91 research outputs found

    Robotic manipulation for granular materials

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    NLOS Identification and Mitigation for Mobile Tracking

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    Sea Ice Detection Based on Differential Delay-Doppler Maps from UK TechDemoSat-1

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    Global Navigation Satellite System (GNSS) signals can be exploited to remotely sense atmosphere and land and ocean surface to retrieve a range of geophysical parameters. This paper proposes two new methods, termed as power-summation of differential Delay-Doppler Maps (PS-D) and pixel-number of differential Delay-Doppler Maps (PN-D), to distinguish between sea ice and sea water using differential Delay-Doppler Maps (dDDMs). PS-D and PN-D make use of power-summation and pixel-number of dDDMs, respectively, to measure the degree of difference between two DDMs so as to determine the transition state (water-water, water-ice, ice-ice and ice-water) and hence ice and water are detected. Moreover, an adaptive incoherent averaging of DDMs is employed to improve the computational efficiency. A large number of DDMs recorded by UK TechDemoSat-1 (TDS-1) over the Arctic region are used to test the proposed sea ice detection methods. Through evaluating against ground-truth measurements from the Ocean Sea Ice SAF, the proposed PS-D and PN-D methods achieve a probability of detection of 99.72% and 99.69% respectively, while the probability of false detection is 0.28% and 0.31% respectively

    Estimation of Significant Wave Height using the features of cygnss Delay Doppler Map

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    Significant Wave Height (SWH) is a key parameter to characterize waves, which is typically used in sea state monitoring such as wave forecast to ensure ocean navigation safety. Satellite radar altimeter is probably the primary tool to obtain SWH information. However, it cannot be used for large-scale sea state monitoring unless many of theses satellites are deployed. In this article, we aim to study the potential of Global Navigation Satellite System (GNSS)-Reflectometry (GNSS-R) in SWH measurement based on spaceborne Delay-Doppler Maps (DDMs) data. First, 3 observables (i.e., Delay-Doppler Map Average (DDMA), leading edge slope (LES) of normalized integrated delay waveform (NIDW) (LES-NIDW), and trailing edge slope (TES) of NIDW (TES-NIDW) derived from the DDMs are introduced for SWH estimation. Then, an empirical SWH retrieval model is proposed based on three observables. Subsequently, ERA5 SWH is used as reference data to verify the performance of the proposed model. The experimental results show that the Root Mean Square Error (RMSE) and Correlation Coefficient (CC) estimated by SWH of the three observables are better than 0.54 m and 0.88 m, respectively. Among them, the estimation performance based on DDMA observable is the best, with RMSE and CC of 0.49 m and 0.89 m. This study shows the potential of spaceborne GNSS-R in SWH retrieval. © 2022 IEEE.This work was supported by the Grant RYC-2016-20918 financed by MCIN/AEI /10.13039 /501100011033 and by ESF Investing in your future.Peer ReviewedPostprint (published version

    Estimation of swell height using spaceborne GNSS-R data from eight CYGNSS satellites

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    Global Navigation Satellite System (GNSS)-Reflectometry (GNSS-R) technology has opened a new window for ocean remote sensing because of its unique advantages, including short revisit period, low observation cost, and high spatial-temporal resolution. In this article, we investigated the potential of estimating swell height from delay-Doppler maps (DDMs) data generated by spaceborne GNSS-R. Three observables extracted from the DDM are introduced for swell height estimation, including delay-Doppler map average (DDMA), the leading edge slope (LES) of the integrated delay waveform (IDW), and trailing edge slope (TES) of the IDW. We propose one modeling scheme for each observable. To improve the swell height estimation performance of a single observable-based method, we present a data fusion approach based on particle swarm optimization (PSO). Furthermore, a simulated annealing aided PSO (SA-PSO) algorithm is proposed to handle the problem of local optimal solution for the PSO algorithm. Extensive testing has been performed and the results show that the swell height estimated by the proposed methods is highly consistent with reference data, i.e., the ERA5 swell height. The correlation coefficient (CC) is 0.86 and the root mean square error (RMSE) is 0.56 m. Particularly, the SA-PSO method achieved the best performance, with RMSE, CC, and mean absolute percentage error (MAPE) being 0.39 m, 0.92, and 18.98%, respectively. Compared with the DDMA, LES, TES, and PSO methods, the RMSE of the SA-PSO method is improved by 23.53%, 26.42%, 30.36%, and 7.14%, respectively.This work was supported in part by the National Natural Science Foundation of China under Grant 42174022, in part by the Future Scientists Program of China University of Mining and Technology under Grant 2020WLKXJ049, in part by the Postgraduate Research & Practice Innovation Program of Jiangsu Province under Grant KYCX20_2003, in part by the Programme of Introducing Talents of Discipline to Universities, Plan 111, Grant No. B20046, and in part by the China Scholarship Council (CSC) through a State Scholarship Fund (No. 202106420009).Peer ReviewedPostprint (published version

    Spaceborne GNSS-R for Sea Ice Classification Using Machine Learning Classifiers

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    The knowledge of Arctic Sea ice coverage is of particular importance in studies of climate change. This study develops a new sea ice classification approach based on machine learning (ML) classifiers through analyzing spaceborne GNSS-R features derived from the TechDemoSat-1 (TDS-1) data collected over open water (OW), first-year ice (FYI), and multi-year ice (MYI). A total of eight features extracted from GNSS-R observables collected in five months are applied to classify OW, FYI, and MYI using the ML classifiers of random forest (RF) and support vector machine (SVM) in a two-step strategy. Firstly, randomly selected 30% of samples of the whole dataset are used as a training set to build classifiers for discriminating OW from sea ice. The performance is evaluated using the remaining 70% of samples through validating with the sea ice type from the Special Sensor Microwave Imager Sounder (SSMIS) data provided by the Ocean and Sea Ice Satellite Application Facility (OSISAF). The overall accuracy of RF and SVM classifiers are 98.83% and 98.60% respectively for distinguishing OW from sea ice. Then, samples of sea ice, including FYI and MYI, are randomly split into training and test dataset. The features of the training set are used as input variables to train the FYI-MYI classifiers, which achieve an overall accuracy of 84.82% and 71.71% respectively by RF and SVM classifiers. Finally, the features in every month are used as training and testing set in turn to cross-validate the performance of the proposed classifier. The results indicate the strong sensitivity of GNSS signals to sea ice types and the great potential of ML classifiers for GNSS-R applications

    Tsunami detection based on noisy sea surface height measurement

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    This paper presents an approach for the detection of early weak Tsunami in presence of large noise in sea surface height (SSH) measurements obtained such as using a satellite-carried global navigation satellite system (GNSS) receiver and the GNSS reflectometry (GNSS-R) technique. A sliding window moving average (SWMA) technique is proposed for detecting a Tsunami lead wave and a hypothesis testing method is developed to decide whether or not a Tsunami is present by examining the SWMA outputs against a predefined threshold. The proposed approach is evaluated using the 2011 Japan's Tsunami data collected by altimetry satellite Jason-1. Simulation results demonstrate that the proposed detect method considerably outperforms the existing methods.4 page(s

    Simplified Tsunami Modeling and Waveform Reconstruction With GNSS-R Observations

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