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Owing to the widespread use of GPS-enabled devices, sensing road information from vehicle trajectories is becoming an attractive method for road map construction and update. Although the detection of intersections is critical for generating road networks, it is still a challenging task. Traditional approaches detect intersections by identifying turning points based on the heading changes. As the intersections vary greatly in pattern and size, the appropriate threshold for heading change varies from area to area, which leads to the difficulty of accurate detection. To overcome this shortcoming, we propose a deep learning-based approach to detect turns and generate intersections. First, we convert each trajectory into a feature sequence that stores multiple motion attributes of the vehicle along the trajectory. Next, a supervised method uses these feature sequences and labeled trajectories to train a long short-term memory (LSTM) model that detects turning trajectory segments (TTSs), each of which indicates a turn occurring at an intersection. Finally, the detected TTSs are clustered to obtain the intersection coverages and internal structures. The proposed approach was tested using vehicle trajectories collected in Wuhan, China. The intersection detection precision and recall were 94.0% and 91.9% in a central urban region and 94.1% and 86.7% in a semi-urban region, respectively, which were significantly higher than those of the previously established local G* statistic-based approaches. In addition to the applications for road map development, the newly developed approach may have broad implications for the analysis of spatiotemporal trajectory data.Dexterous manipulation in robotic hands relies on an accurate sense of artificial touch. Here we investigate neuromorphic tactile sensation with an event-based optical tactile sensor combined with spiking neural networks for edge orientation detection. The sensor incorporates an event-based vision system (mini-eDVS) into a low-form factor artificial fingertip (the NeuroTac). The processing of tactile information is performed through a Spiking Neural Network with unsupervised Spike-Timing-Dependent Plasticity (STDP) learning, and the resultant output is classified with a 3-nearest neighbours classifier. Edge orientations were classified in 10-degree increments while tapping vertically downward and sliding horizontally across the edge. In both cases, we demonstrate that the sensor is able to reliably detect edge orientation, and could lead to accurate, bio-inspired, tactile processing in robotics and prosthetics applications.To solve the problem that the traditional ambiguity function cannot well reflect the time-frequency distribution characteristics of linear frequency modulated (LFM) signals due to the presence of impulsive noise, two robust ambiguity functions correntropy-based ambiguity function (CRAF) and fractional lower order correntropy-based ambiguity function (FLOCRAF) are defined based on the feature that correntropy kernel function can effectively suppress impulsive noise. Then these two robust ambiguity functions are used to estimate the direction of arrival (DOA) of narrowband LFM signal under an impulsive noise environment. Instead of the covariance matrix used in the ESPRIT algorithm by the spatial CRAF matrix and FLOCRAF matrix, the CRAF-ESPRIT and FLOCRAF-ESPRIT algorithms are proposed. Computer simulation results show that compared with the algorithms only using ambiguity function and the algorithms only using the correntropy kernel function-based correlation, the proposed algorithms using ambiguity function based on correntropy kernel function have good performance in terms of probability of resolution and estimation accuracy under various circumstances. Especially, the performance of the FLOCRAF-ESPRIT algorithm is better than the CRAF-ESPRIT algorithm in the environment of low generalized signal-to-noise ratio and strong impulsive noise.Non-orthogonal multiple access (NOMA) has great potential to implement the fifth-generation (5G) requirements of wireless communication. For a NOMA traditional detection method, successive interference cancellation (SIC) plays a vital role at the receiver side for both uplink and downlink transmission. Due to the complex multipath channel environment and prorogation of error problems, the traditional SIC method has a limited performance. To overcome the limitation of traditional detection methods, the deep-learning method has an advantage for the highly efficient tool. In this paper, a deep neural network which has bi-directional long short-term memory (Bi-LSTM) for multiuser uplink channel estimation (CE) and signal detection of the originally transmitted signal is proposed. Unlike the traditional CE schemes, the proposed Bi-LSTM model can directly recover multiuser transmission signals suffering from channel distortion. In the offline training stage, the Bi-LTSM model is trained using simulation data based on channel statistics. [https://www.selleckchem.com/products/gkt137831.html Selleckchem GKT137831] Then, the trained model is used to recover the transmitted symbols in the online deployment stage. In the simulation results, the performance of the proposed model is compared with the convolutional neural network model and traditional CE schemes such as MMSE and LS. It is shown that the proposed method provides feasible improvements in performance in terms of symbol-error rate and signal-to-noise ratio, making it suitable for 5G wireless communication and beyond.Internet of Vehicles (IoV) technology has been attracting great interest from both academia and industry due to its huge potential impact on improving driving experiences and enabling better transportation systems. While a large number of interesting IoV applications are expected, it is more challenging to design an efficient IoV system compared with conventional Internet