GNSS(global navigation satellite system)observations produce the geodetic position including latitude,longitude,and altitude(or ellipsoidal height)concerning the global reference datum WGS84(Word Geodetic System 1984)...GNSS(global navigation satellite system)observations produce the geodetic position including latitude,longitude,and altitude(or ellipsoidal height)concerning the global reference datum WGS84(Word Geodetic System 1984),which usually should be converted to another local datum to get the desired position meaning in a physical sense,coordinates of points in the local datum are usually calculated by the seven-parameter transformation method.This paper aims to validate the methods of position transformation between WGS84 and the Iraqi local datum Karbala 1979 using the UTM(universal transverse Mercator)projected coordinates directly.The proposed algorithm was tested for 10 ground control points in Erbil city and many selected points in other different cities over all Iraqi territory.The control points are measured by the CHCNAV i73 GNSS receiver.For the evaluation procedure,the RMSE(root mean square error)of the transformed coordinates is calculated with an average value of±10.715 m as an estimated uncertainty of the direct UTM coordinates transformation method over Erbil city territory,and more than±12 m over different places over Iraqi territory.展开更多
In the field of antenna engineering parameter calibration for indoor communication base stations,traditional methods suffer from issues such as low efficiency,poor accuracy,and limited applicability to indoor scenario...In the field of antenna engineering parameter calibration for indoor communication base stations,traditional methods suffer from issues such as low efficiency,poor accuracy,and limited applicability to indoor scenarios.To address these problems,a high-precision and high-efficiency indoor base station parameter calibration method based on laser measurement is proposed.We use a high-precision laser tracker to measure and determine the coordinate system transformation relationship,and further obtain the coordinates and attitude of the base station.In addition,we propose a simple calibration method based on point cloud fitting for specific scenes.Simulation results show that using common commercial laser trackers,we can achieve a coordinate correction accuracy of 1 cm and an angle correction accuracy of 0.25°,which is sufficient to meet the needs of wireless positioning.展开更多
The precise acquisition of the quality characteristic parameters of large aircraft directly affects its performance characteristics.For large aircrafts such as missiles and rockets with internal fillings,traditional m...The precise acquisition of the quality characteristic parameters of large aircraft directly affects its performance characteristics.For large aircrafts such as missiles and rockets with internal fillings,traditional measurement methods involving large-angle tilting or rotation may pose safety risks.In light of the characteristics of large aircraft and in combination with existing measurement methods,we design a mass and centroid measurement method based on four-point support and small-angle tilting,and develop a set of mass and centroid testing system.This method obtains the intersection point of the gravity action line in the product coordinate system through coordinate transformation in two postures,thereby obtaining the three-dimensional centroid of the aircraft.We first elaborate on the principle of this method in detail,then introduce the composition of the equipment,and analyze the structural stress of key components.Finally,experimental verification and uncertainty analysis are carried out.Experimental verification shows that the maximum deviation of the mass measurement accuracy is less than 0.02%,the centroid measurement accuracy in the X direction is±0.15 mm,in the Y direction it is±0.21 mm,and in the Z direction it is±0.19 mm.展开更多
An improved version of the sparse A^(*)algorithm is proposed to address the common issue of excessive expansion of nodes and failure to consider current ship status and parameters in traditional path planning algorith...An improved version of the sparse A^(*)algorithm is proposed to address the common issue of excessive expansion of nodes and failure to consider current ship status and parameters in traditional path planning algorithms.This algorithm considers factors such as initial position and orientation of the ship,safety range,and ship draft to determine the optimal obstacle-avoiding route from the current to the destination point for ship planning.A coordinate transformation algorithm is also applied to convert commonly used latitude and longitude coordinates of ship travel paths to easily utilized and analyzed Cartesian coordinates.The algorithm incorporates a hierarchical chart processing algorithm to handle multilayered chart data.Furthermore,the algorithm considers the impact of ship length on grid size and density when implementing chart gridification,adjusting the grid size and density accordingly based on ship length.Simulation results show that compared to traditional path planning algorithms,the sparse A^(*)algorithm reduces the average number of path points by 25%,decreases the average maximum storage node number by 17%,and raises the average path turning angle by approximately 10°,effectively improving the safety of ship planning paths.展开更多
This study presents a new boundary element method(BEM)framework for the numerical solution of general time-dependent or transient problems.By reformulating the time derivative as a domain integral,the framework effect...This study presents a new boundary element method(BEM)framework for the numerical solution of general time-dependent or transient problems.By reformulating the time derivative as a domain integral,the framework effectively decouples the treatment of spatial and temporal variables,allowing for the independent application of specialized discretization methods.For the temporal domain,we introduce an innovative time-spectral integration technique,which is based on Gaussian-quadrature-based orthogonal polynomial expansions.This method not only achieves arbitrary orders of accuracy but also significantly enhances computational efficiency and stability,particularly for simulations involving rapid transients or long-time dynamic simulations.The domain integrals in the spatial domain are calculated using the scaled coordinate transformation BEM(SCT-BEM),a mathematically rigorous technique that converts domain integrals into equivalent boundary integrals,preserving the boundary-only discretization advantage inherent in BEM.Numerical experiments on transient heat conduction and dynamic wave propagation further demonstrate the framework’s performance and capabilities.These experiments show that the proposed framework outperforms traditional time-stepping BEM methods,particularly in terms of stability,convergence rates,and computational cost,making it a highly promising tool for practical engineering applications.展开更多
