Spectrum map construction,which is crucial in cognitive radio(CR)system,visualizes the invisible space of the electromagnetic spectrum for spectrum-resource management and allocation.Traditional reconstruction methods...Spectrum map construction,which is crucial in cognitive radio(CR)system,visualizes the invisible space of the electromagnetic spectrum for spectrum-resource management and allocation.Traditional reconstruction methods are generally for twodimensional(2D)spectrum map and driven by abundant sampling data.In this paper,we propose a data-model-knowledge-driven reconstruction scheme to construct the three-dimensional(3D)spectrum map under multi-radiation source scenarios.We firstly design a maximum and minimum path loss difference(MMPLD)clustering algorithm to detect the number of radiation sources in a 3D space.Then,we develop a joint location-power estimation method based on the heuristic population evolutionary optimization algorithm.Considering the variation of electromagnetic environment,we self-learn the path loss(PL)model based on the sampling data.Finally,the 3D spectrum is reconstructed according to the self-learned PL model and the extracted knowledge of radiation sources.Simulations show that the proposed 3D spectrum map reconstruction scheme not only has splendid adaptability to the environment,but also achieves high spectrum construction accuracy even when the sampling rate is very low.展开更多
With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments rem...With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments remains a critical challenge.To address this problem,this paper proposes an improved path planning algorithm—Random Geometric Graph(RGG)-guided Rapidly-exploring Random Tree(R-RRT)—based on the classical Rapidly-exploring Random Tree(RRT)framework.First,a refined 3D occupancy grid map is constructed from Light Detection and Ranging point cloud data through ground filtering,noise removal,coordinate transformation,and obstacle inflation using spherical structuring elements.During the planning stage,a dynamic goal-biasing strategy is introduced to adaptively adjust the sampling direction,the sampling distribution is optimized using a pre-generated RGG,and collision detection is accelerated via a K-Dimensional Tree structure.After initial trajectory generation,redundant nodes are eliminated via greedy pruning,and a curvature-minimizing gradient-based optimizationmethod is applied to smooth the trajectory.Experimental results conducted in a simulated substation environment demonstrate that,compared with mainstream path planning algorithms,the proposed R-RRT achieves superior performance in terms of path length,planning time,and trajectory smoothness.Comprehensive analysis shows that the proposed method significantly enhances trajectory quality,planning efficiency,and operational safety,validating its applicability and advantages for high-precision 3D path planning in complex substation inspection scenarios.展开更多
As large,room-scale environments become increasingly common,their spatial complexity increases due to variable,unstructured elements.Consequently,demand for room-scale service robots is surging,yet most technologies r...As large,room-scale environments become increasingly common,their spatial complexity increases due to variable,unstructured elements.Consequently,demand for room-scale service robots is surging,yet most technologies remain corridor-centric,and autonomous navigation in expansive rooms becomes unstable even around static obstacles.Existing approaches face several structural limitations.These include the labor-intensive requirement for large-scale object annotation and continual retraining,as well as the vulnerability of vanishing point or linebased methods when geometric cues are insufficient.In addition,the high cost of LiDAR and 3D perception errors caused by limited wall cues and dense interior clutter further limit their effectiveness.To address these challenges,we propose a zero-shot vision-based algorithm for robust 3D map reconstruction in geometry-deficient room-scale environments.The algorithm operates in three layers:Layer 1 performs dimension-wise boundary detection;Layer 2 estimates vanishing points,refines the precise perspective space,and extracts a floor mask;and Layer 3 conducts 3D spatial mapping and obstacle recognition.The proposed method was experimentally validated across various geometric-deficient room-scale environments,including lobbies,seminar rooms,conference rooms,cafeterias,and museums—demonstrating its ability to reliably reconstruct 3D maps and accurately recognize obstacles.Experimental results show that the proposed algorithm achieved an F1 score of 0.959 in precision perspective space detection and 0.965 in floor mask extraction.For obstacle recognition and classification,it obtained F1 scores of 0.980 in obstacle absent areas,0.913 in solid obstacle environments,and 0.939 in skeleton-type sparse obstacle environments,confirming its high precision and reliability in geometric-deficient room-scale environments.展开更多
