Motion Estimation Research Articles

农业环境高精度三维点云地图构建方法研究

In agricultural operation scenarios, the diversity of farmland terrain, crops and other forms, as well as uncertain factors such as weather changes and crop growth during agricultural operation, can have an impact on the construction of high-precision maps. To address these challenges and analyze operational scenarios based on the characteristics of agricultural scenarios, this paper proposes a point cloud map construction algorithm for plant point removal and locatability estimation. Based on the existing Simultaneous Localization and Mapping (SLAM) framework, plant point removal and locatability estimation are improved. Firstly, Red, Green, Blue (RGB) images and Near Infrared (NIR) images are fused to identify and remove plant point clouds, preserving effective inter frame matching information, reducing the impact of dynamic points on inter frame matching, and achieving high front-end motion estimation accuracy. Then, the localization estimation method based on learning is used to determine the motion estimation status and determine whether to execute the backend optimization algorithm. Finally, the back-end optimization algorithm based on Factor graph is designed, and the Factor graph, constraint relationship and optimization function are constructed to optimize the pose of all frames. The optimized map construction algorithm reduces the re projection errors between field roads, paths, and crop rows by 10.27%, 20.76%, and 14.36% compared to before optimization. To verify the actual operational effectiveness of the point cloud map construction algorithm, the hardware part of the multi-sensor information collection system was designed, and sensor internal and external parameter calibration were also carried out. A map information collection vehicle was built and field experiments were conducted. The results showed that the positioning error of the point cloud map construction method proposed in this paper is less than 0.5°, and the cumulative error of 30 m translation is less than 12 cm, which meets the actual operational requirements.

Accelerated motion correction with deep generative diffusion models.

The aim of this work is to develop a method to solve the ill-posed inverse problem of accelerated image reconstruction while correcting forward model imperfections in the context of subject motion during MRI examinations. The proposed solution uses a Bayesian framework based on deep generative diffusion models to jointly estimate a motion-free image and rigid motion estimates from subsampled and motion-corrupt two-dimensional (2D) k-space data. We demonstrate the ability to reconstruct motion-free images from accelerated two-dimensional (2D) Cartesian and non-Cartesian scans without any external reference signal. We show that our method improves over existing correction techniques on both simulated and prospectively accelerated data. We propose a flexible framework for retrospective motion correction of accelerated MRI based on deep generative diffusion models, with potential application to other forward model corruptions.

OC6 project Phase IV: validation of numerical models for novel floating offshore wind support structures

Abstract. This paper provides a summary of the work done within Phase IV of the Offshore Code Comparison Collaboration, Continued with Correlation and unCertainty (OC6) project, under International Energy Agency Wind Technology Collaboration Programme Task 30. This phase focused on validating the loading on and motion of a novel floating offshore wind system. Numerical models of a 3.6 MW horizontal-axis wind turbine atop the TetraSpar floating support structure were compared using measurement data from a 1:43-Froude-scale test performed in the University of Maine's Alfond Wind–Wave (W2) Ocean Engineering Laboratory. Participants in the project ran a series of simulations, including system equilibrium, surge offsets, free-decay tests, wind-only conditions, wave-only conditions, and a combination of wind and wave conditions. Validation of the models was performed by comparing the aerodynamic loading, floating support structure motion, tower base loading, mooring line tensions, and keel line tensions. The results show a relatively good estimation of the aerodynamic loading and a reasonable estimation of the platform motion and tower base fore–aft bending moment. However, there is a significant dispersion in the dynamic loading for the upwind mooring line. Very good agreement was observed between most of the numerical models and the experiment for the keel line tensions.

