Most researches involved so far in kiwifruit harvesting robot suggest the scenario of harvesting in daytime for taking advantage of sunlight.A robot operating at nighttime can overcome the problem of low work efficien...Most researches involved so far in kiwifruit harvesting robot suggest the scenario of harvesting in daytime for taking advantage of sunlight.A robot operating at nighttime can overcome the problem of low work efficiency and would help to minimize fruit damage.In addition,artificial lights can be used to ensure constant illumination instead of the variable natural sunlight for image capturing.This paper aims to study the kiwifruit recognition at nighttime using artificial lighting based on machine vision.Firstly,an RGB camera was placed underneath the canopy so that clusters of kiwifruits could be included in the images.Next,the images were segmented using an R-G color model.Finally,a group of image processing conventional methods,such as Canny operator were applied to detect the fruits.The image processing results showed that this capturing method could reduce the background noise and overcome any target overlapping.The experimental results showed that the optimal artificial lighting ranged approximately between 30-50 lx.The developed algorithm detected 88.3%of the fruits successfully.展开更多
A 3D bounding surface model is established for rockfill materials,which can be applied to appropriately predict the deformation and the stabilization of rockfill dams.Firstly,an associated plastic flow rule for rockfi...A 3D bounding surface model is established for rockfill materials,which can be applied to appropriately predict the deformation and the stabilization of rockfill dams.Firstly,an associated plastic flow rule for rockfill materials is investigated based on the elaborate data from the large-style triaxial compression tests and the true triaxial tests.Secondly,the constitutive equations of the 3D bounding surface model are established by several steps.These steps include the bounding surface incorporating the general nonlinear strength criterion,stress-dilatancy equations,the evolution of the bounding surface and the bounding surface plasticity.Finally,the 3D bounding surface model is used to predict the mechanical behaviors of rockfill materials from the large-style triaxial compression tests and the true triaxial tests.Consequently,the proposed 3D bounding surface model can well capture such behaviors of rockfill materials as the strain hardening,the post-peak strain softening,and the volumetric strain contraction and expansion in both two-and three-dimensional stress spaces.展开更多
Particle size distribution significantly influences the mechanical response of the ballast under low confining pressure.However,particle breakage usually occurs and unfavorably degrades the particle size distribution ...Particle size distribution significantly influences the mechanical response of the ballast under low confining pressure.However,particle breakage usually occurs and unfavorably degrades the particle size distribution of the ballast when sufficient load is applied.To model the triaxial stress-strain behavior and its associated evolution of particle size distribution of the ballast,a specific bounding surface model is proposed.The proposed model is based on the traditional bounding surface plasticity and a modified particle breakage index,which correlates the initial gradation and the ultimate gradation together with the current gradation.Simulation of the experimental results from the triaxial compression tests shows that the proposed model can predict the strain softening and volumetric expansion of the ballast under relatively lower confining pressure.It is also able to simulate the strain hardening and volumetric compression of the ballast under relatively higher confining pressure.Most importantly,the proposed approach was observed to have a great potential in predicting the evolution of the particle size distribution of the ballast.展开更多
A bounding surface model incorporating a unified nonlinear strength criterion is proposed.The proposed bounding surface model contains 9 model parameters,which can be determined from the conventional triaxial tests.Th...A bounding surface model incorporating a unified nonlinear strength criterion is proposed.The proposed bounding surface model contains 9 model parameters,which can be determined from the conventional triaxial tests.The bounding surface model can reproduce such behaviours as the strain hardening,the post-peak strain softening,and the volumetric strain contraction and expansion.Based on the comparisons between the predictions and the test results,the proposed strength criterion and model can well reproduce the experimental results of the strength and stress-strain behaviours of rockfill material in three-dimensional stress space.The strength behaviour of rockfill material is summarized as:(a) the failure stress ratio decreases with the initial confining pressure on the meridian plane;(b) the failure deviatoric stress decreases with the Lode angle from 0o to 60o on the deviatoric plane.The stress ratio decreases with increasing one of such factors as the initial void ratio,the intermediate principal stress ratio and the minor principal stress at the same strain when the other factors are given.展开更多