Wheat grain morphology,particularly grain length(GL)and width(GW),is a key determinant of yield.To improve the suboptimal grain dimensions of the local anthocyanin-rich variety Guizi 1(GZ1),we crossed it with Zhongyan...Wheat grain morphology,particularly grain length(GL)and width(GW),is a key determinant of yield.To improve the suboptimal grain dimensions of the local anthocyanin-rich variety Guizi 1(GZ1),we crossed it with Zhongyan 96-3(ZY96-3),an elite germplasm known for faster grain filling and superior grain size.A genotyping-by-sequencing(GBS)approach was applied to an F_(2)population of 110 individuals derived from GZ1×ZY96-3,resulting in the identification of 23,134 high-quality SNPs.Most of the SNPs associated with GL and GW were clustered on chromosomes 2B,3A,and 3B.QTL mapping for GL revealed two major loci,GL1 on chromosome 2B and GL2 on chromosome 3B,and eight candidate genes were identified within their corresponding intervals(2B:63.6–70.4 Mb;3B:631.5–633.3 Mb).These genes encode proteins potentially involved in grain size regulation,including a TOR2 regulation-associated protein,erect spike 2(EP2),fibroblast growth factor 6(FGF6),cellulose synthase-like(CSLD),RelA/pot homologue three family protein,and three GDSL esterase/lipase(GLIP)proteins.Additionally,we detected a QTL associated with GW on chromosome 3A and identified two candidate genes,TOR2 regulation and starch synthase within the 61.4–68.5 Mb interval.Overall,this study provides a strong theoretical and technical basis for wheat genetic improvement and offers valuable resources for precise QTL mapping and candidate gene discovery.展开更多
目的探讨T_2 star mapping、T_1 images与3D DESS融合伪彩图在关节软骨损伤中的诊断价值。方法对26例关节软骨损伤患者行T_2 star mapping、T_1 images和3D DESS扫描,并将T_1 images、T_2 star mapping与3D DESS图像融合,评价患者股骨...目的探讨T_2 star mapping、T_1 images与3D DESS融合伪彩图在关节软骨损伤中的诊断价值。方法对26例关节软骨损伤患者行T_2 star mapping、T_1 images和3D DESS扫描,并将T_1 images、T_2 star mapping与3D DESS图像融合,评价患者股骨、胫骨、髌骨关节软骨损伤程度并与关节镜结果对比,计算融合伪彩图诊断软骨损伤的特异性、敏感性及与关节镜诊断结果一致性。结果 T_1 images-3D DESS融合伪彩图诊断关节软骨损伤的敏感度、特异度及Kappa值分别为92.8%、93.0%、0.769,T_2 star mapping-3D DESS融合伪彩图诊断关节软骨损伤的敏感度、特异度及Kappa值分别为91.4%、94.2%、0.787。结论 T_2 star mapping、T_1 images与3D DESS融合伪彩图在关节软骨早期损伤评价上优于关节镜。展开更多
A FISH procedure was adopted to physical mapping rice RFLP marker RZ69 and the BAC clone 38J9 screened by RZ69 which is linked to gene Bph3 in Oryza saliva L. and O. officinalis Well ex: Watt. The FISH results showed ...A FISH procedure was adopted to physical mapping rice RFLP marker RZ69 and the BAC clone 38J9 screened by RZ69 which is linked to gene Bph3 in Oryza saliva L. and O. officinalis Well ex: Watt. The FISH results showed that both 38J9 and RZ69 were located in the middle of 4S in O. officinalis and the centromere area of 4S in O. sativa. In O. officinalis the percentage distances from the centromere to the hybridization sites were 20.00 +/- 5.40 and 22.12 +/- 3.44, the detection rates were 50.00% and 6.14%, but in O. sativa they were 0 and 0, 56.10% and 6.29% correspondingly. The results obtained from the BAC and RFLP clone were almost the same in the cultivated rice and O. officinalis. It was suggested that die marker RZ69 of the cultivated rice and its homologous sequence in O. officinalis were in the same BAC clone, the homologous sequence of Bph3 in O. officinalis should be located at the sites hybridized by both RZ69 and 38J9. Many signals on different chromosomes of O. officinalis were observed under no blocking with Cot-1 DNA, showing that the repetitive sequences were also homologous between O. sativa and O. officinalis. The identification of chromosome 4 of O. officinalis is based on comparative map with RG214 and BAC clone screened by RG214. The feasibility of comparative physical mapping performed between O. sativa and O. officinalis with rice BAC clones was discussed.展开更多
目的利用CRISPR/Cas9基因编辑技术构建斑马鱼map3k15敲除纯合品系,为进一步研究map3k15在肾脏疾病方面的作用提供动物模型。方法1)分析map3k15在斑马鱼中的表达模式;2)利用CRISPR/Cas9基因编辑技术构建斑马鱼map3k15敲除纯合品系;3)观察...目的利用CRISPR/Cas9基因编辑技术构建斑马鱼map3k15敲除纯合品系,为进一步研究map3k15在肾脏疾病方面的作用提供动物模型。方法1)分析map3k15在斑马鱼中的表达模式;2)利用CRISPR/Cas9基因编辑技术构建斑马鱼map3k15敲除纯合品系;3)观察map3k15缺失对斑马鱼表型的影响。结果1)map3k15在斑马鱼前肾中表达,且MAP3K15/Map3k15蛋白在多物种间具有高度保守性;2)成功构建了斑马鱼map3k15-/-突变体,并保留+2 bp及+1 bp 2种突变品系;3)map3k15突变斑马鱼在胚胎发育过程中出现卵黄囊、心包及头部的水肿,且随发育时间延长,症状逐渐加重。结论成功构建了map3k15敲除的纯合斑马鱼品系,为未来研究map3k15在肾脏发育及疾病中的作用提供了重要的模型。展开更多
