive beam search with narrow-beamforming.

Automatic modulation recognition (AMR) plays a critical role in modern communication systems. Owing to the recent advancements of deep learning (DL) techniques, the application of DL has been widely studied in AMR, and a large number of DL-AMR algorithms with high recognition rates have been developed. Most DL-AMR algorithm models have high recognition accuracy but have numerous parameters and are huge, complex models, which make them hard to deploy on resource-constrained platforms, such as satellite platforms. Some lightweight and low-complexity DL-AMR algorithm models also struggle to meet the accuracy requirements. Based on this, this paper proposes a lightweight and high-recognition-rate DL-AMR algorithm model called Lightweight Densely Connected Convolutional Network (DenseNet) Long Short-Term Memory network (LDLSTM). The model cascade of DenseNet and LSTM can achieve the same recognition accuracy as other advanced DL-AMR algorithms, but the parameter volume is only 1/12 that of these algorithms. Thus, it is advantageous to deploy LDLSTM in resource-constrained systems.

In recent years, physical layer security (PLS), which is based on information theory and whose strength does not depend on the eavesdropper's computing capability, has attracted much attention. We have proposed a chaos modulation method as one PLS method that offers channel coding gain. One alternative is based on polar codes. They are robust error-correcting codes, have a nested structure in the encoder, and the application of this mechanism to PLS encryption (PLS-polar) has been actively studied. However, most conventional studies assume the application of conventional linear modulation such as BPSK, do not use encryption modulation, and the channel coding gain in the modulation is not achieved. In this paper, we propose a PLS-polar method that can realize high-quality transmission and encryption of a modulated signal by applying chaos modulation to a polar-coding system. Numerical results show that the proposed method improves the performance compared to the conventional PLS-polar method by 0.7dB at a block error rate of 10-5. In addition, we show that the proposed method is superior to conventional chaos modulation concatenated with low-density parity-check codes, indicating that the polar code is more suitable for chaos modulation. Finally, it is demonstrated that the proposed method is secure in terms of information theoretical and computational security.

High-frequency wireless communication is drawing attention because of its potential to actualize huge transmission capacity in the next generation wireless system. The use of high-frequency bands requires dense deployment of access points to compensate for significant distance attenuation and diffraction loss. Dense deployment of access points in a mobility environment triggers an increase in the frequency of handover because the number of candidate access points increases. Therefore, simple handover schemes are needed. High-frequency wireless systems enable station position to be determined using their wideband and highly directional communication signals. Thus, simple handover based on position information estimated using the communication signal is possible. Interruptions caused by handover are also a huge barrier to actualizing stable high-frequency wireless communications. This paper proposes a seamless handover scheme using multiple radio units. This paper evaluates the combination of simple handover and the proposed scheme based on experiments using a formula racing car representing the fastest high-speed mobility environment. Experimental results show that seamless handover and high-speed wireless transmission over 200Mbps are achieved over a 400-m area even at station velocities of greater than 200km/h.