This paper reports on an investigation of the seismic response of base-isolated reinforced concrete buildings, which considers various isolation system parameters under bidirectional near-fault and far-fault motions. ...This paper reports on an investigation of the seismic response of base-isolated reinforced concrete buildings, which considers various isolation system parameters under bidirectional near-fault and far-fault motions. Three-dimensional models of 4-, 8-, and 12-story base-isolated buildings with nonlinear effects in the isolation system and the superstructure are investigated, and nonlinear response history analysis is carried out. The bounding values of isolation system properties that incorporate the aging effect of isolators are also taken into account, as is the current state of practice in the design and analysis of base-isolated buildings. The response indicators of the buildings are studied for near-fault and far-fault motions weight-scaled to represent the design earthquake （DE） level and the risk-targeted maximum considered earthquake （MCER） level. Results of the nonlinear response history analyses indicate no structural damage under DE-level motions for near-fault and far-fault motions and for MCER-level far-fault motions, whereas minor structural damage is observed under MCER- level near-fault motions. Results of the base-isolated buildings are compared with their fixed-base counterparts. Significant reduction of the superstructure response of the 12-story base-isolated building compared to the fixed-base condition indicates that base isolation can be effectively used in taller buildings to enhance performance. Additionally, the applicability of a rigid superstructure to predict the isolator displacement demand is also investigated. It is found that the isolator displacements can be estimated accurately using a rigid body model for the superstructure for the buildings considered.展开更多
This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions a...This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.展开更多
As the market competition among enterprises grows intensively and the demand for high quality products increases rapidly, product quality inspection and control has become one of the most important issues of manufactu...As the market competition among enterprises grows intensively and the demand for high quality products increases rapidly, product quality inspection and control has become one of the most important issues of manufacturing, and improving the efficiency and accuracy of inspection is also one of problems which enterprises must solve. It is particularly important to establish rational inspection planning for parts before inspecting product quality correctly. The traditional inspection methods have been difficult to satisfy the requirements on the speed and accuracy of modern manufacturing, so CAD-based computer-aided inspection planning （CAIP） system with the coordinate measuring machines （CMM） came into being. In this paper, an algorithm for adaptive sampling and collision-free inspection path generation is proposed, aiming at the CAD model-based inspection planning for coordinate measuring machines （CMM）. Firstly, using the method of step adaptive subdivision and iteration , the sampling points for the specified number with even distribution will be generated automatically. Then, it generates the initial path by planning the inspection sequence of measurement points according to the values of each point＇s weight sum of parameters, and detects collision by constructing section lines between the probe swept-volume surfaces and the part surfaces, with axis-aligned bounding box （AABB） filtering to improve the detection efficiency. For collided path segments, it implements collision avoidance firstly aiming at the possible outer-circle features, and then at other collisions, for which the obstacle-avoiding movements are planned with the heuristic rules, and combined with a designed expanded AABB to set the obstacle-avoiding points. The computer experimental results show that the presented algorithm can plan sampling points＇ locations with strong adaptability for different complexity of general surfaces, and generate efficient optimum path in a short time and avoid collision effectively.展开更多
Visualization of simulated crop growth and development is of significant interest to crop research and production. This study aims to address the phenomenon of organs cross-drawing by developing a method of collision ...Visualization of simulated crop growth and development is of significant interest to crop research and production. This study aims to address the phenomenon of organs cross-drawing by developing a method of collision detection for improving vivid 3D visualizations of virtual wheat crops. First, the triangular data of leaves are generated with the tessellation of non-uniform rational B-splines surfaces. Second, the bounding volumes（BVs） and bounding volume hierarchies（BVHs） of leaves are constructed based on the leaf morphological characteristics and the collision detection of two leaves are performed using the Separating Axis Theorem. Third, the detecting effect of the above method is compared with the methods of traditional BVHs, Axis-Aligned Bounding Box（AABB） tree, and Oriented Bounding Box（OBB） tree. Finally, the BVs of other organs（ear, stem, and leaf sheath） in virtual wheat plant are constructed based on their geometric morphology, and the collision detections are conducted at the organ, individual and population scales. The results indicate that the collision detection method developed in this study can accurately detect collisions between organs, especially at the plant canopy level with high collision frequency. This collision detection-based virtual crop visualization method could reduce the phenomenon of organs cross-drawing effectively and enhance the reality of visualizations.展开更多
For a class of unknown nonlinear time-delay systems, an adaptive neural network （NN） control design approach is proposed. Backstepping, domination and adaptive bounding design technique are combined to construct a r...For a class of unknown nonlinear time-delay systems, an adaptive neural network （NN） control design approach is proposed. Backstepping, domination and adaptive bounding design technique are combined to construct a robust memoryless adaptive NN tracking controller. Unknown time-delay functions are approximated by NNs, such that the requirement on the nonlinear time-delay functions is relaxed. Based on Lyapunov-Krasoviskii functional, the sem-global uniformly ultimately boundedness （UUB） of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters. The feasibility is investigated by an illustrative simulation example.展开更多