With the decrease in surface and shallow ore deposits,mineral exploration has focused on deeply buried ore bodies,and large-scale metallogenic prediction presents new opportunities and challenges.This paper adopts the...With the decrease in surface and shallow ore deposits,mineral exploration has focused on deeply buried ore bodies,and large-scale metallogenic prediction presents new opportunities and challenges.This paper adopts the predictive thinking method in this era of big data combined with specific research on the special exploration and exploitation of deep-earth resources.Four basic theoretical models of large-scale deep mineralization prediction and evaluation are explored:mineral prediction geological model theory,multidisciplinary information correlation theory,mineral regional trend analysis theory,and mineral prediction geological differentiation theory.The main workflow of large-scale deep resource prediction in the digital and information age is summarized,including construction of ore prospecting models of metallogenic systems,multiscale 3 D geological modeling,and 3 D quantitative prediction of deep resources.Taking the Lala copper mine in Sichuan Province as an example,this paper carries out deep 3 D quantitative prediction of mineral resources and makes a positive contribution to the future prediction and evaluation of mineral resources.展开更多
In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous drivi...In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying.展开更多
It had been demonstrated that the strong and highly significant quantitative trait locus（QTL） can affect protein percentage on Bos Taurus Autosome 3（BTA3） at the position 52 cM, near the microsatellite DIK4353, wi...It had been demonstrated that the strong and highly significant quantitative trait locus（QTL） can affect protein percentage on Bos Taurus Autosome 3（BTA3） at the position 52 cM, near the microsatellite DIK4353, with the 95% confidence interval spanning from 25 to 57 cM in Chinese Holstein population using QTL-express, MQREML, and GRIDQTL softwares. This study herein focused on such region of fine mapping QTLs for milk production and functional traits with 16 microsatellite markers with coverage of 33 cM between the markers BMS2904 and MB099 on BTA3 in a daughter-designed Chinese Holstein population. A total of 1 298 Holstein cows and 7 sires were genotyped for 16 microsatellites with ABI 3700 DNA sequencer. The variance components QTL linkage analysis（LA） and linkage-disequilibrium（LD） analysis（LA/LD） was performed to map QTLs for 7 traits, i.e., 305-d milk yield, fat yield, protein yield, fat percentage, protein percentage, somatic cell score and persistency of milk yield. Four strong and highly significant QTLs were detected for fat yield, fat percentage, protein percentage and somatic cell score at the position 40, 30, 27 and 26 cM, respectively. Two minor QTLs for milk yield and persistency of milk yield were identified at 42 and 46 cM, respectively. These findings provided a general idea for the fine mapping of the causal mutation for milk production and functional traits on BTA3 in the future.展开更多
Extracting the three-dimensional(3D)information including location and height of a pedestrian is important for vision-based intelligent traffic monitoring systems.This paper tackles the relationship between pixels′ac...Extracting the three-dimensional(3D)information including location and height of a pedestrian is important for vision-based intelligent traffic monitoring systems.This paper tackles the relationship between pixels′actual size and pixels′spatial resolution through a new method named pixel-resolution mapping(P-RM).The proposed P-RM method derives the equations for pixels′spatial resolutions(XY-direction)and object′s height(Z-direction)in the real world,while introducing new tilt angle and mounting height calibration methods that do not require special calibration patterns placed in the real world.Both controlled laboratory and actual world experiments were performed and reported.The tests on 3D mensuration using proposed P-RM method showed overall better than 98.7%accuracy in laboratory environments and better than 96%accuracy in real world pedestrian height estimations.The 3D reconstructed images for measured points were also determined with the proposed P-RM method which shows that the proposed method provides a general algorithm for 3D information extraction.展开更多
基金National Key Scientific Instrument and Equipment Development Project under Grant No.61827801the open research fund of State Key Laboratory of Integrated Services Networks,No.ISN22-11+1 种基金Natural Science Foundation of Jiangsu Province,No.BK20211182open research fund of National Mobile Communications Research Laboratory,Southeast University,No.2022D04。