Investigation on position and attitude estimation and control of manipulator based on machine vision

With the development of science and technology, people have higher and higher requirements for robots. The application of robots in industrial production is also increasing, and there are more applications in people’s lives. Therefore, robots must have a better ability to receive and process the external environment. Therefore, visual servo system appears. Pose estimation is a major problem in the current vision system. It has great application value in positioning and navigation, target tracking and recognition, virtual reality and motion estimation. Therefore, this paper put forward the research of robot arm pose estimation and control based on machine vision. This paper first analyzed the technology of machine vision, and then carried out experiments. The accuracy and stability of the two methods for robot arm pose estimation were compared. The experimental results showed that when the noise of Kalman’s centralized data fusion method was 1 pixel, the maximum error of the X-axis angle was only 0.55, and the average error was 0.02. In Kalman’s distributed data fusion method, the average error of X-axis displacement was 0.06, and the maximum value was 17.66. In terms of accuracy, Kalman’s centralized data fusion method was better. In terms of stability, Kalman’s centralized data fusion method was also better. However, in general, these two methods had very good results, and could accurately control the position and posture of the manipulator.

Full-field displacement measurement of long-span bridges using one camera and robust self-adaptive complex pyramid

Full-field motion with a high spatial resolution can reflect the health state of long-span bridges. Traditional structural health monitoring (SHM) systems measure the structural displacement at sparse points only. Despite the development of various methods for obtaining high-resolution responses, they fail to estimate the multi-scale motions of real long-span bridges. A novel full-field motion estimation method is proposed to directly measure the entire structural responses using one digital camera. In this approach, multi-scale motions of different components under unknown excitations are encoded in a complex pyramid. The parameters of the complex pyramid are determined by the localization index to record robust local phases at each measurement point. Two indices, namely, the spatial Laplacian of the phase and the amplitude value degradation index, are designed to adaptively estimate multi-scale displacements contained in the complex pyramid. The proposed method estimates the full-field displacements of a steel frame accurately in an experimental test. Moreover, the full-field displacement of the 1377-m long main span Tsing Ma Bridge is estimated using only one shot. Results suggest that the displacement estimated by the proposed method matches well with the GPS data and further visualizes the bridge mode shapes with a high resolution.

Research on a Fast Image-Matching Algorithm Based on Nonlinear Filtering

Computer vision technology is being applied at an unprecedented speed in various fields such as 3D scene reconstruction, object detection and recognition, video content tracking, pose estimation, and motion estimation. To address the issues of low accuracy and high time complexity in traditional image feature point matching, a fast image-matching algorithm based on nonlinear filtering is proposed. By applying nonlinear diffusion filtering to scene images, details and edge information can be effectively extracted. The feature descriptors of the feature points are transformed into binary form, occupying less storage space and thus reducing matching time. The adaptive RANSAC algorithm is utilized to eliminate mismatched feature points, thereby improving matching accuracy. Our experimental results on the Mikolajcyzk image dataset comparing the SIFT algorithm with SURF-, BRISK-, and ORB-improved algorithms based on the SIFT algorithm conclude that the fast image-matching algorithm based on nonlinear filtering reduces matching time by three-quarters, with an overall average accuracy of over 7% higher than other algorithms. These experiments demonstrate that the fast image-matching algorithm based on nonlinear filtering has better robustness and real-time performance.

Multimotion visual odometry

Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but also tend to exhibit significant occlusion. Estimating third-party motions simultaneously with the sensor egomotion is difficult because an object’s observed motion consists of both its true motion and the sensor motion. Most previous works in multimotion estimation simplify this problem by relying on appearance-based object detection or application-specific motion constraints. These approaches are effective in specific applications and environments but do not generalize well to the full multimotion estimation problem (MEP). This paper presents Multimotion Visual Odometry (MVO), a multimotion estimation pipeline that estimates the full SE(3) trajectory of every motion in the scene, including the sensor egomotion, without relying on appearance-based information. MVO extends the traditional visual odometry (VO) pipeline with multimotion segmentation and tracking techniques. It uses physically founded motion priors to extrapolate motions through temporary occlusions and identify the reappearance of motions through motion closure. Evaluations on real-world data from the Oxford Multimotion Dataset (OMD) and the KITTI Vision Benchmark Suite demonstrate that MVO achieves good estimation accuracy compared to similar approaches and is applicable to a variety of multimotion estimation challenges.

Teacher-student guided knowledge distillation for unsupervised convolutional neural network-based speckle tracking in ultrasound strain elastography.