In this paper, the self-localization problem is studied. It is one of the key technologies in wireless sensor networks (WSNs). And five localization algorithms: Centroid algorithm, Amorphous algorithm, DV-hop algorith...In this paper, the self-localization problem is studied. It is one of the key technologies in wireless sensor networks (WSNs). And five localization algorithms: Centroid algorithm, Amorphous algorithm, DV-hop algorithm, APIT algorithm and Bounding Box algorithm are discussed. Simulation of those five localization algorithms is done by MATLAB. The simulation results show that the positioning error of Amorphous algorithm is the minimum. Considering economy and localization accuracy, the Amorphous algorithm can achieve the best localization performance under certain conditions.展开更多
This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints （VCs）. A VC is a relative motion relation between two related joints imposed to the robots ...This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints （VCs）. A VC is a relative motion relation between two related joints imposed to the robots in terms of a specified gait, which can drive the robot to run with desired gait. To determine VCs for highly dynamic bounding gait, the limit cycle motions of the passive dynamic model of bounding gait are analyzed. The leg length and hip/shoulder angle trajectories corresponding to the limit cycles are parameterized by leg angles using 4 th-order polynomials. In order to track the calculated periodic motions, the polynomials are imposed on the robot as virtual motion constraints by a high-level state machine controller. A bounding speed feedback strategy is introduced to stabilize the robot running speed and enhance the stability. The control approach was applied to a newly designed lightweight bioinspired quadruped robot, AgiDog. The experimental results demonstrate that the robot can bound at a frequency up to 5 Hz and bound at a maximum speed of 1.2 m·s^-1 in sagittal plane with a Froude number approximating to 1.展开更多
Camera-based object tracking systems in a given closed environment lack privacy and confidentiality.In this study,light detection and ranging(LiDAR)was applied to track objects similar to the camera tracking in a clos...Camera-based object tracking systems in a given closed environment lack privacy and confidentiality.In this study,light detection and ranging(LiDAR)was applied to track objects similar to the camera tracking in a closed environment,guaranteeing privacy and confidentiality.The primary objective was to demonstrate the efficacy of the proposed technique through carefully designed experiments conducted using two scenarios.In Scenario I,the study illustrates the capability of the proposed technique to detect the locations of multiple objects positioned on a flat surface,achieved by analyzing LiDAR data collected from several locations within the closed environment.Scenario II demonstrates the effectiveness of the proposed technique in detecting multiple objects using LiDAR data obtained from a single,fixed location.Real-time experiments are conducted with human subjects navigating predefined paths.Three individuals move within an environment,while LiDAR,fixed at the center,dynamically tracks and identifies their locations at multiple instances.Results demonstrate that a single,strategically positioned LiDAR can adeptly detect objects in motion around it.Furthermore,this study provides a comparison of various regression techniques for predicting bounding box coordinates.Gaussian process regression(GPR),combined with particle swarm optimization(PSO)for prediction,achieves the lowest prediction mean square error of all the regression techniques examined at 0.01.Hyperparameter tuning of GPR using PSO significantly minimizes the regression error.Results of the experiment pave the way for its extension to various real-time applications such as crowd management in malls,surveillance systems,and various Internet of Things scenarios.展开更多
In the study of oriented bounding boxes(OBB)object detection in high-resolution remote sensing images,the problem of missed and wrong detection of small targets occurs because the targets are too small and have differ...In the study of oriented bounding boxes(OBB)object detection in high-resolution remote sensing images,the problem of missed and wrong detection of small targets occurs because the targets are too small and have different orientations.Existing OBB object detection for remote sensing images,although making good progress,mainly focuses on directional modeling,while less consideration is given to the size of the object as well as the problem of missed detection.In this study,a method based on improved YOLOv8 was proposed for detecting oriented objects in remote sensing images,which can improve the detection precision of oriented objects in remote sensing images.Firstly,the ResCBAMG module was innovatively designed,which could better extract channel and spatial correlation information.Secondly,the innovative top-down feature fusion layer network structure was proposed in conjunction with the Efficient Channel Attention(ECA)attention module,which helped to capture inter-local cross-channel interaction information appropriately.Finally,we introduced an innovative ResCBAMG module between the different C2f modules and detection heads of the bottom-up feature fusion layer.This innovative structure helped the model to better focus on the target area.The precision and robustness of oriented target detection were also improved.Experimental results on the DOTA-v1.5 dataset showed that the detection Precision,mAP@0.5,and mAP@0.5:0.95 metrics of the improved model are better compared to the original model.This improvement is effective in detecting small targets and complex scenes.展开更多