of Things (IoT) applications due to the mobility of vehicles and complex road conditions. We discuss existing studies about enabling collaborative intelligence in IoV systems by focusing on collaborative communications, collaborative computing, and collaborative machine learning approaches. Based on comparison and discussion about the advantages and disadvantages of recent studies, we point out open research issues and future research directions.UAV-based object detection has recently attracted a lot of attention due to its diverse applications. Most of the existing convolution neural network based object detection models can perform well in common object detection cases. However, due to the fact that objects in UAV images are spatially distributed in a very dense manner, these methods have limited performance for UAV-based object detection. In this paper, we propose a novel transformer-based object detection model to improve the accuracy of object detection in UAV images. To detect dense objects competently, an advanced foreground enhancement attention Swin Transformer (FEA-Swin) framework is designed by integrating context information into the original backbone of a Swin Transformer. Moreover, to avoid the loss of information of small objects, an improved weighted bidirectional feature pyramid network (BiFPN) is presented by designing the skip connection operation. The proposed method aggregates feature maps from four stages and keeps abundant information of small objects. Specifically, to balance the detection accuracy and efficiency, we introduce an efficient neck of the BiFPN network by removing a redundant network layer. Experimental results on both public datasets and a self-made dataset demonstrate the performance of our method compared to the state-of-the-art methods in terms of detection accuracy.An autonomous navigation method based on the fusion of INS (inertial navigation system) measurements with the line-of-sight (LOS) observations of space targets is presented for unmanned aircrafts. INS/GNSS (global navigation satellite system) integration is the conventional approach to achieving the long-term and high-precision navigation of unmanned aircrafts. However, the performance of INS/GNSS integrated navigation may be degraded gradually in a GNSS-denied environment. INS/CNS (celestial navigation system) integrated navigation has been developed as a supplement to the GNSS. A limitation of traditional INS/CNS integrated navigation is that the CNS is not efficient in suppressing the position error of the INS. To solve the abovementioned problems, we studied a novel integrated navigation method, where the position, velocity and attitude errors of the INS were corrected using a star camera mounted on the aircraft in order to observe the space targets whose absolute positions were available. Additionally, a QLEKF (Q-learning extended Kalman filter) is designed for the performance enhancement of the integrated navigation system. The effectiveness of the presented autonomous navigation method based on the star camera and the IMU (inertial measurement unit) is demonstrated via CRLB (Cramer-Rao lower bounds) analysis and numerical simulations.This paper presents a trajectory determination and optimization method of multirotors equipped with a single-channel radar to obtain 3D Synthetic Aperture Radar imaging. The result is a realistic trajectory that allows to obtain an imaging of the assumed quality in less time than using a multi-pass trajectory. The optimization criteria, in addition to the cross-range resolution, are the Peak Sidelobe Ratio (PSLR), Integrated Sidelobe Ratio (ISLR), and time of flight. The algorithm is based on a realistic motion model of the radar platform. This paper presents all the steps of the algorithm and provides simulation results that show its practical applicability. The advantage of the presented approach over the existing ones is indicated and further research directions are proposed.In order to solve the problem of severely decreased performance under the situation of rapid moving sources and unstable array platforms, a null broadening robust adaptive beamforming algorithm based on power estimation is proposed in this paper. First of all, we estimate the interference signal power according to the characteristic subspace theory. Then, the correspondence between the signal power and steering vector (SV) is obtained based on the orthogonal property, and the interference covariance matrix (ICM) is reconstructed. Finally, with the aim of setting virtual interference sources, null broadening can be carried out. The proposed algorithm results in a deeper null, lower side lobes and higher tolerance of the desired signal steering vector mismatch under the condition of low complexity. The simulation results show that the algorithm also has stronger robustness.The goal of this research is to accurately extract the parameters of the photovoltaic cells and panels and to reduce the extracting time. To this purpose, the barnacles mating optimizer algorithm is proposed for the first time to extract the parameters. To prove that the algorithm succeeds in terms of accuracy and quickness, it is applied to the following photovoltaic cells monocrystalline silicon, amorphous silicon, RTC France, and the PWP201, Sharp ND-R250A5, and Kyocera KC200GT photovoltaic panels. The mathematical models used are single and double diodes. Datasets for these photovoltaic cells and panels were used, and the results obtained for the parameters were compared with the ones obtained using other published methods and algorithms. Six statistical tests were used to analyze the performance of the barnacles mating optimizer algorithm the root mean square error mean, absolute percentage error, mean square error, mean absolute error, mean bias error, and mean relative error. The results of the statistical tests show that the barnacles mating optimizer algorithm outperforms several algorithms.