Accurate and efficient motion estimation is a crucial component of real-time ultrasound elastography (USE). However, obtaining radiofrequency ultrasound (RF) data in clinical practice can be challenging. In contrast, although B-mode (BM) data is readily available, elastographic data derived from BM data results in sub-optimal elastographic images. Furthermore, existing conventional ultrasound devices (e.g., portable devices) cannot provide elastography modes, which has become a significant obstacle to the widespread use of traditional ultrasound devices. To address the challenges above, we developed a teacher-student guided knowledge distillation for an unsupervised convolutional neural network (TSGUPWC-Net) to improve the accuracy of BM motion estimation by employing a well-established convolutional neural network (CNN) named modified pyramid warping and cost volume network (MPWC-Net). A pre-trained teacher model based on RF is utilized to guide the training of a student model using BM data. Innovations outlined below include employing spatial attention transfer at intermediate layers to enhance the guidance effect of the model. The loss function consists of smoothness of the displacement field, knowledge distillation loss, and intermediate layer loss. We evaluated our method on simulated data, phantoms, and in vivo ultrasound data. The results indicate that our method has higher signal-to-noise ratio (SNR) and contrast-to-noise ratio (CNR) values in axial strain estimation than the model trained on BM. The model is unsupervised and requires no ground truth labels during training, making it highly promising for motion estimation applications.

Intelligent and robust control of space manipulator for sustainable removal of space debris

This study focuses on enhancing the control precision and efficiency of a two-degree-of-freedom (2-DOF) space manipulator used for active space debris removal. The unpredictable space environment introduces large uncertainties, which introduces unique challenges beyond the capabilities of a standalone computed torque controller and degrades control performance. To address this problem, a robust controller is developed, integrating traditional techniques such as sliding mode and computed torque control with a Neural Network framework. This synergy leverages both methods' strengths—conventional controls' accuracy and Neural Network's adaptability. The integration of Neural Network-based sliding mode control complements the robustness of computed torque control by actively mitigating uncertainties and disturbances inherent in the space environment. The 2-DOF manipulator's state variables model the system dynamics, necessitating accurate relative motion estimation between the manipulator and debris. The global asymptotic stability of the developed algorithm is demonstrated through the Lyapunov theorem, guaranteeing error convergence to zero. The convergence, stability, precision, tracking errors, and responsiveness of the controller have been analysed and validated by the MATLAB Simulink simulations. The novel approach's performance effectiveness is substantiated by numerical simulations and a comparative analysis with conventional computed torque control. Outcomes highlight the superior precision and efficiency in manipulator tracking the trajectory, validating the integrated controller's potential for successful active space debris removal.

3D cine-magnetic resonance imaging using spatial and temporal implicit neural representation learning (STINR-MR).

Objective. 3D cine-magnetic resonance imaging (cine-MRI) can capture images of the human body volume with high spatial and temporal resolutions to study anatomical dynamics. However, the reconstruction of 3D cine-MRI is challenged by highly under-sampled k-space data in each dynamic (cine) frame, due to the slow speed of MR signal acquisition. We proposed a machine learning-based framework, spatial and temporal implicit neural representation learning (STINR-MR), for accurate 3D cine-MRI reconstruction from highly under-sampled data.Approach. STINR-MR used a joint reconstruction and deformable registration approach to achieve a high acceleration factor for cine volumetric imaging. It addressed the ill-posed spatiotemporal reconstruction problem by solving a reference-frame 3D MR image and a corresponding motion model that deforms the reference frame to each cine frame. The reference-frame 3D MR image was reconstructed as a spatial implicit neural representation (INR) network, which learns the mapping from input 3D spatial coordinates to corresponding MR values. The dynamic motion model was constructed via a temporal INR, as well as basis deformation vector fields (DVFs) extracted from prior/onboard 4D-MRIs using principal component analysis. The learned temporal INR encodes input time points and outputs corresponding weighting factors to combine the basis DVFs into time-resolved motion fields that represent cine-frame-specific dynamics. STINR-MR was evaluated using MR data simulated from the 4D extended cardiac-torso (XCAT) digital phantom, as well as two MR datasets acquired clinically from human subjects. Its reconstruction accuracy was also compared with that of the model-based non-rigid motion estimation method (MR-MOTUS) and a deep learning-based method (TEMPEST).Main results. STINR-MR can reconstruct 3D cine-MR images with high temporal (<100 ms) and spatial (3 mm) resolutions. Compared with MR-MOTUS and TEMPEST, STINR-MR consistently reconstructed images with better image quality and fewer artifacts and achieved superior tumor localization accuracy via the solved dynamic DVFs. For the XCAT study, STINR reconstructed the tumors to a mean ± SD center-of-mass error of 0.9 ± 0.4 mm, compared to 3.4 ± 1.0 mm of the MR-MOTUS method. The high-frame-rate reconstruction capability of STINR-MR allows different irregular motion patterns to be accurately captured.Significance. STINR-MR provides a lightweight and efficient framework for accurate 3D cine-MRI reconstruction. It is a 'one-shot' method that does not require external data for pre-training, allowing it to avoid generalizability issues typically encountered in deep learning-based methods.