文摘Spectrum map construction,which is crucial in cognitive radio(CR)system,visualizes the invisible space of the electromagnetic spectrum for spectrum-resource management and allocation.Traditional reconstruction methods are generally for twodimensional(2D)spectrum map and driven by abundant sampling data.In this paper,we propose a data-model-knowledge-driven reconstruction scheme to construct the three-dimensional(3D)spectrum map under multi-radiation source scenarios.We firstly design a maximum and minimum path loss difference(MMPLD)clustering algorithm to detect the number of radiation sources in a 3D space.Then,we develop a joint location-power estimation method based on the heuristic population evolutionary optimization algorithm.Considering the variation of electromagnetic environment,we self-learn the path loss(PL)model based on the sampling data.Finally,the 3D spectrum is reconstructed according to the self-learned PL model and the extracted knowledge of radiation sources.Simulations show that the proposed 3D spectrum map reconstruction scheme not only has splendid adaptability to the environment,but also achieves high spectrum construction accuracy even when the sampling rate is very low.
基金Funding for this research was provided by the Program for Scientific Research Innovation Team in Colleges and Universities of Anhui Province(No.2022AH010095)the Hefei Key Technology R&D“Champion-Based Selection”Project(No.2023SGJ011).
文摘With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments remains a critical challenge.To address this problem,this paper proposes an improved path planning algorithm—Random Geometric Graph(RGG)-guided Rapidly-exploring Random Tree(R-RRT)—based on the classical Rapidly-exploring Random Tree(RRT)framework.First,a refined 3D occupancy grid map is constructed from Light Detection and Ranging point cloud data through ground filtering,noise removal,coordinate transformation,and obstacle inflation using spherical structuring elements.During the planning stage,a dynamic goal-biasing strategy is introduced to adaptively adjust the sampling direction,the sampling distribution is optimized using a pre-generated RGG,and collision detection is accelerated via a K-Dimensional Tree structure.After initial trajectory generation,redundant nodes are eliminated via greedy pruning,and a curvature-minimizing gradient-based optimizationmethod is applied to smooth the trajectory.Experimental results conducted in a simulated substation environment demonstrate that,compared with mainstream path planning algorithms,the proposed R-RRT achieves superior performance in terms of path length,planning time,and trajectory smoothness.Comprehensive analysis shows that the proposed method significantly enhances trajectory quality,planning efficiency,and operational safety,validating its applicability and advantages for high-precision 3D path planning in complex substation inspection scenarios.
基金supported by Kyonggi University Research Grant 2025.
文摘As large,room-scale environments become increasingly common,their spatial complexity increases due to variable,unstructured elements.Consequently,demand for room-scale service robots is surging,yet most technologies remain corridor-centric,and autonomous navigation in expansive rooms becomes unstable even around static obstacles.Existing approaches face several structural limitations.These include the labor-intensive requirement for large-scale object annotation and continual retraining,as well as the vulnerability of vanishing point or linebased methods when geometric cues are insufficient.In addition,the high cost of LiDAR and 3D perception errors caused by limited wall cues and dense interior clutter further limit their effectiveness.To address these challenges,we propose a zero-shot vision-based algorithm for robust 3D map reconstruction in geometry-deficient room-scale environments.The algorithm operates in three layers:Layer 1 performs dimension-wise boundary detection;Layer 2 estimates vanishing points,refines the precise perspective space,and extracts a floor mask;and Layer 3 conducts 3D spatial mapping and obstacle recognition.The proposed method was experimentally validated across various geometric-deficient room-scale environments,including lobbies,seminar rooms,conference rooms,cafeterias,and museums—demonstrating its ability to reliably reconstruct 3D maps and accurately recognize obstacles.Experimental results show that the proposed algorithm achieved an F1 score of 0.959 in precision perspective space detection and 0.965 in floor mask extraction.For obstacle recognition and classification,it obtained F1 scores of 0.980 in obstacle absent areas,0.913 in solid obstacle environments,and 0.939 in skeleton-type sparse obstacle environments,confirming its high precision and reliability in geometric-deficient room-scale environments.