In vivo imaging of human iris vasculature remains a persistent challenge,limiting our understanding of its relationship with ocular disease pathogenesis.Conventional raster scan optical coherence tomography angiograph...In vivo imaging of human iris vasculature remains a persistent challenge,limiting our understanding of its relationship with ocular disease pathogenesis.Conventional raster scan optical coherence tomography angiography(OCTA)suffers from angular-dependent contrast(including blind spots),limited field of view,and prolonged imaging time—challenges that restrict its clinical utility.We introduce a circular interleaving scan OCTA method that overcomes these barriers by enabling 360 deg high-contrast iris angiography with consistent spatiotemporal sampling and optimized motion contrast.The circular scan design enables directionoptimized sampling:we configured circumferential sampling density to approximately twice the radial density,enhancing detection of radially oriented iris vasculature.A Cartesian–polar coordinate transformation was implemented for eye-motion compensation,vessel realignment,and vasculature reconstruction.Compared with raster scan OCTA,our circular scan protocol demonstrates 1.55×higher efficiency in iris vascular imaging,featuring a superior duty cycle(99.95%versus 82.00%)and eliminating redundant data acquisition from rectangular field corners(27.3%of the circular area).This method improves vessel density measurement by 39.0%and vessel count quantification by 25.2%relative to raster scans.By eliminating angular-dependent blind spots,our method significantly enhances vascular quantification reliability,paving the way to a better understanding of ocular diseases and holding promising potential for future clinical applications.展开更多
Magnetic interference represents the primary constraint on data accuracy in aeromagnetic gradient measurements.Focusing on superconducting quantum interference devices(SQUIDs),this study develops a magnetic gradient d...Magnetic interference represents the primary constraint on data accuracy in aeromagnetic gradient measurements.Focusing on superconducting quantum interference devices(SQUIDs),this study develops a magnetic gradient data compensation method utilizing single-channel signals from SQUID aeromagnetic gradiometers.The approach initiates with calculating the Earth's background reference magnetic field,its gradient field,and temporal variation rate within the flight platform's coordinate system,enabling compensation correction for three-component magnetometer data.These compensated fields subsequently facilitate single-channel gradiometer data compensation;the processed gradient data then undergoes low-pass filtering and quality evaluation.This systematic compensation framework achieves a root mean square(RMS)of 16 pT/m with an improvement ratio(IR)of 2.3×10^(3),effectively mitigating system and environmental noise across measurement platforms while significantly enhancing compensation accuracy and reliability for SQUID aeromagnetic gradiometers.展开更多
Presently the research based on the accurate seismic imaging methods for surface relief, complex structure, and complicated velocity distributions is of great significance. Reverse-time migration is considered to be o...Presently the research based on the accurate seismic imaging methods for surface relief, complex structure, and complicated velocity distributions is of great significance. Reverse-time migration is considered to be one of highly accurate methods. In this paper, we propose a new non-reflecting recursive algorithm for reverse-time migration by introducing the wave impedance function into the acoustic wave equation and the algorithm for the surface relief case is derived from the coordinate transformation principle. Using the exploding reflector principle and the zero-time imaging condition of poststack reverse- time migration, poststack numerical simulation and reverse-time migration with complex conditions can be realized. The results of synthetic and real data calculations show that the method effectively suppresses unwanted internal reflections and also deals with the seismic imaging problems resulting from surface relief. So, we prove that this method has strong adaptability and practicality.展开更多
The similarity transformation model between different coordinate systems is not accurate enough to describe the discrepancy of them.Therefore,the coordinate transformation from the coordinate frame with poor accuracy ...The similarity transformation model between different coordinate systems is not accurate enough to describe the discrepancy of them.Therefore,the coordinate transformation from the coordinate frame with poor accuracy to that with high accuracy cannot guarantee a high precision of transformation.In this paper,a combined method of similarity transformation and regressive approximating is presented.The local error accumulation and distortion are taken into consideration and the precision of coordinate system is improved by using the recommended method展开更多
By introducing a new tortoise coordinate transformation, we investigate the quantum thermal and non-thermal radiations of a non-stationary Kerr-Newman-de Sitter black hole. The accurate location and radiate temperatur...By introducing a new tortoise coordinate transformation, we investigate the quantum thermal and non-thermal radiations of a non-stationary Kerr-Newman-de Sitter black hole. The accurate location and radiate temperature of the event horizon as well as the maximum energy of the non-thermal radiation are derived. It is shown that the radiate temperature and the maximum energy are related to not only the evaporation rate, but also the shape of the event horizon, moreover the maximum energy depends on the electromagnetic potential. Finally, we use the results to reduce the non-stationary Kerr-Newman black hole, the non-stationary Kerr black hole, the stationary Kerr-Newman-de Sitter black hole, and the static Schwarzshild black hole.展开更多
The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the t...The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point（TCP） coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.展开更多
This study presents an AI-based constitutive modelling framework wherein the prediction model directly learns from triaxial testing data by combining discrete element modelling(DEM)and deep learning.A constitutive lea...This study presents an AI-based constitutive modelling framework wherein the prediction model directly learns from triaxial testing data by combining discrete element modelling(DEM)and deep learning.A constitutive learning strategy is proposed based on the generally accepted frame-indifference assumption in constructing material constitutive models.The low-dimensional principal stress-strain sequence pairs,measured from discrete element modelling of triaxial testing,are used to train recurrent neural networks,and then the predicted principal stress sequence is augmented to other high-dimensional or general stress tensor via coordinate transformation.Through detailed hyperparameter investigations,it is found that long short-term memory(LSTM)and gated recurrent unit(GRU)networks have similar prediction performance in constitutive modelling problems,and both satisfactorily predict the stress responses of granular materials subjected to a given unseen strain path.Furthermore,the unique merits and ongoing challenges of data-driven constitutive models for granular materials are discussed.展开更多