The classical deviatoric hardening models are capable of characterizing the mechanical response of granular materials for a broad range of degrees of compaction.This work finds that it has limitations in accurately pr...The classical deviatoric hardening models are capable of characterizing the mechanical response of granular materials for a broad range of degrees of compaction.This work finds that it has limitations in accurately predicting the volumetric deformation characteristics under a wide range of confining/consolidation pressures.The issue stems from the pressure independent hardening law in the classical deviatoric hardening model.To overcome this problem,we propose a refined deviatoric hardening model in which a pressure-dependent hardening law is developed based on experimental observations.Comparisons between numerical results and laboratory triaxial tests indicate that the improved model succeeds in capturing the volumetric deformation behavior under various confining/consolidation pressure conditions for both dense and loose sands.Furthermore,to examine the importance of the improved deviatoric hardening model,it is combined with the bounding surface plasticity theory to investigate the mechanical response of loose sand under complex cyclic loadings and different initial consolidation pressures.It is proved that the proposed pressure-dependent deviatoric hardening law is capable of predicting the volumetric deformation characteristics to a satisfactory degree and plays an important role in the simulation of complex deformations for granular geomaterials.展开更多
Based on the TRMM dataset, this paper compares the applicability of the improved MCE(minimum circumscribed ellipse), MBR(minimum bounding rectangle), and DIA(direct indexing area) methods for rain cell fitting. These ...Based on the TRMM dataset, this paper compares the applicability of the improved MCE(minimum circumscribed ellipse), MBR(minimum bounding rectangle), and DIA(direct indexing area) methods for rain cell fitting. These three methods can reflect the geometric characteristics of clouds and apply geometric parameters to estimate the real dimensions of rain cells. The MCE method shows a major advantage in identifying the circumference of rain cells. The circumference of rain cells identified by MCE in most samples is smaller than that identified by DIA and MBR, and more similar to the observed rain cells. The area of rain cells identified by MBR is relatively robust. For rain cells composed of many pixels(N> 20), the overall performance is better than that of MCE, but the contribution of MBR to the best identification results,which have the shortest circumference and the smallest area, is less than that of MCE. The DIA method is best suited to small rain cells with a circumference of less than 100 km and an area of less than 120 km^(2), but the overall performance is mediocre. The MCE method tends to achieve the highest success at any angle, whereas there are fewer “best identification”results from DIA or MBR and more of the worst ones in the along-track direction and cross-track direction. Through this comprehensive comparison, we conclude that MCE can obtain the best fitting results with the shortest circumference and the smallest area on behalf of the high filling effect for all sizes of rain cells.展开更多
Shape irregularity,a sub-factor of parcel fragmentation is a problem that hinders sustainable agriculture and is solved using land consolidation projects.Determination of the parcel shape degree contributes significan...Shape irregularity,a sub-factor of parcel fragmentation is a problem that hinders sustainable agriculture and is solved using land consolidation projects.Determination of the parcel shape degree contributes significantly to spatial prioritization where there is also a high probability of achieving positive effects of consolidation projects.This study aims to determine the shape degree of the agricultural parcels both at singular and rural county scales in Tekirdag Province,Turkey in 2020 by combining the parcel shape index(PSI) with the minimum bounding geometry index(MBG) to improve parcel scores.Hot-spot zones of the highly irregular and near optimum parcels were also determined using Getis-Ord G_(i)^(*) statistic.The parcel degrees were classified into four categories,namely highly irregular,irregular,regular and near optimum.The obtained unweighted scores of the parameters exhibit deviations from the expected values.After weighting by pairwise comparison,the values approached ideal scores.Among 346 740 parcels,53% were highly irregular and irregular and 47% were regular and near optimum shapes after weighting whereas these were 70% and 30%,respectively before weighting.The average parcel degree of 63 rural counties was regular while the average parcel degree of the remaining 264 rural counties was irregular.The combined use of PSI and MBG index improved the correctness of the parcel shape score.It could be suggested to use as a tool in land consolidation prioritization.展开更多
This paper builds a binary tree for the target based on the bounding volume hierarchy technology,thereby achieving strict acceleration of the shadow judgment process and reducing the computational complexity from the ...This paper builds a binary tree for the target based on the bounding volume hierarchy technology,thereby achieving strict acceleration of the shadow judgment process and reducing the computational complexity from the original O(N^(3))to O(N^(2)logN).Numerical results show that the proposed method is more efficient than the traditional method.It is verified in multiple examples that the proposed method can complete the convergence of the current.Moreover,the proposed method avoids the error of judging the lit-shadow relationship based on the normal vector,which is beneficial to current iteration and convergence.Compared with the brute force method,the current method can improve the simulation efficiency by 2 orders of magnitude.The proposed method is more suitable for scattering problems in electrically large cavities and complex scenarios.展开更多
基金Supported by the PhD.Programs Foundation of Ministry of Education of China under Grant(20060611010)Natural Science Foundation of ChongQing,China under Grant(CSTC,2006BB2191)
基金This study was financed by Project 61175099 of the National Natural Science Foundation of China.
