{"id":"https://openalex.org/W3198407946","doi":"https://doi.org/10.1109/tim.2021.3109726","title":"3-D Ultrasonic Localization of Transformer Patrol Robot Based on EMD and PHAT-\u03b2 Algorithms","display_name":"3-D Ultrasonic Localization of Transformer Patrol Robot Based on EMD and PHAT-\u03b2 Algorithms","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3198407946","doi":"https://doi.org/10.1109/tim.2021.3109726","mag":"3198407946"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3109726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3109726","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012708664","display_name":"Hongxin Ji","orcid":"https://orcid.org/0000-0001-7265-7798"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongxin Ji","raw_affiliation_strings":["School of Electrical and Power Engineering, China University of Mining and Technology, Xuzhou, China","[School of Electrical and Power Engineering, China University of Mining and Technology, Xuzhou, China]"],"raw_orcid":"https://orcid.org/0000-0001-7265-7798","affiliations":[{"raw_affiliation_string":"School of Electrical and Power Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"[School of Electrical and Power Engineering, China University of Mining and Technology, Xuzhou, China]","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019652175","display_name":"Xiwang Cui","orcid":"https://orcid.org/0000-0001-5053-8317"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiwang Cui","raw_affiliation_strings":["School of Instrument Science and Opto-electronics Engineering, Beijing Information Science and Technology University, Beijing, China. (e-mail: cuixiwang2010@126.com)","[School of Instrument Science and opto Electronics Engineering, Beijing Information Science and Technology University, Beijing, China]"],"raw_orcid":"https://orcid.org/0000-0001-5053-8317","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Opto-electronics Engineering, Beijing Information Science and Technology University, Beijing, China. (e-mail: cuixiwang2010@126.com)","institution_ids":["https://openalex.org/I78675632"]},{"raw_affiliation_string":"[School of Instrument Science and opto Electronics Engineering, Beijing Information Science and Technology University, Beijing, China]","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100625174","display_name":"Yan Gao","orcid":"https://orcid.org/0000-0002-7253-5309"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099069","display_name":"Institute of Acoustics","ror":"https://ror.org/00v8rqv75","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210099069"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Gao","raw_affiliation_strings":["Key Laboratory of Noise and Vibration Research, Institute of Acoustics, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7253-5309","affiliations":[{"raw_affiliation_string":"Key Laboratory of Noise and Vibration Research, Institute of Acoustics, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210099069","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005573643","display_name":"Xiaoning Ge","orcid":"https://orcid.org/0000-0003-2598-2015"},"institutions":[{"id":"https://openalex.org/I4210139507","display_name":"State Nuclear Power Technology Company (China)","ror":"https://ror.org/03pydjx38","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210139507"]},{"id":"https://openalex.org/I4210152501","display_name":"China Power Engineering Consulting Group (China)","ror":"https://ror.org/04t59qd02","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210152501"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoning Ge","raw_affiliation_strings":["Planning and Consulting Center, State Nuclear Electric Power Planning Design&Research Institute CO., LTD, Beijing, China","Planning and Consulting Center, State Nuclear Electric Power Planning Design and Research Institute Company Ltd., Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2598-2015","affiliations":[{"raw_affiliation_string":"Planning and Consulting Center, State Nuclear Electric Power Planning Design&Research Institute CO., LTD, Beijing, China","institution_ids":["https://openalex.org/I4210152501"]},{"raw_affiliation_string":"Planning and Consulting Center, State Nuclear Electric Power Planning Design and Research Institute Company Ltd., Beijing, China","institution_ids":["https://openalex.org/I4210139507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012708664"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":null,"apc_paid":null,"fwci":1.3349,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.77167127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12537","display_name":"Flow Measurement and Analysis","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12537","display_name":"Flow Measurement and Analysis","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10662","display_name":"Ultrasonics and Acoustic Wave Propagation","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.7704651355743408},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5319194197654724},{"id":"https://openalex.org/keywords/hilbert\u2013huang-transform","display_name":"Hilbert\u2013Huang transform","score":0.523591160774231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49393731355667114},{"id":"https://openalex.org/keywords/correlation-coefficient","display_name":"Correlation