基金Funding for this project was provided by the National Natural Science Foundation of China(Grants No.32160456,32360474,32360486,32260496)the Key Laboratory of Functional Agriculture of Guizhou Provincial Higher Education Institutions(Grant No.Qianjiaoji(2023)007).
文摘Wheat grain morphology,particularly grain length(GL)and width(GW),is a key determinant of yield.To improve the suboptimal grain dimensions of the local anthocyanin-rich variety Guizi 1(GZ1),we crossed it with Zhongyan 96-3(ZY96-3),an elite germplasm known for faster grain filling and superior grain size.A genotyping-by-sequencing(GBS)approach was applied to an F_(2)population of 110 individuals derived from GZ1×ZY96-3,resulting in the identification of 23,134 high-quality SNPs.Most of the SNPs associated with GL and GW were clustered on chromosomes 2B,3A,and 3B.QTL mapping for GL revealed two major loci,GL1 on chromosome 2B and GL2 on chromosome 3B,and eight candidate genes were identified within their corresponding intervals(2B:63.6–70.4 Mb;3B:631.5–633.3 Mb).These genes encode proteins potentially involved in grain size regulation,including a TOR2 regulation-associated protein,erect spike 2(EP2),fibroblast growth factor 6(FGF6),cellulose synthase-like(CSLD),RelA/pot homologue three family protein,and three GDSL esterase/lipase(GLIP)proteins.Additionally,we detected a QTL associated with GW on chromosome 3A and identified two candidate genes,TOR2 regulation and starch synthase within the 61.4–68.5 Mb interval.Overall,this study provides a strong theoretical and technical basis for wheat genetic improvement and offers valuable resources for precise QTL mapping and candidate gene discovery.
文摘目的探讨T_2 star mapping、T_1 images与3D DESS融合伪彩图在关节软骨损伤中的诊断价值。方法对26例关节软骨损伤患者行T_2 star mapping、T_1 images和3D DESS扫描,并将T_1 images、T_2 star mapping与3D DESS图像融合,评价患者股骨、胫骨、髌骨关节软骨损伤程度并与关节镜结果对比,计算融合伪彩图诊断软骨损伤的特异性、敏感性及与关节镜诊断结果一致性。结果 T_1 images-3D DESS融合伪彩图诊断关节软骨损伤的敏感度、特异度及Kappa值分别为92.8%、93.0%、0.769,T_2 star mapping-3D DESS融合伪彩图诊断关节软骨损伤的敏感度、特异度及Kappa值分别为91.4%、94.2%、0.787。结论 T_2 star mapping、T_1 images与3D DESS融合伪彩图在关节软骨早期损伤评价上优于关节镜。
文摘A FISH procedure was adopted to physical mapping rice RFLP marker RZ69 and the BAC clone 38J9 screened by RZ69 which is linked to gene Bph3 in Oryza saliva L. and O. officinalis Well ex: Watt. The FISH results showed that both 38J9 and RZ69 were located in the middle of 4S in O. officinalis and the centromere area of 4S in O. sativa. In O. officinalis the percentage distances from the centromere to the hybridization sites were 20.00 +/- 5.40 and 22.12 +/- 3.44, the detection rates were 50.00% and 6.14%, but in O. sativa they were 0 and 0, 56.10% and 6.29% correspondingly. The results obtained from the BAC and RFLP clone were almost the same in the cultivated rice and O. officinalis. It was suggested that die marker RZ69 of the cultivated rice and its homologous sequence in O. officinalis were in the same BAC clone, the homologous sequence of Bph3 in O. officinalis should be located at the sites hybridized by both RZ69 and 38J9. Many signals on different chromosomes of O. officinalis were observed under no blocking with Cot-1 DNA, showing that the repetitive sequences were also homologous between O. sativa and O. officinalis. The identification of chromosome 4 of O. officinalis is based on comparative map with RG214 and BAC clone screened by RG214. The feasibility of comparative physical mapping performed between O. sativa and O. officinalis with rice BAC clones was discussed.