Resting state global brain activity induces bias in fMRI motion estimates

Abstract Head motion is a significant source of artifacts in resting-state fMRI (rsfMRI) studies and has been shown to affect resting-state functional connectivity (rsFC) measurements. In many rsfMRI studies, motion parameters estimated from volume registration are used to characterize head motion and to mitigate motion artifacts in rsfMRI data. While prior task-based fMRI studies have shown that task-evoked brain activations may induce temporally correlated bias in the motion estimates, resulting in artificial activations after registration, relatively little is known about neural-related bias in rsfMRI motion parameters. In this study, we demonstrate that neural-related bias exists in rsfMRI motion estimates and characterize the potential effects of the bias on rsFC estimates. Using a public multi-echo rsfMRI dataset, we use the differences between motion estimates from the first echo and second echo data as a measure of neural-induced bias. We show that the resting-state global activity of the brain, as characterized with the global signal (GS), induces bias in the motion estimates in the y- and z-translational axes. Furthermore, we demonstrate that the GS-related bias reflects superior-inferior and anterior-posterior asymmetries in the GS beta coefficient map. Finally, we demonstrate that regression with biased motion estimates can negatively bias rsFC estimates and also reduce rsFC differences between young and old subjects.

Three‐dimensionalized feature‐based LiDAR‐visual odometry for online mapping of unpaved road surfaces

AbstractAutomated maintenance and motion planning for unpaved roads are research areas of great interest in the field robotics. Constructing such systems necessitates the development of surface maps for unpaved roads. However, the lack of distinctive features on unpaved roads degrades the performance of light detection and ranging (LiDAR)‐based mapping. To address this problem, this paper proposes three‐dimensionalized feature‐based LiDAR‐visual odometry (TFB odometry) for the online mapping of unpaved road surfaces. TFB odometry introduces a novel interpolation concept to directly estimate the three‐dimensional coordinates of the image features using LiDAR. Furthermore, LiDAR intensity‐weighted motion estimation is proposed to effectively mitigate the effects of dust, which significantly impact the performance of LiDAR. Finally, TFB odometry includes pose graph optimization to efficiently fuse global navigation satellite system data and poses estimated from motion estimation. Through field experiments on unpaved roads, TFB odometry demonstrated successful online full mapping and outperformed other simultaneous localization and mapping methods. Additionally, it demonstrated remarkable performance in accurately mapping road surface anomalies, even in dusty regions.

4D-Precise: Learning-based 3D motion estimation and high temporal resolution 4DCT reconstruction from treatment 2D+t X-ray projections