coefficient","score":0.49063578248023987},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.45359984040260315},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.44608089327812195},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3909260332584381},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3712078928947449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3701189160346985},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3557128310203552},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32774120569229126},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.1638057827949524},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16034406423568726},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10830122232437134},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0706309974193573}],"concepts":[{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.7704651355743408},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5319194197654724},{"id":"https://openalex.org/C25570617","wikidata":"https://www.wikidata.org/wiki/Q1006462","display_name":"Hilbert\u2013Huang transform","level":3,"score":0.523591160774231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49393731355667114},{"id":"https://openalex.org/C2780092901","wikidata":"https://www.wikidata.org/wiki/Q3433612","display_name":"Correlation coefficient","level":2,"score":0.49063578248023987},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.45359984040260315},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.44608089327812195},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3909260332584381},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3712078928947449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3701189160346985},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3557128310203552},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32774120569229126},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.1638057827949524},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16034406423568726},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10830122232437134},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0706309974193573},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3109726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3109726","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2900432589","display_name":null,"funder_award_id":"2018M640128","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6291316965","display_name":null,"funder_award_id":"51907102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7970476868","display_name":null,"funder_award_id":"1214025","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2021133825","https://openalex.org/W2048368939","https://openalex.org/W2068668487","https://openalex.org/W2095030705","https://openalex.org/W2214283208","https://openalex.org/W2555535980","https://openalex.org/W2791969782","https://openalex.org/W2800070031","https://openalex.org/W2959460752","https://openalex.org/W2977584030","https://openalex.org/W2979766630","https://openalex.org/W3023514908","https://openalex.org/W3036680815","https://openalex.org/W3037065368","https://openalex.org/W3045896959","https://openalex.org/W3119267593","https://openalex.org/W6777135113"],"related_works":["https://openalex.org/W3014107421","https://openalex.org/W2363056446","https://openalex.org/W2081563414","https://openalex.org/W2359718298","https://openalex.org/W2377062149","https://openalex.org/W2380939102","https://openalex.org/W154554909","https://openalex.org/W2072581623","https://openalex.org/W2011248322","https://openalex.org/W2329112433"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,35,91,140],"concerned":[3],"with":[4,74,150],"a":[5,146],"hyperboloid":[6],"3D":[7],"localization":[8,138],"method":[9],"of":[10,22,56,152],"the":[11,17,63,69,72,83,86,95,99,113,122],"transformer":[12],"patrol":[13],"robot":[14],"based":[15],"on":[16],"Empirical":[18],"Mode":[19],"Decomposition":[20],"(EMD)":[21],"ultrasonic":[23,40],"signals":[24,41,47],"and":[25,68,117,133,159],"Phase":[26],"Transform-beta":[27],"(PHAT-\u03b2)":[28],"generalized":[29,88],"cross-correlation.":[30],"A":[31],"linear":[32],"sensor":[33],"array":[34],"first":[36],"employed":[37],"to":[38,62,81,93,110],"receive":[39],"emitted":[42],"by":[43,59,106],"robot.":[44,114],"The":[45,115,136],"received":[46,70],"are":[48,78,108,130],"decomposed":[49],"into":[50],"several":[51],"intrinsic":[52],"modal":[53],"functions":[54],"(IMFs)":[55],"different":[57,100],"scales":[58],"EMD.":[60],"According":[61],"correlation":[64,76],"degree":[65],"between":[66,98],"IMFs":[67,73],"signals,":[71],"large":[75],"coefficients":[77],"subsequently":[79],"selected":[80],"reconstruct":[82],"signals.":[84],"Further,":[85],"PHAT-\u03b2":[87],"cross-correlation":[89],"algorithm":[90],"used":[92],"estimate":[94],"time":[96],"delay":[97],"sensors.":[101],"Finally,":[102],"multiple":[103],"hyperboloids":[104],"formed":[105],"sensors":[107],"intersected":[109],"accurately":[111],"localize":[112],"simulation":[116],"experimental":[118],"results":[119],"demonstrate":[120],"that":[121],"maximum":[123,137],"relative":[124],"errors":[125],"in":[126,145],"three":[127],"typical":[128],"positions":[129],"5.6%,":[131],"4.8%":[132],"5.2%,":[134],"respectively.":[135],"error":[139],"less":[141],"than":[142],"15":[143],"mm":[144,158],"laboratory":[147],"scale":[148],"model":[149],"size":[151],"length":[153],"800":[154],"mm,":[155],"width":[156],"450":[157],"height":[160],"500":[161],"mm.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}