On the basis of the results of improved analytical expression of computation of gravity anomalies due to a homogeneous polyhedral body composed of polygonal facets, and applying the forward theory with the coordinate ...On the basis of the results of improved analytical expression of computation of gravity anomalies due to a homogeneous polyhedral body composed of polygonal facets, and applying the forward theory with the coordinate transformation of vectors and tensors, we deduced both the analytical expressions for gravity gradient tensors and for magnetic anomalies of a polygon, and obtained new analytical expressions for computing vertical gradients of gravity anomalies and vertical component of magnetic anomalies caused by a polyhedral body. And also we developed explicitly the complete unified expressions for the calculation of gravity anomalies, gravity gradient, and magnetic anomalies due to the homogeneous polyhedron. Furthermore, we deduced new analytical expressions for computing vertical gradients of gravity anomalies due to a finite rectangular prism by applying the newly obtained expressions for gravity gradient tensors due to a polyhedral target body. Comparison with forward calculation of models shows the correctness of these new expressions. It will reduce forward calculation time of gravity-magnetic anomalies and improve computational efficiency by applying our unified expressions for joint forward modeling of gravity-magnetic anomalies due to homogeneous polyhedral bodies.展开更多
Due to the randomness of earthquake wave magnitude and direction, and the uncertain direction of strong axis and weak axis in the construction of engineering structures, the effect of the direction of ground motion on...Due to the randomness of earthquake wave magnitude and direction, and the uncertain direction of strong axis and weak axis in the construction of engineering structures, the effect of the direction of ground motion on a structure are studied herein. Ground motion records usually contain three vertical ground motion data, which are obtained by sensors arranged in accordance with the EW （East -West） direction, NS （South- North） direction and perpendicular to the surface （z） direction, referring to the construction standard of seismic stations. The seismic records in the EW and NS directions are converted to Cartesian coordinates in accordance with the rotation of θ = 0°-180°, and consequently, a countless group of new ground motion time histories are obtained. Then, the characteristics of the ground motion time history and response spectrum of each group were studied, resulting in the following observations： （1） the peak and phase of ground motion are changed with the rotation of direction θ, so that the direction θ of the maximum peak ground motion can be determined; （2） response spectrum values of each group of ground motions change along with the direction θ, and their peak, predominant period and declining curve are also different as the changes occur; then, the angle θ in the direction of the maximum peak value or the widest predominant period can be determined; and （3） the seismic response of structures with different directions of ground motion inputs has been analyzed under the same earthquake record, and the results show the difference. For some ground motion records, such as the Taft seismic wave, these differences are significant. Next, the Lushan middle school gymnasium structure was analyzed and the calculation was checked using the proposed method, where the internal force of the upper space truss varied from 25% to 28%. The research results presented herein can be used for reference in choosing the ground motion when checking the actual damage to structures following earthquakes and explaining the seismic damage. Meanwhile, it also provides a reference value for research into the most severe ground motion.展开更多
Due to the deficiency of sliding Lagrange polynomial interpolation, the author proposes a new interpolation method, which considers the physical character of satellite movement in coordinate transformation and reasona...Due to the deficiency of sliding Lagrange polynomial interpolation, the author proposes a new interpolation method, which considers the physical character of satellite movement in coordinate transformation and reasonable selection of interpolation function. Precision of the two methods is compared by a numerical example. The result shows that the new method is superior to the sliding Lagrange polynomial interpolation in interpolation and extrapolation, especially in extrapolation that is over short time spans.展开更多
A dual-CCD simulating human eyes and neck (DSHEN) vision system is putforward. Its structure and principle are introduced. The DSREN vision system can perform somemovements simulating human eyes and neck by means of f...A dual-CCD simulating human eyes and neck (DSHEN) vision system is putforward. Its structure and principle are introduced. The DSREN vision system can perform somemovements simulating human eyes and neck by means of four rotating joints, and realize preciseobject recognizing and distance measuring in all orientations. The mathematic model of the DSHENvision system is built, and its movement equation is solved. The coordinate error and measureprecision affected by the movement parameters are analyzed by means of intersection measuringmethod. So a theoretic foundation for further research on automatic object recognizing and precisetarget tracking is provided.展开更多
When linearizing three-dimensional(3 D)coordinate similarity transformation model with large rotations,we usually encounter the ill-posed normal matrix which may aggravate the instability of solutions.To alleviate the...When linearizing three-dimensional(3 D)coordinate similarity transformation model with large rotations,we usually encounter the ill-posed normal matrix which may aggravate the instability of solutions.To alleviate the problem,a series of conversions are contributed to the 3 D coordinate similarity transformation model in this paper.We deduced a complete solution for the 3 D coordinate similarity transformation at any rotation with the nonlinear adjustment methodology,which involves the errors of the common and the non-common points.Furthermore,as the large condition number of the normal matrix resulted in an intractable form,we introduced the bary-centralization technique and a surrogate process for deterministic element of the normal matrix,and proved its benefit for alleviating the condition number.The experimental results show that our approach can obtain the smaller condition number to stabilize the convergence of the interested parameters.Especially,our approach can be implemented for considering the errors of the common and the non-common points,thus the accuracy of the transformed coordinates improves.展开更多