Background and ObjectiveIn radiotherapy treatment planning, respiration-induced motion introduces uncertainty that, if not appropriately considered, could result in dose delivery problems. 4D cone-beam computed tomography (4D-CBCT) has been developed to provide imaging guidance by reconstructing a pseudo-motion sequence of CBCT volumes through binning projection data into breathing phases. However, it suffers from artefacts and erroneously characterizes the averaged breathing motion. Furthermore, conventional 4D-CBCT can only be generated post-hoc using the full sequence of kV projections after the treatment is complete, limiting its utility. Hence, our purpose is to develop a deep-learning motion model for estimating 3D+t CT images from treatment kV projection series. MethodsWe propose an end-to-end learning-based 3D motion modelling and 4DCT reconstruction model named 4D-Precise, abbreviated from Probabilistic reconstruction of image sequences from CBCT kV projections. The model estimates voxel-wise motion fields and simultaneously reconstructs a 3DCT volume at any arbitrary time point of the input projections by transforming a reference CT volume. Developing a Torch-DRR module, it enables end-to-end training by computing Digitally Reconstructed Radiographs (DRRs) in PyTorch. During training, DRRs with matching projection angles to the input kVs are automatically extracted from reconstructed volumes and their structural dissimilarity to inputs is penalised. We introduced a novel loss function to regulate spatio-temporal motion field variations across the CT scan, leveraging planning 4DCT for prior motion distribution estimation. ResultsThe model is trained patient-specifically using three kV scan series, each including over 1200 angular/temporal projections, and tested on three other scan series. Imaging data from five patients are analysed here. Also, the model is validated on a simulated paired 4DCT-DRR dataset created using the Surrogate Parametrised Respiratory Motion Modelling (SuPReMo). The results demonstrate that the reconstructed volumes by 4D-Precise closely resemble the ground-truth volumes in terms of Dice, volume similarity, mean contour distance, and Hausdorff distance, whereas 4D-Precise achieves smoother deformations and fewer negative Jacobian determinants compared to SuPReMo. ConclusionsUnlike conventional 4DCT reconstruction techniques that ignore breath inter-cycle motion variations, the proposed model computes both intra-cycle and inter-cycle motions. It represents motion over an extended timeframe, covering several minutes of kV scan series.

Multi-layer CNN-LSTM network with self-attention mechanism for robust estimation of nonlinear uncertain systems.

With the help of robot technology, intelligent rehabilitation of patients with lower limb motor dysfunction caused by stroke can be realized. A key factor constraining the clinical application of rehabilitation robots is how to realize pattern recognition of human movement intentions by using the surface electromyography (sEMG) sensors to ensure unhindered human-robot interaction. A multilayer CNN-LSTM prediction network incorporating the self-attention mechanism (SAM) is proposed, in this paper, which can extract and learn the periodic and trend characteristics of the sEMG signals, and realize the accurate autoregressive prediction of the human motion information. Firstly, the multilayer CNN-LSTM network utilizes the CNN layer for initial feature extraction of data, and the LSTM network is used to improve the enhancement of the historical time-series features. Then, the SAM is used to improve the global feature extraction performance and parallel computation speed of the network. In comparison with existing test is carried out using actual data from five healthy subjects as well as a clinical hemiplegic patient to verify the superiority and practicality of the proposed algorithm. The results show that most of the model's prediction R > 0.9 for different motion states of healthy subjects; in the experiments oriented to the motion characteristics of patient subjects, the angle prediction results of R > 0.99 for the untrained data on the affected side, which proves that our proposed model also has a better effect on the angle prediction of the affected side. The main contribution of this paper is to realize continuous motion estimation of ankle joint for healthy and hemiplegic individuals under non-ideal conditions (weak sEMG signals, muscle fatigue, high muscle tension, etc.), which improves the pattern recognition accuracy and robustness of the sEMG sensor-based system.

Estimate and compensate head motion in non-contrast head CT scans using partial angle reconstruction and deep learning.

Patient head motion is a common source of image artifacts in computed tomography (CT) of the head, leading to degraded image quality and potentially incorrect diagnoses. The partial angle reconstruction (PAR) means dividing the CT projection into several consecutive angular segments and reconstructing each segment individually. Although motion estimation and compensation using PAR has been developed and investigated in cardiac CT scans, its potential for reducing motion artifacts in head CT scans remains unexplored. To develop a deep learning (DL) model capable of directly estimating head motion from PAR images of head CT scans and to integrate the estimated motion into an iterative reconstruction process to compensate for the motion. Head motion is considered as a rigid transformation described by six time-variant variables, including the three variables for translation and three variables for rotation. Each motion variable is modeled using a B-spline defined by five control points (CP) along time. We split the full projections from 360° into 25 consecutive PARs and subsequently input them into a convolutional neural network (CNN) that outputs the estimated CPs for each motion variable. The estimated CPs are used to calculate the object motion in each projection, which are incorporated into the forward and backprojection of an iterative reconstruction algorithm to reconstruct the motion-compensated image. The performance of our DL model is evaluated through both simulation and phantom studies. The DL model achieved high accuracy in estimating head motion, as demonstrated in both the simulation study (mean absolute error (MAE) ranging from 0.28 to 0.45mm or degree across different motion variables) and the phantom study (MAE ranging from 0.40 to 0.48mm or degree). The resulting motion-corrected image, , exhibited a significant reduction in motion artifacts when compared to the traditional filtered back-projection reconstructions, which is evidenced both in the simulation study (image MAE drops from 178 33HU to 37 9HU, structural similarity index (SSIM) increases from 0.60 0.06 to 0.98 0.01) and the phantom study (image MAE drops from 117 17HU to 42 19HU, SSIM increases from 0.83 0.04 to 0.98 0.02). We demonstrate that using PAR and our proposed deep learning model enables accurate estimation of patient head motion and effectively reduces motion artifacts in the resulting head CT images.