文摘Most researches involved so far in kiwifruit harvesting robot suggest the scenario of harvesting in daytime for taking advantage of sunlight.A robot operating at nighttime can overcome the problem of low work efficiency and would help to minimize fruit damage.In addition,artificial lights can be used to ensure constant illumination instead of the variable natural sunlight for image capturing.This paper aims to study the kiwifruit recognition at nighttime using artificial lighting based on machine vision.Firstly,an RGB camera was placed underneath the canopy so that clusters of kiwifruits could be included in the images.Next,the images were segmented using an R-G color model.Finally,a group of image processing conventional methods,such as Canny operator were applied to detect the fruits.The image processing results showed that this capturing method could reduce the background noise and overcome any target overlapping.The experimental results showed that the optimal artificial lighting ranged approximately between 30-50 lx.The developed algorithm detected 88.3%of the fruits successfully.
基金supported by the National Natural Science Foundation for Distinguished Young Scholar (Grant No. 50825901)the Key Project of National Natural Science Foundation of China and Yalongjiang Hydro-electric Development Joint Research Fund (Grant No. 50639050)+2 种基金the Public Service Sector R&D Project of Ministry of Water Resource of China(Grant No. 200801014)the Fundamental Research Funds for the Central Universities (Grant No. 2010B15014)Scientific Innovation Research Scheme for Jiangsu University Graduate (Grant No. CX10B_207Z)
文摘A 3D bounding surface model is established for rockfill materials,which can be applied to appropriately predict the deformation and the stabilization of rockfill dams.Firstly,an associated plastic flow rule for rockfill materials is investigated based on the elaborate data from the large-style triaxial compression tests and the true triaxial tests.Secondly,the constitutive equations of the 3D bounding surface model are established by several steps.These steps include the bounding surface incorporating the general nonlinear strength criterion,stress-dilatancy equations,the evolution of the bounding surface and the bounding surface plasticity.Finally,the 3D bounding surface model is used to predict the mechanical behaviors of rockfill materials from the large-style triaxial compression tests and the true triaxial tests.Consequently,the proposed 3D bounding surface model can well capture such behaviors of rockfill materials as the strain hardening,the post-peak strain softening,and the volumetric strain contraction and expansion in both two-and three-dimensional stress spaces.
基金supported by the China Scholarship Council in the University of Wollongong(Grant No.201306710022)
文摘Particle size distribution significantly influences the mechanical response of the ballast under low confining pressure.However,particle breakage usually occurs and unfavorably degrades the particle size distribution of the ballast when sufficient load is applied.To model the triaxial stress-strain behavior and its associated evolution of particle size distribution of the ballast,a specific bounding surface model is proposed.The proposed model is based on the traditional bounding surface plasticity and a modified particle breakage index,which correlates the initial gradation and the ultimate gradation together with the current gradation.Simulation of the experimental results from the triaxial compression tests shows that the proposed model can predict the strain softening and volumetric expansion of the ballast under relatively lower confining pressure.It is also able to simulate the strain hardening and volumetric compression of the ballast under relatively higher confining pressure.Most importantly,the proposed approach was observed to have a great potential in predicting the evolution of the particle size distribution of the ballast.
基金supported by the National Natural Science Foundation of China for Distinguished Young Scholar (Grant No. 50825901)the Public Service Sector R&D Project of Ministry of Water Resource of China(Grant No. 200801014)+1 种基金the Fundamental Research Funds for the Central Universities (Grant No. 2011B14514)Jiangsu Civil Engineering Graduate Center for Innovation and Academic Communication Foundation
文摘A bounding surface model incorporating a unified nonlinear strength criterion is proposed.The proposed bounding surface model contains 9 model parameters,which can be determined from the conventional triaxial tests.The bounding surface model can reproduce such behaviours as the strain hardening,the post-peak strain softening,and the volumetric strain contraction and expansion.Based on the comparisons between the predictions and the test results,the proposed strength criterion and model can well reproduce the experimental results of the strength and stress-strain behaviours of rockfill material in three-dimensional stress space.The strength behaviour of rockfill material is summarized as:(a) the failure stress ratio decreases with the initial confining pressure on the meridian plane;(b) the failure deviatoric stress decreases with the Lode angle from 0o to 60o on the deviatoric plane.The stress ratio decreases with increasing one of such factors as the initial void ratio,the intermediate principal stress ratio and the minor principal stress at the same strain when the other factors are given.