Density functional theory calculations were carried out to investigate the influence of doping transition metal(TM) ions into the ceria surface on the activation of surface lattice oxygen atoms. For this purpose, the ...Density functional theory calculations were carried out to investigate the influence of doping transition metal(TM) ions into the ceria surface on the activation of surface lattice oxygen atoms. For this purpose, the structure and stability of the most stable(111) surface termination of CeO2 modified by TM ions was determined. Except for Zr and Pt dopants that preserve octahedral oxygen coordination, the TM dopants prefer a square-planar coordination when substituting the surface Ce ions. The surface construction from octahedral to square-planar is facile for all TM dopants, except for Pt(1.14 e V) and Zr(square-planar coordination unstable). Typically, the ionic radius of tetravalent TM cations is much smaller than that of Ce4+, resulting a significant tensile-strained lattice and explaining the lowered oxygen vacancy formation energy. Except for Zr, the square-planar structure is the preferred one when one oxygen vacancy is created. Thermodynamic analysis shows that TM-doped CeO2 surfaces contain oxygen defects under typical conditions of environmental catalysis. A case of practical importance is the facile lattice oxygen activation in Zr-doped CeO2(111), which benefits CO oxidation. The findings emphasize the origin of lattice oxygen activation and the preferred location of TM dopants in TM-ceria solid solution catalysts.展开更多
In the laser displacement sensors measurement system,the laser beam direction is an important parameter.Particularly,the azimuth and pitch angles are the most important parameters to a laser beam.In this paper,based o...In the laser displacement sensors measurement system,the laser beam direction is an important parameter.Particularly,the azimuth and pitch angles are the most important parameters to a laser beam.In this paper,based on monocular vision,a laser beam direction measurement method is proposed.First,place the charge coupled device(CCD)camera above the base plane,and adjust and fix the camera position so that the optical axis is nearly perpendicular to the base plane.The monocular vision localization model is established by using circular aperture calibration board.Then the laser beam generating device is placed and maintained on the base plane at fixed position.At the same time a special target block is placed on the base plane so that the laser beam can project to the special target and form a laser spot.The CCD camera placed above the base plane can acquire the laser spot and the image of the target block clearly,so the two-dimensional(2D)image coordinate of the centroid of the laser spot can be extracted by correlation algorithm.The target is moved at an equal distance along the laser beam direction,and the spots and target images of each moving under the current position are collected by the CCD camera.By using the relevant transformation formula and combining the intrinsic parameters of the target block,the2D coordinates of the gravity center of the spot are converted to the three-dimensional(3D)coordinate in the base plane.Because of the moving of the target,the3D coordinates of the gravity center of the laser spot at different positions are obtained,and these3D coordinates are synthesized into a space straight line to represent the laser beam to be measured.In the experiment,the target parameters are measured by high-precision instruments,and the calibration parameters of the camera are calibrated by a high-precision calibration board to establish the corresponding positioning model.The measurement accuracy is mainly guaranteed by the monocular vision positioning accuracy and the gravity center extraction accuracy.The experimental results show the maximum error of the angle between laser beams reaches to0.04°and the maximum error of beam pitch angle reaches to0.02°.展开更多
The characteristics of three-dimensional （3-D） tidal current in the Oujiang Estuary are investigated according to in situ observations. The Oujiang Estuary has features of irregular coastline, complex topography, ma...The characteristics of three-dimensional （3-D） tidal current in the Oujiang Estuary are investigated according to in situ observations. The Oujiang Estuary has features of irregular coastline, complex topography, many islands, moveable boundary, and submerged dyke, therefore, σ 3-D numerical model oil an unstructured triangular grid has been degeloped. The σ coordinate transforination, the moveable boundary and submerged dyke treatment techniques were employed in the model so it is suitable for the tidal simulations in the Oujing Estuary with submerged dyke and moveable boundary problems. The model is evaluated with the in situ data, and the results show that the calculated water elevations at 19 stations and currents at 19 profiler stations are in good agreement with measured data both in magnitude and phase. This numerical model is applied to the 3-D tidal circulation simulations of experiments in stopping flow transport through the South Branch of the Oujiang Estuary, and the feasibility to cutoff the flow in the South Branch of the Oujiang Estuary is demonstrated by numerical simulation experiments. The developed numerical model simulated the 3-D tidal current circulations in complicated coastal and estuarine waters very well.展开更多
文摘GNSS(global navigation satellite system)observations produce the geodetic position including latitude,longitude,and altitude(or ellipsoidal height)concerning the global reference datum WGS84(Word Geodetic System 1984),which usually should be converted to another local datum to get the desired position meaning in a physical sense,coordinates of points in the local datum are usually calculated by the seven-parameter transformation method.This paper aims to validate the methods of position transformation between WGS84 and the Iraqi local datum Karbala 1979 using the UTM(universal transverse Mercator)projected coordinates directly.The proposed algorithm was tested for 10 ground control points in Erbil city and many selected points in other different cities over all Iraqi territory.The control points are measured by the CHCNAV i73 GNSS receiver.For the evaluation procedure,the RMSE(root mean square error)of the transformed coordinates is calculated with an average value of±10.715 m as an estimated uncertainty of the direct UTM coordinates transformation method over Erbil city territory,and more than±12 m over different places over Iraqi territory.