IBVC: Interpolation-driven B-frame video compression

Learned B-frame video compression aims to adopt bi-directional motion estimation and motion compensation (MEMC) coding for middle frame reconstruction. However, previous learned approaches often directly extend neural P-frame codecs to B-frame relying on bi-directional optical-flow estimation or video frame interpolation. They suffer from inaccurate quantized motions and inefficient motion compensation. To address these issues, we propose a simple yet effective structure called Interpolation-driven B-frame Video Compression (IBVC). Our approach only involves two major operations: video frame interpolation and artifact reduction compression. IBVC introduces a bit-rate free MEMC based on interpolation, which avoids optical-flow quantization and additional compression distortions. Later, to reduce duplicate bit-rate consumption and focus on unaligned artifacts, a residual guided masking encoder is deployed to adaptively select the meaningful contexts with interpolated multi-scale dependencies. In addition, a conditional spatio-temporal decoder is proposed to eliminate location errors and artifacts instead of using MEMC coding in other methods. The experimental results on B-frame coding demonstrate that IBVC has significant improvements compared to the relevant state-of-the-art methods. Meanwhile, our approach can save bit rates compared with the random access (RA) configuration of H.266 (VTM). The code will be available at https://github.com/ruhig6/IBVC.

DeepMesh: Mesh-Based Cardiac Motion Tracking Using Deep Learning.

3D motion estimation from cine cardiac magnetic resonance (CMR) images is important for the assessment of cardiac function and the diagnosis of cardiovascular diseases. Current state-of-the art methods focus on estimating dense pixel-/voxel-wise motion fields in image space, which ignores the fact that motion estimation is only relevant and useful within the anatomical objects of interest, e.g., the heart. In this work, we model the heart as a 3D mesh consisting of epi- and endocardial surfaces. We propose a novel learning framework, DeepMesh, which propagates a template heart mesh to a subject space and estimates the 3D motion of the heart mesh from CMR images for individual subjects. In DeepMesh, the heart mesh of the end-diastolic frame of an individual subject is first reconstructed from the template mesh. Mesh-based 3D motion fields with respect to the end-diastolic frame are then estimated from 2D short- and long-axis CMR images. By developing a differentiable mesh-to-image rasterizer, DeepMesh is able to leverage 2D shape information from multiple anatomical views for 3D mesh reconstruction and mesh motion estimation. The proposed method estimates vertex-wise displacement and thus maintains vertex correspondences between time frames, which is important for the quantitative assessment of cardiac function across different subjects and populations. We evaluate DeepMesh on CMR images acquired from the UK Biobank. We focus on 3D motion estimation of the left ventricle in this work. Experimental results show that the proposed method quantitatively and qualitatively outperforms other image-based and mesh-based cardiac motion tracking methods.

