Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable track...Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable tracking,including maintaining continuous target visibility amidst occlusions,ensuring flight safety,and achieving smooth trajectory planning.This paper reviews the latest advancements in UAV-based target tracking,highlighting information prediction,tracking strategies,and swarm cooperation.To address challenges including target visibility and occlusion,real-time prediction and tracking in dynamic environments,flight safety and coordination,resource management and energy efficiency,the paper identifies future research directions aimed at improving the performance,reliability,and scalability of UAV tracking system.展开更多
In daily life,human need various senses to obtain information about their surroundings,and touch is one of the five major human sensing signals.Similarly,it is extremely important for robots to be endowed with tactile...In daily life,human need various senses to obtain information about their surroundings,and touch is one of the five major human sensing signals.Similarly,it is extremely important for robots to be endowed with tactile sensing ability.In recent years,vision-based tactile sensing technology has been the research hotspot and frontier in the field of tactile perception.Compared to conventional tactile sensing technologies,vision-based tactile sensing technologies are capable of obtaining highquality and high-resolution tactile information at a lower cost,while not being limited by the size and shape of sensors.Several previous articles have reviewed the sensing mechanism and electrical components of vision-based sensors,greatly promoting the innovation of tactile sensing.Different from existing reviews,this article concentrates on the underlying tracking method which converts real-time images into deformation information,including contact,sliding and friction.We will show the history and development of both model-based and model-free tracking methods,among which model-based approaches rely on schematic mechanical theories,and model-free approaches mainly involve machine learning algorithms.Comparing the efficiency and accuracy of existing deformation tracking methods,future research directions of vision-based tactile sensors for smart manipulations and robots are also discussed.展开更多
Recent years the modify ghost fluid method （MGFM） and the real ghost fluid method （RGFM） based on Riemann problem have been developed for multimedium compressible flows. According to authors, these methods have on...Recent years the modify ghost fluid method （MGFM） and the real ghost fluid method （RGFM） based on Riemann problem have been developed for multimedium compressible flows. According to authors, these methods have only been used with the level set technique to track the interface. In this paper, we combine the MCFM and the RGFM respectively with front tracking method, for which the fluid interfaces are explicitly tracked by connected points. The method is tested with some one-dimensional problems, and its applicability is also studied. Furthermore, in order to capture the interface more accurately, especially for strong shock impacting on interface, a shock monitor is proposed to determine the initial states of the Riemann problem. The present method is applied to various one- dimensional problems involving strong shock-interface interaction. An extension of the present method to two dimension is also introduced and preliminary results are given.展开更多
A new acquisition and tracking method is proposed for signal processing under the new signal system structure of Beidou-3 navigation satellite system(BDS-3). By starting with the analysis of the characteristics and si...A new acquisition and tracking method is proposed for signal processing under the new signal system structure of Beidou-3 navigation satellite system(BDS-3). By starting with the analysis of the characteristics and signal structure of the new signal, the local replica of the ranging code and the study of the characteristics of the ranging code are completed, which proves that the method in this paper can be used in the subsequent acquisition and tracking process. The fast Fourier transformation(FFT) search based on longer coherence time and the adaptive phase-frequency switching carrier tracking loop are proposed for signals in different modulation modes. The actual signal of Beidou-3 satellite is sampled by local experiment, and the acquisition and tracking of the Beidou-3 satellite multi-band signal is finally completed. The tracking results verify the feasibility of the proposed acquisition and tracking method.展开更多
The particle path tracking method is proposed and used in two-dimensional（2D） and three-dimensional（3D） numerical simulations of continuously rotating detonation engines（CRDEs）. This method is used to analyze th...The particle path tracking method is proposed and used in two-dimensional（2D） and three-dimensional（3D） numerical simulations of continuously rotating detonation engines（CRDEs）. This method is used to analyze the combustion and expansion processes of the fresh particles, and the thermodynamic cycle process of CRDE. In a 3D CRDE flow field, as the radius of the annulus increases, the no-injection area proportion increases, the non-detonation proportion decreases, and the detonation height decreases. The flow field parameters on the 3D mid annulus are different from in the 2D flow field under the same chamber size. The non-detonation proportion in the 3D flow field is less than in the 2D flow field. In the 2D and 3D CRDE, the paths of the flow particles have only a small fluctuation in the circumferential direction. The numerical thermodynamic cycle processes are qualitatively consistent with the three ideal cycle models, and they are right in between the ideal F–J cycle and ideal ZND cycle. The net mechanical work and thermal efficiency are slightly smaller in the 2D simulation than in the 3D simulation. In the 3D CRDE, as the radius of the annulus increases, the net mechanical work is almost constant, and the thermal efficiency increases. The numerical thermal efficiencies are larger than F–J cycle, and much smaller than ZND cycle.展开更多