基金supported by the National Natural Science Foundation of China under Grant No.62471381the ZTE Industry-University-Institute Cooperation Funds.
文摘In the field of antenna engineering parameter calibration for indoor communication base stations,traditional methods suffer from issues such as low efficiency,poor accuracy,and limited applicability to indoor scenarios.To address these problems,a high-precision and high-efficiency indoor base station parameter calibration method based on laser measurement is proposed.We use a high-precision laser tracker to measure and determine the coordinate system transformation relationship,and further obtain the coordinates and attitude of the base station.In addition,we propose a simple calibration method based on point cloud fitting for specific scenes.Simulation results show that using common commercial laser trackers,we can achieve a coordinate correction accuracy of 1 cm and an angle correction accuracy of 0.25°,which is sufficient to meet the needs of wireless positioning.
基金supported by National Natural Science Foundation of China-Youth Program(No.62303420)。
文摘The precise acquisition of the quality characteristic parameters of large aircraft directly affects its performance characteristics.For large aircrafts such as missiles and rockets with internal fillings,traditional measurement methods involving large-angle tilting or rotation may pose safety risks.In light of the characteristics of large aircraft and in combination with existing measurement methods,we design a mass and centroid measurement method based on four-point support and small-angle tilting,and develop a set of mass and centroid testing system.This method obtains the intersection point of the gravity action line in the product coordinate system through coordinate transformation in two postures,thereby obtaining the three-dimensional centroid of the aircraft.We first elaborate on the principle of this method in detail,then introduce the composition of the equipment,and analyze the structural stress of key components.Finally,experimental verification and uncertainty analysis are carried out.Experimental verification shows that the maximum deviation of the mass measurement accuracy is less than 0.02%,the centroid measurement accuracy in the X direction is±0.15 mm,in the Y direction it is±0.21 mm,and in the Z direction it is±0.19 mm.
基金Supported by the Tianjin University of Technology Graduate R esearch Innovation Project(YJ2281).
文摘An improved version of the sparse A^(*)algorithm is proposed to address the common issue of excessive expansion of nodes and failure to consider current ship status and parameters in traditional path planning algorithms.This algorithm considers factors such as initial position and orientation of the ship,safety range,and ship draft to determine the optimal obstacle-avoiding route from the current to the destination point for ship planning.A coordinate transformation algorithm is also applied to convert commonly used latitude and longitude coordinates of ship travel paths to easily utilized and analyzed Cartesian coordinates.The algorithm incorporates a hierarchical chart processing algorithm to handle multilayered chart data.Furthermore,the algorithm considers the impact of ship length on grid size and density when implementing chart gridification,adjusting the grid size and density accordingly based on ship length.Simulation results show that compared to traditional path planning algorithms,the sparse A^(*)algorithm reduces the average number of path points by 25%,decreases the average maximum storage node number by 17%,and raises the average path turning angle by approximately 10°,effectively improving the safety of ship planning paths.
基金supported by the National Natural Science Foundation of China(Grant Nos.12372199,12422207,and W2431010)the Natural Science Foundation of Shandong Province of China(Grant No.ZR2021JQ02)the Ningbo Municipal Excellence Research Program(Zhejiang Province,China).
文摘This study presents a new boundary element method(BEM)framework for the numerical solution of general time-dependent or transient problems.By reformulating the time derivative as a domain integral,the framework effectively decouples the treatment of spatial and temporal variables,allowing for the independent application of specialized discretization methods.For the temporal domain,we introduce an innovative time-spectral integration technique,which is based on Gaussian-quadrature-based orthogonal polynomial expansions.This method not only achieves arbitrary orders of accuracy but also significantly enhances computational efficiency and stability,particularly for simulations involving rapid transients or long-time dynamic simulations.The domain integrals in the spatial domain are calculated using the scaled coordinate transformation BEM(SCT-BEM),a mathematically rigorous technique that converts domain integrals into equivalent boundary integrals,preserving the boundary-only discretization advantage inherent in BEM.Numerical experiments on transient heat conduction and dynamic wave propagation further demonstrate the framework’s performance and capabilities.These experiments show that the proposed framework outperforms traditional time-stepping BEM methods,particularly in terms of stability,convergence rates,and computational cost,making it a highly promising tool for practical engineering applications.