A Source and Ground Motion Study of the Veracruz Earthquakes of 29 October 2009 (Mw5.7) and 4 August 2021 (Mw4.8): Evidence of Strong Azimuthal Variation of Attenuation

We study two moderate earthquakes that occurred offshore the State of Veracruz, in the southwestern Gulf of Mexico, on 29 October 2009 (Mw 5.7) and 4 August 2021 (Mw 4.8). The former was located near the town of Alvarado and latter near the city of Veracruz. The events were well recorded by accelerographs and seismographs at local and regional distances. W-phase regional centroid moment tensor inversion reveals that they had reverse-faulting mechanism, similar to several other earthquakes in the southwestern Gulf of Mexico. Of the seven focal mechanisms now available along the southwestern margin, two are strike slip and the rest are of thrust type, suggesting a heterogeneous stress regime. We take advantage of local and regional recordings produced by these two earthquakes to study the characteristics of the ground motion. Source spectra computed at each station separately (without correcting for the site effect), assuming a reasonable geometrical spreading and Q = 141f 0.63, show remarkably high variability due to difference in path and local site effects. The geometric mean apparent source spectrum (source spectrum including site effects) of both earthquakes may be modeled by an ω2 -Brune source model with a stress drop, Δσ, of 40 MPa. These source spectra, along with the application of stochastic method, yield peak ground acceleration (PGA) and velocity (PGV) as a function of distance in general agreement with the observations. Of greater practical importance is the ground motion at sedimentary sites in the city of Veracruz and at the Laguna Verde Nuclear Power Plant (LVNPP) site, especially from a postulated Mw 6.5 earthquake which is a reasonable scenario event for the region. For the city of Veracruz and LVNPP we estimate site effect with respect to the ω2 -Brune source with Δσ of 2 MPa. There is some support for this Δσ. We apply both stochastic and empirical Green’s functions (EGF) techniques in the estimation of the ground motion. The recording of the 2021 earthquake is taken as the EGF, and Δσ of the EGF and the target event are assumed to be the same and equal to 2 MPa. The predicted PGA and PGV at sedimentary sites in the city of Veracruz and LVNPP above the hypocenter (depth = 20 km) from the postulated Mw 6.5 earthquake are 0.2 g and 10 cm/s and 0.18 g and 3 cm/s, respectively. These results are preliminary as they are based on several assumptions.

Prediction of Fourier Amplitude Spectrum of Ground Motion in Mexico City from Subduction Thrust Earthquakes

Mexico City, one of the largest cities in the world, experiences frequent, devastating interplate earthquakes that originate on the subduction thrust along the Pacific coast of Mexico more than 250 km away. A notorious example is the 19 September 1985 Michoacán earthquake (Mw 8.0) which killed ~ 10,000 persons and caused wide-spread destruction in the city. The main cause of seismic damage in Mexico City is its subsoil that amplifies the ground motion. In view of the seismic hazard faced by the city, a reliable estimation of ground motion during future earthquakes is of vital importance. We present a new ground motion prediction equation (GMPE) for the Fourier amplitude acceleration spectrum (FAS) from subduction thrust earthquakes along the Pacific coast of Mexico at the reference station, CU, located in the firm zone of Mexico City. The GMPE is derived via Bayesian regression analysis and is based on an enlarged set of recordings (1965-2020; 40 earthquakes; 250 ≤ R≤ 500 km; 5 ≤ Mw ≤ 8.0). An important feature of the new GMPE is that it includes a term to model different attenuation along different ray paths. The inclusion of this term leads to a reduction in the aleatory variability of the GMPE, particularly at high frequencies. Since spectral amplification of seismic waves with respect to CU is known at many sites in the city, the FAS at these sites can be computed if it is known at CU. The new GMPE has been incorporated in a fully Fourier-based probabilistic seismic hazard analysis of Mexico City.

Decentralized triangular relative localization of multiple UAVs based on relative range and inertial measurements

In this paper, a novel algorithm for cooperative relative localization of multiple Unmanned Aerial Vehicles (UAVs) is proposed based on relative range and inertial measurements. In this algorithm, a relative motion estimation model is established for each group of three UAVs that can form a triangle in space. Each group member estimates the relative position and heading angle of the other group members and shares the estimation results with the other group members. When members satisfy the triangle law among their estimated relative position vectors, they can estimate more accurately. After analyzing the observability of the presented model, the necessary conditions for observability are also given, which are less restrictive compared to previous methods. Then, the presented method is compared with the decentralized consensus-based Kalman filter approach. The results of both methods are analyzed in the presence of noise and disturbances, and under the condition of disconnection between the members.