文摘This paper reports on an investigation of the seismic response of base-isolated reinforced concrete buildings, which considers various isolation system parameters under bidirectional near-fault and far-fault motions. Three-dimensional models of 4-, 8-, and 12-story base-isolated buildings with nonlinear effects in the isolation system and the superstructure are investigated, and nonlinear response history analysis is carried out. The bounding values of isolation system properties that incorporate the aging effect of isolators are also taken into account, as is the current state of practice in the design and analysis of base-isolated buildings. The response indicators of the buildings are studied for near-fault and far-fault motions weight-scaled to represent the design earthquake （DE） level and the risk-targeted maximum considered earthquake （MCER） level. Results of the nonlinear response history analyses indicate no structural damage under DE-level motions for near-fault and far-fault motions and for MCER-level far-fault motions, whereas minor structural damage is observed under MCER- level near-fault motions. Results of the base-isolated buildings are compared with their fixed-base counterparts. Significant reduction of the superstructure response of the 12-story base-isolated building compared to the fixed-base condition indicates that base isolation can be effectively used in taller buildings to enhance performance. Additionally, the applicability of a rigid superstructure to predict the isolator displacement demand is also investigated. It is found that the isolator displacements can be estimated accurately using a rigid body model for the superstructure for the buildings considered.
文摘This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.
基金Tsupported by Innovation Fund of Ministry of Science andTechnology of China for Small Technology-Based Firms (Grant No.04C26223400148)
文摘As the market competition among enterprises grows intensively and the demand for high quality products increases rapidly, product quality inspection and control has become one of the most important issues of manufacturing, and improving the efficiency and accuracy of inspection is also one of problems which enterprises must solve. It is particularly important to establish rational inspection planning for parts before inspecting product quality correctly. The traditional inspection methods have been difficult to satisfy the requirements on the speed and accuracy of modern manufacturing, so CAD-based computer-aided inspection planning （CAIP） system with the coordinate measuring machines （CMM） came into being. In this paper, an algorithm for adaptive sampling and collision-free inspection path generation is proposed, aiming at the CAD model-based inspection planning for coordinate measuring machines （CMM）. Firstly, using the method of step adaptive subdivision and iteration , the sampling points for the specified number with even distribution will be generated automatically. Then, it generates the initial path by planning the inspection sequence of measurement points according to the values of each point＇s weight sum of parameters, and detects collision by constructing section lines between the probe swept-volume surfaces and the part surfaces, with axis-aligned bounding box （AABB） filtering to improve the detection efficiency. For collided path segments, it implements collision avoidance firstly aiming at the possible outer-circle features, and then at other collisions, for which the obstacle-avoiding movements are planned with the heuristic rules, and combined with a designed expanded AABB to set the obstacle-avoiding points. The computer experimental results show that the presented algorithm can plan sampling points＇ locations with strong adaptability for different complexity of general surfaces, and generate efficient optimum path in a short time and avoid collision effectively.
基金supported by the National High-Tech Research and Development Program of China (2013AA102404)the National Science Fund for Distinguished Young Scholars, China (31725020)+1 种基金the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD),Chinathe 111 Project, China (B16026)
文摘Visualization of simulated crop growth and development is of significant interest to crop research and production. This study aims to address the phenomenon of organs cross-drawing by developing a method of collision detection for improving vivid 3D visualizations of virtual wheat crops. First, the triangular data of leaves are generated with the tessellation of non-uniform rational B-splines surfaces. Second, the bounding volumes（BVs） and bounding volume hierarchies（BVHs） of leaves are constructed based on the leaf morphological characteristics and the collision detection of two leaves are performed using the Separating Axis Theorem. Third, the detecting effect of the above method is compared with the methods of traditional BVHs, Axis-Aligned Bounding Box（AABB） tree, and Oriented Bounding Box（OBB） tree. Finally, the BVs of other organs（ear, stem, and leaf sheath） in virtual wheat plant are constructed based on their geometric morphology, and the collision detections are conducted at the organ, individual and population scales. The results indicate that the collision detection method developed in this study can accurately detect collisions between organs, especially at the plant canopy level with high collision frequency. This collision detection-based virtual crop visualization method could reduce the phenomenon of organs cross-drawing effectively and enhance the reality of visualizations.