基金supported by the National Key Research and Development Program of China(Grant No.2021YFF0502900)the National Natural Science Foundation of China(Grant Nos.62575066 and 62027824)+3 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant No.2024A1515011344)the Innovation and Entrepreneurship Teams Project of Guangdong Pearl River Talents Program(Grant No.2019ZT08Y105)the Guangdong-Hong Kong-Macao Intelligent Micro-Nano Optoelectronic Technology Joint Laboratory(Grant No.2020B1212030010)the National Institutes of Health/National Eye Institute(NIH/NEI)(Grant Nos.P30EY07551,R01EY022362,and R01EY022362).
文摘In vivo imaging of human iris vasculature remains a persistent challenge,limiting our understanding of its relationship with ocular disease pathogenesis.Conventional raster scan optical coherence tomography angiography(OCTA)suffers from angular-dependent contrast(including blind spots),limited field of view,and prolonged imaging time—challenges that restrict its clinical utility.We introduce a circular interleaving scan OCTA method that overcomes these barriers by enabling 360 deg high-contrast iris angiography with consistent spatiotemporal sampling and optimized motion contrast.The circular scan design enables directionoptimized sampling:we configured circumferential sampling density to approximately twice the radial density,enhancing detection of radially oriented iris vasculature.A Cartesian–polar coordinate transformation was implemented for eye-motion compensation,vessel realignment,and vasculature reconstruction.Compared with raster scan OCTA,our circular scan protocol demonstrates 1.55×higher efficiency in iris vascular imaging,featuring a superior duty cycle(99.95%versus 82.00%)and eliminating redundant data acquisition from rectangular field corners(27.3%of the circular area).This method improves vessel density measurement by 39.0%and vessel count quantification by 25.2%relative to raster scans.By eliminating angular-dependent blind spots,our method significantly enhances vascular quantification reliability,paving the way to a better understanding of ocular diseases and holding promising potential for future clinical applications.
基金supported by National Key Research and Development Program of China 2018YFC1406101。
文摘Magnetic interference represents the primary constraint on data accuracy in aeromagnetic gradient measurements.Focusing on superconducting quantum interference devices(SQUIDs),this study develops a magnetic gradient data compensation method utilizing single-channel signals from SQUID aeromagnetic gradiometers.The approach initiates with calculating the Earth's background reference magnetic field,its gradient field,and temporal variation rate within the flight platform's coordinate system,enabling compensation correction for three-component magnetometer data.These compensated fields subsequently facilitate single-channel gradiometer data compensation;the processed gradient data then undergoes low-pass filtering and quality evaluation.This systematic compensation framework achieves a root mean square(RMS)of 16 pT/m with an improvement ratio(IR)of 2.3×10^(3),effectively mitigating system and environmental noise across measurement platforms while significantly enhancing compensation accuracy and reliability for SQUID aeromagnetic gradiometers.
基金supported by the National Natural Science Foundation of China (Grant No. 40974073)the National 863 Program (Grant No.2007AA060504)the National 973 Program (Grant No. 2007CB209605) and CNPC Geophysical Laboratories
文摘Presently the research based on the accurate seismic imaging methods for surface relief, complex structure, and complicated velocity distributions is of great significance. Reverse-time migration is considered to be one of highly accurate methods. In this paper, we propose a new non-reflecting recursive algorithm for reverse-time migration by introducing the wave impedance function into the acoustic wave equation and the algorithm for the surface relief case is derived from the coordinate transformation principle. Using the exploding reflector principle and the zero-time imaging condition of poststack reverse- time migration, poststack numerical simulation and reverse-time migration with complex conditions can be realized. The results of synthetic and real data calculations show that the method effectively suppresses unwanted internal reflections and also deals with the seismic imaging problems resulting from surface relief. So, we prove that this method has strong adaptability and practicality.
文摘The similarity transformation model between different coordinate systems is not accurate enough to describe the discrepancy of them.Therefore,the coordinate transformation from the coordinate frame with poor accuracy to that with high accuracy cannot guarantee a high precision of transformation.In this paper,a combined method of similarity transformation and regressive approximating is presented.The local error accumulation and distortion are taken into consideration and the precision of coordinate system is improved by using the recommended method
基金Project supported by the National Natural Science Foundation of China （Grant No 10347008）.
文摘By introducing a new tortoise coordinate transformation, we investigate the quantum thermal and non-thermal radiations of a non-stationary Kerr-Newman-de Sitter black hole. The accurate location and radiate temperature of the event horizon as well as the maximum energy of the non-thermal radiation are derived. It is shown that the radiate temperature and the maximum energy are related to not only the evaporation rate, but also the shape of the event horizon, moreover the maximum energy depends on the electromagnetic potential. Finally, we use the results to reduce the non-stationary Kerr-Newman black hole, the non-stationary Kerr black hole, the stationary Kerr-Newman-de Sitter black hole, and the static Schwarzshild black hole.
基金Supported by International S&T Cooperation Program of China(Grant No.2012DFA70260)High-end CNC Machine and Basic Manufacturing Equipment of Chinese Key National Science and Technology(Grant No.2011ZX04014-081)
文摘The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point（TCP） coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.
基金This work is partially supported by the National Natural Science Foundation of China(NSFC)(Grant Nos.41606213,51639004 and 12072217).