文摘目的利用CRISPR/Cas9基因编辑技术构建斑马鱼map3k15敲除纯合品系,为进一步研究map3k15在肾脏疾病方面的作用提供动物模型。方法1)分析map3k15在斑马鱼中的表达模式;2)利用CRISPR/Cas9基因编辑技术构建斑马鱼map3k15敲除纯合品系;3)观察map3k15缺失对斑马鱼表型的影响。结果1)map3k15在斑马鱼前肾中表达,且MAP3K15/Map3k15蛋白在多物种间具有高度保守性;2)成功构建了斑马鱼map3k15-/-突变体,并保留+2 bp及+1 bp 2种突变品系;3)map3k15突变斑马鱼在胚胎发育过程中出现卵黄囊、心包及头部的水肿,且随发育时间延长,症状逐渐加重。结论成功构建了map3k15敲除的纯合斑马鱼品系,为未来研究map3k15在肾脏发育及疾病中的作用提供了重要的模型。
基金financially supported by the National Natural Science Foundation of China(No.42002298)the National Key Research and Development Program of China(No.2017YFC0601501)+1 种基金China Geological Survey(No.DD20201181)the Open Research Fund Program of the Key Laboratory of Metallogenic Prediction of Nonferrous Metals and Geological Environment Monitoring(Central South University),Ministry of Education(No.2020YSJS09)。
文摘With the decrease in surface and shallow ore deposits,mineral exploration has focused on deeply buried ore bodies,and large-scale metallogenic prediction presents new opportunities and challenges.This paper adopts the predictive thinking method in this era of big data combined with specific research on the special exploration and exploitation of deep-earth resources.Four basic theoretical models of large-scale deep mineralization prediction and evaluation are explored:mineral prediction geological model theory,multidisciplinary information correlation theory,mineral regional trend analysis theory,and mineral prediction geological differentiation theory.The main workflow of large-scale deep resource prediction in the digital and information age is summarized,including construction of ore prospecting models of metallogenic systems,multiscale 3 D geological modeling,and 3 D quantitative prediction of deep resources.Taking the Lala copper mine in Sichuan Province as an example,this paper carries out deep 3 D quantitative prediction of mineral resources and makes a positive contribution to the future prediction and evaluation of mineral resources.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.2021R1A2C1011216)。
文摘In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying.
基金supported by the High Technology Research and Development Program of China(2013AA102504)the Beijing Innovation Team of Technology System in the National Dairy Industry+2 种基金the National Key Technologies R&D Program of China(2011BAD28B02,2012BAD12B01)the Beijing Research and Technology Program,China(D121100003312001)the Program for Changjiang Scholar and Innovation Research Team in University,China(IRT1191)
文摘It had been demonstrated that the strong and highly significant quantitative trait locus（QTL） can affect protein percentage on Bos Taurus Autosome 3（BTA3） at the position 52 cM, near the microsatellite DIK4353, with the 95% confidence interval spanning from 25 to 57 cM in Chinese Holstein population using QTL-express, MQREML, and GRIDQTL softwares. This study herein focused on such region of fine mapping QTLs for milk production and functional traits with 16 microsatellite markers with coverage of 33 cM between the markers BMS2904 and MB099 on BTA3 in a daughter-designed Chinese Holstein population. A total of 1 298 Holstein cows and 7 sires were genotyped for 16 microsatellites with ABI 3700 DNA sequencer. The variance components QTL linkage analysis（LA） and linkage-disequilibrium（LD） analysis（LA/LD） was performed to map QTLs for 7 traits, i.e., 305-d milk yield, fat yield, protein yield, fat percentage, protein percentage, somatic cell score and persistency of milk yield. Four strong and highly significant QTLs were detected for fat yield, fat percentage, protein percentage and somatic cell score at the position 40, 30, 27 and 26 cM, respectively. Two minor QTLs for milk yield and persistency of milk yield were identified at 42 and 46 cM, respectively. These findings provided a general idea for the fine mapping of the causal mutation for milk production and functional traits on BTA3 in the future.
文摘Extracting the three-dimensional(3D)information including location and height of a pedestrian is important for vision-based intelligent traffic monitoring systems.This paper tackles the relationship between pixels′actual size and pixels′spatial resolution through a new method named pixel-resolution mapping(P-RM).The proposed P-RM method derives the equations for pixels′spatial resolutions(XY-direction)and object′s height(Z-direction)in the real world,while introducing new tilt angle and mounting height calibration methods that do not require special calibration patterns placed in the real world.Both controlled laboratory and actual world experiments were performed and reported.The tests on 3D mensuration using proposed P-RM method showed overall better than 98.7%accuracy in laboratory environments and better than 96%accuracy in real world pedestrian height estimations.The 3D reconstructed images for measured points were also determined with the proposed P-RM method which shows that the proposed method provides a general algorithm for 3D information extraction.