基金This project was supported by the National Natural Science Foundation of China (69974028 60374015)
文摘For a class of unknown nonlinear time-delay systems, an adaptive neural network （NN） control design approach is proposed. Backstepping, domination and adaptive bounding design technique are combined to construct a robust memoryless adaptive NN tracking controller. Unknown time-delay functions are approximated by NNs, such that the requirement on the nonlinear time-delay functions is relaxed. Based on Lyapunov-Krasoviskii functional, the sem-global uniformly ultimately boundedness （UUB） of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters. The feasibility is investigated by an illustrative simulation example.
文摘In this paper, the self-localization problem is studied. It is one of the key technologies in wireless sensor networks (WSNs). And five localization algorithms: Centroid algorithm, Amorphous algorithm, DV-hop algorithm, APIT algorithm and Bounding Box algorithm are discussed. Simulation of those five localization algorithms is done by MATLAB. The simulation results show that the positioning error of Amorphous algorithm is the minimum. Considering economy and localization accuracy, the Amorphous algorithm can achieve the best localization performance under certain conditions.
基金This work is partially supported by the National Natural Science Foundation of China （NSFC） under grant numbers 61175097 and 51475177, and the Research Fund for the Doctoral Program of Higher Education of China （RFDP） under grant number 20130142110081, and the China Postdoctoral Science Foundation under grant number 2016M602281.
文摘This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints （VCs）. A VC is a relative motion relation between two related joints imposed to the robots in terms of a specified gait, which can drive the robot to run with desired gait. To determine VCs for highly dynamic bounding gait, the limit cycle motions of the passive dynamic model of bounding gait are analyzed. The leg length and hip/shoulder angle trajectories corresponding to the limit cycles are parameterized by leg angles using 4 th-order polynomials. In order to track the calculated periodic motions, the polynomials are imposed on the robot as virtual motion constraints by a high-level state machine controller. A bounding speed feedback strategy is introduced to stabilize the robot running speed and enhance the stability. The control approach was applied to a newly designed lightweight bioinspired quadruped robot, AgiDog. The experimental results demonstrate that the robot can bound at a frequency up to 5 Hz and bound at a maximum speed of 1.2 m·s^-1 in sagittal plane with a Froude number approximating to 1.
文摘Camera-based object tracking systems in a given closed environment lack privacy and confidentiality.In this study,light detection and ranging(LiDAR)was applied to track objects similar to the camera tracking in a closed environment,guaranteeing privacy and confidentiality.The primary objective was to demonstrate the efficacy of the proposed technique through carefully designed experiments conducted using two scenarios.In Scenario I,the study illustrates the capability of the proposed technique to detect the locations of multiple objects positioned on a flat surface,achieved by analyzing LiDAR data collected from several locations within the closed environment.Scenario II demonstrates the effectiveness of the proposed technique in detecting multiple objects using LiDAR data obtained from a single,fixed location.Real-time experiments are conducted with human subjects navigating predefined paths.Three individuals move within an environment,while LiDAR,fixed at the center,dynamically tracks and identifies their locations at multiple instances.Results demonstrate that a single,strategically positioned LiDAR can adeptly detect objects in motion around it.Furthermore,this study provides a comparison of various regression techniques for predicting bounding box coordinates.Gaussian process regression(GPR),combined with particle swarm optimization(PSO)for prediction,achieves the lowest prediction mean square error of all the regression techniques examined at 0.01.Hyperparameter tuning of GPR using PSO significantly minimizes the regression error.Results of the experiment pave the way for its extension to various real-time applications such as crowd management in malls,surveillance systems,and various Internet of Things scenarios.
文摘In the study of oriented bounding boxes(OBB)object detection in high-resolution remote sensing images,the problem of missed and wrong detection of small targets occurs because the targets are too small and have different orientations.Existing OBB object detection for remote sensing images,although making good progress,mainly focuses on directional modeling,while less consideration is given to the size of the object as well as the problem of missed detection.In this study,a method based on improved YOLOv8 was proposed for detecting oriented objects in remote sensing images,which can improve the detection precision of oriented objects in remote sensing images.Firstly,the ResCBAMG module was innovatively designed,which could better extract channel and spatial correlation information.Secondly,the innovative top-down feature fusion layer network structure was proposed in conjunction with the Efficient Channel Attention(ECA)attention module,which helped to capture inter-local cross-channel interaction information appropriately.Finally,we introduced an innovative ResCBAMG module between the different C2f modules and detection heads of the bottom-up feature fusion layer.This innovative structure helped the model to better focus on the target area.The precision and robustness of oriented target detection were also improved.Experimental results on the DOTA-v1.5 dataset showed that the detection Precision,mAP@0.5,and mAP@0.5:0.95 metrics of the improved model are better compared to the original model.This improvement is effective in detecting small targets and complex scenes.