文摘This study presents an AI-based constitutive modelling framework wherein the prediction model directly learns from triaxial testing data by combining discrete element modelling(DEM)and deep learning.A constitutive learning strategy is proposed based on the generally accepted frame-indifference assumption in constructing material constitutive models.The low-dimensional principal stress-strain sequence pairs,measured from discrete element modelling of triaxial testing,are used to train recurrent neural networks,and then the predicted principal stress sequence is augmented to other high-dimensional or general stress tensor via coordinate transformation.Through detailed hyperparameter investigations,it is found that long short-term memory(LSTM)and gated recurrent unit(GRU)networks have similar prediction performance in constitutive modelling problems,and both satisfactorily predict the stress responses of granular materials subjected to a given unseen strain path.Furthermore,the unique merits and ongoing challenges of data-driven constitutive models for granular materials are discussed.
基金This paper is supported by the National Natural Science Foundation of China (No.40374039)Program for New Century Excellent Talents in University (No. NCET-04-0726)the Focused Subject Program of Beijing (No. XK104910598).
文摘On the basis of the results of improved analytical expression of computation of gravity anomalies due to a homogeneous polyhedral body composed of polygonal facets, and applying the forward theory with the coordinate transformation of vectors and tensors, we deduced both the analytical expressions for gravity gradient tensors and for magnetic anomalies of a polygon, and obtained new analytical expressions for computing vertical gradients of gravity anomalies and vertical component of magnetic anomalies caused by a polyhedral body. And also we developed explicitly the complete unified expressions for the calculation of gravity anomalies, gravity gradient, and magnetic anomalies due to the homogeneous polyhedron. Furthermore, we deduced new analytical expressions for computing vertical gradients of gravity anomalies due to a finite rectangular prism by applying the newly obtained expressions for gravity gradient tensors due to a polyhedral target body. Comparison with forward calculation of models shows the correctness of these new expressions. It will reduce forward calculation time of gravity-magnetic anomalies and improve computational efficiency by applying our unified expressions for joint forward modeling of gravity-magnetic anomalies due to homogeneous polyhedral bodies.
基金National Technology Research and Development Program of the Ministry of Science and Technology of China under Grant No.2015BAK17B03National Natural Science Foundation of China(General Program)under Grant No.51278152+1 种基金National Science & Technology Pillar Program(2015BAK17B06)Program for Innovation Research Team in China Earthquake Administration
文摘Due to the randomness of earthquake wave magnitude and direction, and the uncertain direction of strong axis and weak axis in the construction of engineering structures, the effect of the direction of ground motion on a structure are studied herein. Ground motion records usually contain three vertical ground motion data, which are obtained by sensors arranged in accordance with the EW （East -West） direction, NS （South- North） direction and perpendicular to the surface （z） direction, referring to the construction standard of seismic stations. The seismic records in the EW and NS directions are converted to Cartesian coordinates in accordance with the rotation of θ = 0°-180°, and consequently, a countless group of new ground motion time histories are obtained. Then, the characteristics of the ground motion time history and response spectrum of each group were studied, resulting in the following observations： （1） the peak and phase of ground motion are changed with the rotation of direction θ, so that the direction θ of the maximum peak ground motion can be determined; （2） response spectrum values of each group of ground motions change along with the direction θ, and their peak, predominant period and declining curve are also different as the changes occur; then, the angle θ in the direction of the maximum peak value or the widest predominant period can be determined; and （3） the seismic response of structures with different directions of ground motion inputs has been analyzed under the same earthquake record, and the results show the difference. For some ground motion records, such as the Taft seismic wave, these differences are significant. Next, the Lushan middle school gymnasium structure was analyzed and the calculation was checked using the proposed method, where the internal force of the upper space truss varied from 25% to 28%. The research results presented herein can be used for reference in choosing the ground motion when checking the actual damage to structures following earthquakes and explaining the seismic damage. Meanwhile, it also provides a reference value for research into the most severe ground motion.
基金supported by the PhD Excellence Fund of Information Engineering University(S201307)
文摘Due to the deficiency of sliding Lagrange polynomial interpolation, the author proposes a new interpolation method, which considers the physical character of satellite movement in coordinate transformation and reasonable selection of interpolation function. Precision of the two methods is compared by a numerical example. The result shows that the new method is superior to the sliding Lagrange polynomial interpolation in interpolation and extrapolation, especially in extrapolation that is over short time spans.
基金Aerospace Technology Support Foundation (No.HT2001-zjdx)Science and Technology Development Project of Hangzhou City(No.2001121C42)
文摘A dual-CCD simulating human eyes and neck (DSHEN) vision system is putforward. Its structure and principle are introduced. The DSREN vision system can perform somemovements simulating human eyes and neck by means of four rotating joints, and realize preciseobject recognizing and distance measuring in all orientations. The mathematic model of the DSHENvision system is built, and its movement equation is solved. The coordinate error and measureprecision affected by the movement parameters are analyzed by means of intersection measuringmethod. So a theoretic foundation for further research on automatic object recognizing and precisetarget tracking is provided.