The mean shift tracker has difficulty in tracking fast moving targets and suffers from tracking error accumulation problem. To overcome the limitations of the mean shift method, a new approach is proposed by integrati...The mean shift tracker has difficulty in tracking fast moving targets and suffers from tracking error accumulation problem. To overcome the limitations of the mean shift method, a new approach is proposed by integrating the mean shift algorithm and frame-difference methods. The rough position of the moving tar- get is first located by the direct frame-difference algorithm and three-frame-difference algorithm for the immobile camera scenes and mobile camera scenes, respectively. Then, the mean shift algorithm is used to achieve precise tracking of the target. Several tracking experiments show that the proposed method can effectively track first moving targets and overcome the tracking error accumulation problem.展开更多
In this paper, an improved incompressible multi-relaxation-time lattice Boltzmann-front tracking approach is proposed to simulate two-phase flow with a sharp interface, where the surface tension is implemented. The la...In this paper, an improved incompressible multi-relaxation-time lattice Boltzmann-front tracking approach is proposed to simulate two-phase flow with a sharp interface, where the surface tension is implemented. The lattice Boltzmann method is used to simulate the incompressible flow with a stationary Eulerian grid, an additional moving Lagrangian grid is adopted to track explicitly the motion of the interface, and an indicator function is introduced to update the fluid properties accurately. The interface is represented by using a four-order Lagrange polynomial through fitting a set of discrete marker points, and then the surface tension is directly computed by using the normal vector and curvature of the interface. Two benchmark problems, including Laplace＇s law for a stationary bubble and the dispersion relation of the capillary wave between two fluids are conducted for validation. Excellent agreement is obtained between the numerical simulations and the theoretical results in the two cases.展开更多
We developed a three-dimensional multi-relaxation-time lattice Boltzmann method for incompressible and immiscible two-phase flow by coupling with a front-tracking technique. The flow field was simulated by using an Eu...We developed a three-dimensional multi-relaxation-time lattice Boltzmann method for incompressible and immiscible two-phase flow by coupling with a front-tracking technique. The flow field was simulated by using an Eulerian grid, an adaptive unstructured triangular Lagrangian grid was applied to track explicitly the motion of the two-fluid interface, and an indicator function was introduced to update accurately the fluid properties. The surface tension was computed directly on a triangular Lagrangian grid, and then the surface tension was distributed to the background Eulerian grid. Three benchmarks of two-phase flow, including the Laplace law for a stationary drop, the oscillation of a three-dimensional ellipsoidal drop, and the drop deformation in a shear flow, were simulated to validate the present model.展开更多
The treatment of moving material interfaces and their vicinity is very important for compressible multifluids. In this paper, we propose one type of ghost fluid method based on Riemann solutions for front tracking met...The treatment of moving material interfaces and their vicinity is very important for compressible multifluids. In this paper, we propose one type of ghost fluid method based on Riemann solutions for front tracking method. The accuracy of the interface boundary condition is discussed for the gas-gas Riemann problem. It is shown that the solution of the ghost fluid method approximates the exact solution to second-order accuracy in the sense of comparing to the exact solution of a Riemann problem at the material interface. Numerical examples suggest that the present scheme is able to handle multifluids problems with large density differences and has the property of reduced conservation error.展开更多
An active application of a concrete track is expected for the future construction of railroads. For successful concrete track construction and operation in earthwork areas, the residual settlement should be reasonably...An active application of a concrete track is expected for the future construction of railroads. For successful concrete track construction and operation in earthwork areas, the residual settlement should be reasonably controlled by using an appro- priate method. The maintenance for excessive settlement is very difficult on the operating line because the maintenance method is very restrictive. The objective of this study is to introduce pressurized rapid-hardening cement grouting （PRCG） method to restore a subsided concrete track without any adverse effects on train operation. This method involves the use of special types of materials （very quick hardening and middle-hardening mortar）, compact grouting equipment, and a special construction process. In spite of the extremely restrictive environment, this method has been demonstrated to be very effective and reasonable through laboratory and field tests.展开更多