基金the funding support from Basic Science Center Program for Multiphase Media Evolution in Hypergravity of the National Natural Science Foundation of China(Grant No.51988101).
文摘The classical deviatoric hardening models are capable of characterizing the mechanical response of granular materials for a broad range of degrees of compaction.This work finds that it has limitations in accurately predicting the volumetric deformation characteristics under a wide range of confining/consolidation pressures.The issue stems from the pressure independent hardening law in the classical deviatoric hardening model.To overcome this problem,we propose a refined deviatoric hardening model in which a pressure-dependent hardening law is developed based on experimental observations.Comparisons between numerical results and laboratory triaxial tests indicate that the improved model succeeds in capturing the volumetric deformation behavior under various confining/consolidation pressure conditions for both dense and loose sands.Furthermore,to examine the importance of the improved deviatoric hardening model,it is combined with the bounding surface plasticity theory to investigate the mechanical response of loose sand under complex cyclic loadings and different initial consolidation pressures.It is proved that the proposed pressure-dependent deviatoric hardening law is capable of predicting the volumetric deformation characteristics to a satisfactory degree and plays an important role in the simulation of complex deformations for granular geomaterials.
基金supported by the National Natural Science Foundation of China (Grant Nos. U20A2097,42075087, 91837310)the National Key Research and Development Program of China (Grant No. 2021YFC3000902)。
文摘Based on the TRMM dataset, this paper compares the applicability of the improved MCE(minimum circumscribed ellipse), MBR(minimum bounding rectangle), and DIA(direct indexing area) methods for rain cell fitting. These three methods can reflect the geometric characteristics of clouds and apply geometric parameters to estimate the real dimensions of rain cells. The MCE method shows a major advantage in identifying the circumference of rain cells. The circumference of rain cells identified by MCE in most samples is smaller than that identified by DIA and MBR, and more similar to the observed rain cells. The area of rain cells identified by MBR is relatively robust. For rain cells composed of many pixels(N> 20), the overall performance is better than that of MCE, but the contribution of MBR to the best identification results,which have the shortest circumference and the smallest area, is less than that of MCE. The DIA method is best suited to small rain cells with a circumference of less than 100 km and an area of less than 120 km^(2), but the overall performance is mediocre. The MCE method tends to achieve the highest success at any angle, whereas there are fewer “best identification”results from DIA or MBR and more of the worst ones in the along-track direction and cross-track direction. Through this comprehensive comparison, we conclude that MCE can obtain the best fitting results with the shortest circumference and the smallest area on behalf of the high filling effect for all sizes of rain cells.
文摘Shape irregularity,a sub-factor of parcel fragmentation is a problem that hinders sustainable agriculture and is solved using land consolidation projects.Determination of the parcel shape degree contributes significantly to spatial prioritization where there is also a high probability of achieving positive effects of consolidation projects.This study aims to determine the shape degree of the agricultural parcels both at singular and rural county scales in Tekirdag Province,Turkey in 2020 by combining the parcel shape index(PSI) with the minimum bounding geometry index(MBG) to improve parcel scores.Hot-spot zones of the highly irregular and near optimum parcels were also determined using Getis-Ord G_(i)^(*) statistic.The parcel degrees were classified into four categories,namely highly irregular,irregular,regular and near optimum.The obtained unweighted scores of the parameters exhibit deviations from the expected values.After weighting by pairwise comparison,the values approached ideal scores.Among 346 740 parcels,53% were highly irregular and irregular and 47% were regular and near optimum shapes after weighting whereas these were 70% and 30%,respectively before weighting.The average parcel degree of 63 rural counties was regular while the average parcel degree of the remaining 264 rural counties was irregular.The combined use of PSI and MBG index improved the correctness of the parcel shape score.It could be suggested to use as a tool in land consolidation prioritization.
基金the National Natural Science Foundation of China under Grants No.62231021 and No.92373201.
文摘This paper builds a binary tree for the target based on the bounding volume hierarchy technology,thereby achieving strict acceleration of the shadow judgment process and reducing the computational complexity from the original O(N^(3))to O(N^(2)logN).Numerical results show that the proposed method is more efficient than the traditional method.It is verified in multiple examples that the proposed method can complete the convergence of the current.Moreover,the proposed method avoids the error of judging the lit-shadow relationship based on the normal vector,which is beneficial to current iteration and convergence.Compared with the brute force method,the current method can improve the simulation efficiency by 2 orders of magnitude.The proposed method is more suitable for scattering problems in electrically large cavities and complex scenarios.
