The beneficial acclimation hypothesis (BAH) predicts that animals acclimated to a particular temperature have enhanced performance or fitness at that temperature in comparison with animals acclimated to other temperat...The beneficial acclimation hypothesis (BAH) predicts that animals acclimated to a particular temperature have enhanced performance or fitness at that temperature in comparison with animals acclimated to other temperatures. The BAH has been tested by a variety of empirical examinations, and was rejected by some of them. In order to provide new evidences for the BAH, the effects of acute and acclimation temperature (AT) on locomotor performance of Macrobiotus hufelandi (Tardigrada: Macrobiotidae) were investigated. The tardigrades were collected from Nanwutai, Qinling Mountains which traverse from west to east in central China. The subjects were acclimated to either 2℃ or 22℃ for 2 weeks. The animal was transferred onto a frosted slide and allowed to walk freely at the performance temperature (PT) 2℃ or 22℃. Only one individual was tested per test bout, which lasted from three to five minutes. To avoid occurrence of thermal acclimation effect, the standard adaptation time was limited to 1.5 min. Each subject was tested for once at the same PT, and was tested only at one PT. A total of 25 individuals were tested and measured at the same PT. The locomotor performance of the animals was recorded with a digital video camera mounted on a microscope at 4×10 amplification and replayed on a PC. Every subject was identified. Walking speed (WS) and percentage of time moving (PTM) at both PTs (2℃ or 22℃) were selected as the rate parameters of locomotor performance. The two-way repeated measures ANOVA with a significance level of α= 0.05 and Duncan multiple range test were used to analyze the data. WS of the animals acclimated to and tested at the same temperatures was significantly faster than that for animals acclimated to and tested at the different temperatures, similarly, PTM of the animals acclimated to 22℃ and tested at 22℃ was significantly greater than PTM of animals acclimated to 22℃ and tested at 2℃, which indicated that the animals acclimated to a particular temperature have enhanced locomoto展开更多
An adaptive human tracking method across spatially separated surveillance cameras with non-overlapping fields of views （FOVs） is proposed. The method relies on the two cues of the human appearance model and spatio-t...An adaptive human tracking method across spatially separated surveillance cameras with non-overlapping fields of views （FOVs） is proposed. The method relies on the two cues of the human appearance model and spatio-temporal information between cameras. For the human appearance model, an HSV color histogram is extracted from different human body parts （head, torso, and legs）, then a weighted algorithm is used to compute the similarity distance of two people. Finally, a similarity sorting algorithm with two thresholds is exploited to find the correspondence. The spatio- temporal information is established in the learning phase and is updated incrementally according to the latest correspondence. The experimental results prove that the proposed human tracking method is effective without requiring camera calibration and it becomes more accurate over time as new observations are accumulated.展开更多
The performance of decoding algorithm is one of the important influential factors to determine the communication quality of optical camera communication(OCC) system. In this paper, we first propose a decoding algorith...The performance of decoding algorithm is one of the important influential factors to determine the communication quality of optical camera communication(OCC) system. In this paper, we first propose a decoding algorithm with adaptive thresholding based on the captured pixel values under an ideal environment, and then we further propose a decoding algorithm with multiple features, which is more suitable under the existence of the interference of light sources. The algorithm firstly determines the light-emitting diode(LED) array profile information by removing the interfering light sources through geometric features, and then identifies the LED state by calculating two grayscale features, the average gray ratio(AGR) and the gradient radial inwardness(GRI) of the LEDs, and finally obtains the LED state matrix. The experimental results show that the bit error ratio(BER) of the decoding algorithm with multiple features decreases from 1×10^(-2) to 5×10^(-4) at 80 m.展开更多
This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information...This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.展开更多
Using the optical images of a cloud-to-ground lightning flash with multiple grounding points obtained by a highspeed video system in the Qinghai Province of China along with synchronous radiated electric field informa...Using the optical images of a cloud-to-ground lightning flash with multiple grounding points obtained by a highspeed video system in the Qinghai Province of China along with synchronous radiated electric field information, the propagation characteristic and the electric field change features of the leaders and the grounding behavior of discharge channels are analyzed.In addition, the two-dimensional velocity of the leader was estimated and its correlation with the time interval of the corresponding subsequent return stroke, and that with the peak current of return stroke are investigated. The results show that the average distance between the three obvious grounded points of the first return stroke channel is about 512.7 m, and the average time interval between the pulses of the corresponding electric field fast changes is 3.8 μs. Further, the average time interval between electric field pulses from the stepped leader is smaller than that of normal single grounding lightning. The observed lightning in our study has two main channels, namely the left and right channels. Based on our observations, it is clear that the dart leader comes close to the ground in case of the left channel after the first return stroke, but it fails to form a return stroke.However, the right channel exhibits a relatively rare phenomenon in that the subsequent return stroke R2 occurred about 2.1 ms after the dart leader arrived at the ground, which was unusually long; this phenomenon might be attributed to the strong discharge of the first return stroke and insufficient charge accumulation near the grounded point in a timely manner. The two-dimensional velocities for the stepped leader of the two main channels are about 1.23×105 and 1.16×105 m s-1, respectively. A sub-branch of stepped leader for the left channel fails to reach the ground and develops into an attempt leader eventually; this might be attributed to the fact that the main branch connects considerably many sub-branches, which leads to the instantaneous decline of the potent展开更多
Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distribute...Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.展开更多
文摘The beneficial acclimation hypothesis (BAH) predicts that animals acclimated to a particular temperature have enhanced performance or fitness at that temperature in comparison with animals acclimated to other temperatures. The BAH has been tested by a variety of empirical examinations, and was rejected by some of them. In order to provide new evidences for the BAH, the effects of acute and acclimation temperature (AT) on locomotor performance of Macrobiotus hufelandi (Tardigrada: Macrobiotidae) were investigated. The tardigrades were collected from Nanwutai, Qinling Mountains which traverse from west to east in central China. The subjects were acclimated to either 2℃ or 22℃ for 2 weeks. The animal was transferred onto a frosted slide and allowed to walk freely at the performance temperature (PT) 2℃ or 22℃. Only one individual was tested per test bout, which lasted from three to five minutes. To avoid occurrence of thermal acclimation effect, the standard adaptation time was limited to 1.5 min. Each subject was tested for once at the same PT, and was tested only at one PT. A total of 25 individuals were tested and measured at the same PT. The locomotor performance of the animals was recorded with a digital video camera mounted on a microscope at 4×10 amplification and replayed on a PC. Every subject was identified. Walking speed (WS) and percentage of time moving (PTM) at both PTs (2℃ or 22℃) were selected as the rate parameters of locomotor performance. The two-way repeated measures ANOVA with a significance level of α= 0.05 and Duncan multiple range test were used to analyze the data. WS of the animals acclimated to and tested at the same temperatures was significantly faster than that for animals acclimated to and tested at the different temperatures, similarly, PTM of the animals acclimated to 22℃ and tested at 22℃ was significantly greater than PTM of animals acclimated to 22℃ and tested at 2℃, which indicated that the animals acclimated to a particular temperature have enhanced locomoto
基金The National Natural Science Foundation of China(No. 60972001 )the Science and Technology Plan of Suzhou City(No. SG201076)
文摘An adaptive human tracking method across spatially separated surveillance cameras with non-overlapping fields of views （FOVs） is proposed. The method relies on the two cues of the human appearance model and spatio-temporal information between cameras. For the human appearance model, an HSV color histogram is extracted from different human body parts （head, torso, and legs）, then a weighted algorithm is used to compute the similarity distance of two people. Finally, a similarity sorting algorithm with two thresholds is exploited to find the correspondence. The spatio- temporal information is established in the learning phase and is updated incrementally according to the latest correspondence. The experimental results prove that the proposed human tracking method is effective without requiring camera calibration and it becomes more accurate over time as new observations are accumulated.
基金supported by the Department of Science and Technology of Jilin Province (No.20200401122GX)。
文摘The performance of decoding algorithm is one of the important influential factors to determine the communication quality of optical camera communication(OCC) system. In this paper, we first propose a decoding algorithm with adaptive thresholding based on the captured pixel values under an ideal environment, and then we further propose a decoding algorithm with multiple features, which is more suitable under the existence of the interference of light sources. The algorithm firstly determines the light-emitting diode(LED) array profile information by removing the interfering light sources through geometric features, and then identifies the LED state by calculating two grayscale features, the average gray ratio(AGR) and the gradient radial inwardness(GRI) of the LEDs, and finally obtains the LED state matrix. The experimental results show that the bit error ratio(BER) of the decoding algorithm with multiple features decreases from 1×10^(-2) to 5×10^(-4) at 80 m.
文摘This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.
基金supported by the National Natural Science Foundations of China (Grants Nos. 11475139, 11365019 & 11605108)the Gansu Provincial Science and Technology Program (Grant No. 1506RJZA119)
文摘Using the optical images of a cloud-to-ground lightning flash with multiple grounding points obtained by a highspeed video system in the Qinghai Province of China along with synchronous radiated electric field information, the propagation characteristic and the electric field change features of the leaders and the grounding behavior of discharge channels are analyzed.In addition, the two-dimensional velocity of the leader was estimated and its correlation with the time interval of the corresponding subsequent return stroke, and that with the peak current of return stroke are investigated. The results show that the average distance between the three obvious grounded points of the first return stroke channel is about 512.7 m, and the average time interval between the pulses of the corresponding electric field fast changes is 3.8 μs. Further, the average time interval between electric field pulses from the stepped leader is smaller than that of normal single grounding lightning. The observed lightning in our study has two main channels, namely the left and right channels. Based on our observations, it is clear that the dart leader comes close to the ground in case of the left channel after the first return stroke, but it fails to form a return stroke.However, the right channel exhibits a relatively rare phenomenon in that the subsequent return stroke R2 occurred about 2.1 ms after the dart leader arrived at the ground, which was unusually long; this phenomenon might be attributed to the strong discharge of the first return stroke and insufficient charge accumulation near the grounded point in a timely manner. The two-dimensional velocities for the stepped leader of the two main channels are about 1.23×105 and 1.16×105 m s-1, respectively. A sub-branch of stepped leader for the left channel fails to reach the ground and develops into an attempt leader eventually; this might be attributed to the fact that the main branch connects considerably many sub-branches, which leads to the instantaneous decline of the potent
基金The National Natural Science Foundation of China (No 60428303)
文摘Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.