基金supported by the National Natural Science Foundation of China,Nos.41874001 and 41664001Support Program for Outstanding Youth Talents in Jiangxi Province,No.20162BCB23050National Key Research and Development Program,No.2016YFB0501405。
文摘When linearizing three-dimensional(3 D)coordinate similarity transformation model with large rotations,we usually encounter the ill-posed normal matrix which may aggravate the instability of solutions.To alleviate the problem,a series of conversions are contributed to the 3 D coordinate similarity transformation model in this paper.We deduced a complete solution for the 3 D coordinate similarity transformation at any rotation with the nonlinear adjustment methodology,which involves the errors of the common and the non-common points.Furthermore,as the large condition number of the normal matrix resulted in an intractable form,we introduced the bary-centralization technique and a surrogate process for deterministic element of the normal matrix,and proved its benefit for alleviating the condition number.The experimental results show that our approach can obtain the smaller condition number to stabilize the convergence of the interested parameters.Especially,our approach can be implemented for considering the errors of the common and the non-common points,thus the accuracy of the transformed coordinates improves.
基金supported by The Netherlands Organization for Scientific Research(NWO)through a Vici grant and Nuffic fundingfunding from the European Union’s Horizon 2020 research and innovation programme under grant No.686086(Partial-PGMs)。
文摘Density functional theory calculations were carried out to investigate the influence of doping transition metal(TM) ions into the ceria surface on the activation of surface lattice oxygen atoms. For this purpose, the structure and stability of the most stable(111) surface termination of CeO2 modified by TM ions was determined. Except for Zr and Pt dopants that preserve octahedral oxygen coordination, the TM dopants prefer a square-planar coordination when substituting the surface Ce ions. The surface construction from octahedral to square-planar is facile for all TM dopants, except for Pt(1.14 e V) and Zr(square-planar coordination unstable). Typically, the ionic radius of tetravalent TM cations is much smaller than that of Ce4+, resulting a significant tensile-strained lattice and explaining the lowered oxygen vacancy formation energy. Except for Zr, the square-planar structure is the preferred one when one oxygen vacancy is created. Thermodynamic analysis shows that TM-doped CeO2 surfaces contain oxygen defects under typical conditions of environmental catalysis. A case of practical importance is the facile lattice oxygen activation in Zr-doped CeO2(111), which benefits CO oxidation. The findings emphasize the origin of lattice oxygen activation and the preferred location of TM dopants in TM-ceria solid solution catalysts.
基金National Science and Technology Major Project of China(No.2016ZX04003001)Tianjin Research Program of Application Foundation and Advanced Technology(No.14JCZDJC39700)
文摘In the laser displacement sensors measurement system,the laser beam direction is an important parameter.Particularly,the azimuth and pitch angles are the most important parameters to a laser beam.In this paper,based on monocular vision,a laser beam direction measurement method is proposed.First,place the charge coupled device(CCD)camera above the base plane,and adjust and fix the camera position so that the optical axis is nearly perpendicular to the base plane.The monocular vision localization model is established by using circular aperture calibration board.Then the laser beam generating device is placed and maintained on the base plane at fixed position.At the same time a special target block is placed on the base plane so that the laser beam can project to the special target and form a laser spot.The CCD camera placed above the base plane can acquire the laser spot and the image of the target block clearly,so the two-dimensional(2D)image coordinate of the centroid of the laser spot can be extracted by correlation algorithm.The target is moved at an equal distance along the laser beam direction,and the spots and target images of each moving under the current position are collected by the CCD camera.By using the relevant transformation formula and combining the intrinsic parameters of the target block,the2D coordinates of the gravity center of the spot are converted to the three-dimensional(3D)coordinate in the base plane.Because of the moving of the target,the3D coordinates of the gravity center of the laser spot at different positions are obtained,and these3D coordinates are synthesized into a space straight line to represent the laser beam to be measured.In the experiment,the target parameters are measured by high-precision instruments,and the calibration parameters of the camera are calibrated by a high-precision calibration board to establish the corresponding positioning model.The measurement accuracy is mainly guaranteed by the monocular vision positioning accuracy and the gravity center extraction accuracy.The experimental results show the maximum error of the angle between laser beams reaches to0.04°and the maximum error of beam pitch angle reaches to0.02°.
基金The Natural Science Foundation of Tianjin, China under contract No.08JCZDZT00200
文摘The characteristics of three-dimensional （3-D） tidal current in the Oujiang Estuary are investigated according to in situ observations. The Oujiang Estuary has features of irregular coastline, complex topography, many islands, moveable boundary, and submerged dyke, therefore, σ 3-D numerical model oil an unstructured triangular grid has been degeloped. The σ coordinate transforination, the moveable boundary and submerged dyke treatment techniques were employed in the model so it is suitable for the tidal simulations in the Oujing Estuary with submerged dyke and moveable boundary problems. The model is evaluated with the in situ data, and the results show that the calculated water elevations at 19 stations and currents at 19 profiler stations are in good agreement with measured data both in magnitude and phase. This numerical model is applied to the 3-D tidal circulation simulations of experiments in stopping flow transport through the South Branch of the Oujiang Estuary, and the feasibility to cutoff the flow in the South Branch of the Oujiang Estuary is demonstrated by numerical simulation experiments. The developed numerical model simulated the 3-D tidal current circulations in complicated coastal and estuarine waters very well.