Contour dynamics (CD) method for the motions of typhoon is presented in this paper. The effect of asymmetric inner structure on the typhoon'sanomalous track has been discussed in different environmental steering. ...Contour dynamics (CD) method for the motions of typhoon is presented in this paper. The effect of asymmetric inner structure on the typhoon'sanomalous track has been discussed in different environmental steering. Todemonstrate the feasibility of the method, the track of Typhoon Yancy(9012) isconcerned with. The numerical results show that the method can describe the tendency of looping qualitatively.展开更多
Elevation change monitoring of the Antarctic ice sheet has been a key issue in global change research.Satellite altimetry has been proven to be effective in detecting ice sheet variations. With the development of ICES...Elevation change monitoring of the Antarctic ice sheet has been a key issue in global change research.Satellite altimetry has been proven to be effective in detecting ice sheet variations. With the development of ICESat-2, many elevation observations can be used to derive elevation changes. However, the large amount of multitemporal data may include anomalous data points, increasing the uncertainty of the results. In this work, we improved the traditional repeat track method by introducing the Institute of Geodesy and Geophysics Ⅲ(IGGⅢ) method to obtain high-accuracy estimates of elevation change. The improved method was applied to analyze elevation changes along the transect from Zhongshan Station to Dome A in East Antarctica via ICESat-2 satellite altimetry data. The results show that the improved and traditional methods yield consistent numerical and spatial elevation change distributions. The elevation change calculated via the traditional method is 0.033 ± 0.131 m/yr, whereas the elevation change estimated via the IGGⅢ robust estimation method is 0.033 ± 0.109 m/yr from March 2019 to December 2021.In terms of spatial distribution, elevation changes in inland areas remain close to equilibrium, whereas regions with steeper ice sheet margins exhibit positive accumulation trends in elevation changes. The improved method reduces the standard error of the adjustment function from 0.975 to 0.691 m/yr. The improvement is particularly remarkable in the area between 72°S and 77°S. The results demonstrate that the IGGⅢ method effectively reduces errors caused by the inclusion of anomalous data and maintains the high data utilization rate of repeat-orbit methods.展开更多
Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i...Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.展开更多
基金financial support provided by the Natural Science Foundation of Hunan Province of China(Grant No.2021JJ10045)the Open Research Subject of State Key Laboratory of Intelligent Game(Grant No.ZBKF-24-01)+1 种基金the Postdoctoral Fellowship Program of CPSF(Grant No.GZB20240989)the China Postdoctoral Science Foundation(Grant No.2024M754304)。
文摘Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable tracking,including maintaining continuous target visibility amidst occlusions,ensuring flight safety,and achieving smooth trajectory planning.This paper reviews the latest advancements in UAV-based target tracking,highlighting information prediction,tracking strategies,and swarm cooperation.To address challenges including target visibility and occlusion,real-time prediction and tracking in dynamic environments,flight safety and coordination,resource management and energy efficiency,the paper identifies future research directions aimed at improving the performance,reliability,and scalability of UAV tracking system.
基金supported by the National Key Research and Development of China(Grant No.2022YFB3805700)the National Natural Science Foundation of China(Grant Nos.12122202 and 12372162)the Fundamental Research Funds for the Central Universities(Grant No.2024CX06021).
文摘In daily life,human need various senses to obtain information about their surroundings,and touch is one of the five major human sensing signals.Similarly,it is extremely important for robots to be endowed with tactile sensing ability.In recent years,vision-based tactile sensing technology has been the research hotspot and frontier in the field of tactile perception.Compared to conventional tactile sensing technologies,vision-based tactile sensing technologies are capable of obtaining highquality and high-resolution tactile information at a lower cost,while not being limited by the size and shape of sensors.Several previous articles have reviewed the sensing mechanism and electrical components of vision-based sensors,greatly promoting the innovation of tactile sensing.Different from existing reviews,this article concentrates on the underlying tracking method which converts real-time images into deformation information,including contact,sliding and friction.We will show the history and development of both model-based and model-free tracking methods,among which model-based approaches rely on schematic mechanical theories,and model-free approaches mainly involve machine learning algorithms.Comparing the efficiency and accuracy of existing deformation tracking methods,future research directions of vision-based tactile sensors for smart manipulations and robots are also discussed.
基金supported by National Science Foundation of China (10576015)
文摘Recent years the modify ghost fluid method （MGFM） and the real ghost fluid method （RGFM） based on Riemann problem have been developed for multimedium compressible flows. According to authors, these methods have only been used with the level set technique to track the interface. In this paper, we combine the MCFM and the RGFM respectively with front tracking method, for which the fluid interfaces are explicitly tracked by connected points. The method is tested with some one-dimensional problems, and its applicability is also studied. Furthermore, in order to capture the interface more accurately, especially for strong shock impacting on interface, a shock monitor is proposed to determine the initial states of the Riemann problem. The present method is applied to various one- dimensional problems involving strong shock-interface interaction. An extension of the present method to two dimension is also introduced and preliminary results are given.
文摘A new acquisition and tracking method is proposed for signal processing under the new signal system structure of Beidou-3 navigation satellite system(BDS-3). By starting with the analysis of the characteristics and signal structure of the new signal, the local replica of the ranging code and the study of the characteristics of the ranging code are completed, which proves that the method in this paper can be used in the subsequent acquisition and tracking process. The fast Fourier transformation(FFT) search based on longer coherence time and the adaptive phase-frequency switching carrier tracking loop are proposed for signals in different modulation modes. The actual signal of Beidou-3 satellite is sampled by local experiment, and the acquisition and tracking of the Beidou-3 satellite multi-band signal is finally completed. The tracking results verify the feasibility of the proposed acquisition and tracking method.
文摘The particle path tracking method is proposed and used in two-dimensional（2D） and three-dimensional（3D） numerical simulations of continuously rotating detonation engines（CRDEs）. This method is used to analyze the combustion and expansion processes of the fresh particles, and the thermodynamic cycle process of CRDE. In a 3D CRDE flow field, as the radius of the annulus increases, the no-injection area proportion increases, the non-detonation proportion decreases, and the detonation height decreases. The flow field parameters on the 3D mid annulus are different from in the 2D flow field under the same chamber size. The non-detonation proportion in the 3D flow field is less than in the 2D flow field. In the 2D and 3D CRDE, the paths of the flow particles have only a small fluctuation in the circumferential direction. The numerical thermodynamic cycle processes are qualitatively consistent with the three ideal cycle models, and they are right in between the ideal F–J cycle and ideal ZND cycle. The net mechanical work and thermal efficiency are slightly smaller in the 2D simulation than in the 3D simulation. In the 3D CRDE, as the radius of the annulus increases, the net mechanical work is almost constant, and the thermal efficiency increases. The numerical thermal efficiencies are larger than F–J cycle, and much smaller than ZND cycle.
基金supported by the Fundamental Research Funds for the Central Universities Project(CDJZR10170010)
文摘The mean shift tracker has difficulty in tracking fast moving targets and suffers from tracking error accumulation problem. To overcome the limitations of the mean shift method, a new approach is proposed by integrating the mean shift algorithm and frame-difference methods. The rough position of the moving tar- get is first located by the direct frame-difference algorithm and three-frame-difference algorithm for the immobile camera scenes and mobile camera scenes, respectively. Then, the mean shift algorithm is used to achieve precise tracking of the target. Several tracking experiments show that the proposed method can effectively track first moving targets and overcome the tracking error accumulation problem.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.10872222 and 50921063)the Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20110191110037)the Fundamental Research Funds for the Central Universities,China(Grant Nos.CDJXS11240011 and CDJXS10241103)
文摘In this paper, an improved incompressible multi-relaxation-time lattice Boltzmann-front tracking approach is proposed to simulate two-phase flow with a sharp interface, where the surface tension is implemented. The lattice Boltzmann method is used to simulate the incompressible flow with a stationary Eulerian grid, an additional moving Lagrangian grid is adopted to track explicitly the motion of the interface, and an indicator function is introduced to update the fluid properties accurately. The interface is represented by using a four-order Lagrange polynomial through fitting a set of discrete marker points, and then the surface tension is directly computed by using the normal vector and curvature of the interface. Two benchmark problems, including Laplace＇s law for a stationary bubble and the dispersion relation of the capillary wave between two fluids are conducted for validation. Excellent agreement is obtained between the numerical simulations and the theoretical results in the two cases.
基金supported by the National Natural Science Foundation of China(Grant No.11572062)the Fundamental Research Funds for the Central Universities,China(Grant No.CDJZR13248801)+2 种基金the Program for Changjiang Scholars and Innovative Research Team in University,China(Grant No.IRT13043)Key Laboratory of Functional Crystals and Laser Technology,TIPCChinese Academy of Sciences
文摘We developed a three-dimensional multi-relaxation-time lattice Boltzmann method for incompressible and immiscible two-phase flow by coupling with a front-tracking technique. The flow field was simulated by using an Eulerian grid, an adaptive unstructured triangular Lagrangian grid was applied to track explicitly the motion of the two-fluid interface, and an indicator function was introduced to update accurately the fluid properties. The surface tension was computed directly on a triangular Lagrangian grid, and then the surface tension was distributed to the background Eulerian grid. Three benchmarks of two-phase flow, including the Laplace law for a stationary drop, the oscillation of a three-dimensional ellipsoidal drop, and the drop deformation in a shear flow, were simulated to validate the present model.
文摘The treatment of moving material interfaces and their vicinity is very important for compressible multifluids. In this paper, we propose one type of ghost fluid method based on Riemann solutions for front tracking method. The accuracy of the interface boundary condition is discussed for the gas-gas Riemann problem. It is shown that the solution of the ghost fluid method approximates the exact solution to second-order accuracy in the sense of comparing to the exact solution of a Riemann problem at the material interface. Numerical examples suggest that the present scheme is able to handle multifluids problems with large density differences and has the property of reduced conservation error.
文摘An active application of a concrete track is expected for the future construction of railroads. For successful concrete track construction and operation in earthwork areas, the residual settlement should be reasonably controlled by using an appro- priate method. The maintenance for excessive settlement is very difficult on the operating line because the maintenance method is very restrictive. The objective of this study is to introduce pressurized rapid-hardening cement grouting （PRCG） method to restore a subsided concrete track without any adverse effects on train operation. This method involves the use of special types of materials （very quick hardening and middle-hardening mortar）, compact grouting equipment, and a special construction process. In spite of the extremely restrictive environment, this method has been demonstrated to be very effective and reasonable through laboratory and field tests.
文摘Contour dynamics (CD) method for the motions of typhoon is presented in this paper. The effect of asymmetric inner structure on the typhoon'sanomalous track has been discussed in different environmental steering. Todemonstrate the feasibility of the method, the track of Typhoon Yancy(9012) isconcerned with. The numerical results show that the method can describe the tendency of looping qualitatively.
基金supported by the National Key Research and Development Program of China under grant number 2023YFC2809103the Fundamental Research Funds for the Central Universities under grant numbers 2042022kf1204, 2042022kf1069, 2042023gf0012, 2042022dx0001+1 种基金the Hubei Provincial Natural Science Foundation of China under grant number 2022CFB081the State Key Laboratory of Geodesy and Earth's Dynamics, Innovation Academy for Precision Measurement Science and Technology under grant number SKLGED2023-2-6
文摘Elevation change monitoring of the Antarctic ice sheet has been a key issue in global change research.Satellite altimetry has been proven to be effective in detecting ice sheet variations. With the development of ICESat-2, many elevation observations can be used to derive elevation changes. However, the large amount of multitemporal data may include anomalous data points, increasing the uncertainty of the results. In this work, we improved the traditional repeat track method by introducing the Institute of Geodesy and Geophysics Ⅲ(IGGⅢ) method to obtain high-accuracy estimates of elevation change. The improved method was applied to analyze elevation changes along the transect from Zhongshan Station to Dome A in East Antarctica via ICESat-2 satellite altimetry data. The results show that the improved and traditional methods yield consistent numerical and spatial elevation change distributions. The elevation change calculated via the traditional method is 0.033 ± 0.131 m/yr, whereas the elevation change estimated via the IGGⅢ robust estimation method is 0.033 ± 0.109 m/yr from March 2019 to December 2021.In terms of spatial distribution, elevation changes in inland areas remain close to equilibrium, whereas regions with steeper ice sheet margins exhibit positive accumulation trends in elevation changes. The improved method reduces the standard error of the adjustment function from 0.975 to 0.691 m/yr. The improvement is particularly remarkable in the area between 72°S and 77°S. The results demonstrate that the IGGⅢ method effectively reduces errors caused by the inclusion of anomalous data and maintains the high data utilization rate of repeat-orbit methods.
基金Supported by Ministerial Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.
