The centroid coordinate serves as a critical control parameter in motion systems,including aircraft,missiles,rockets,and drones,directly influencing their motion dynamics and control performance.Traditional methods fo...The centroid coordinate serves as a critical control parameter in motion systems,including aircraft,missiles,rockets,and drones,directly influencing their motion dynamics and control performance.Traditional methods for centroid measurement often necessitate custom equipment and specialized positioning devices,leading to high costs and limited accuracy.Here,we present a centroid measurement method that integrates 3D scanning technology,enabling accurate measurement of centroid across various types of objects without the need for specialized positioning fixtures.A theoretical framework for centroid measurement was established,which combined the principle of the multi-point weighing method with 3D scanning technology.The measurement accuracy was evaluated using a designed standard component.Experimental results demonstrate that the discrepancies between the theoretical and the measured centroid of a standard component with various materials and complex shapes in the X,Y,and Z directions are 0.003 mm,0.009 mm,and 0.105 mm,respectively,yielding a spatial deviation of 0.106 mm.Qualitative verification was conducted through experimental validation of three distinct types.They confirmed the reliability of the proposed method,which allowed for accurate centroid measurements of various products without requiring positioning fixtures.This advancement significantly broadened the applicability and scope of centroid measurement devices,offering new theoretical insights and methodologies for the measurement of complex parts and systems.展开更多
The accuracy of spot centroid positioning has a significant impact on the tracking accuracy of the system and the stability of the laser link construction.In satellite laser communication systems,the use of short-wave...The accuracy of spot centroid positioning has a significant impact on the tracking accuracy of the system and the stability of the laser link construction.In satellite laser communication systems,the use of short-wave infrared wavelengths as beacon light can reduce atmospheric absorption and signal attenuation.However,there are strong non-uniformity and blind pixels in the short-wave infrared image,which makes the image distorted and leads to the decrease of spot centroid positioning accuracy.Therefore,the high-precision localization of the spot centroid of the short-wave infrared images is of great research significance.A high-precision spot centroid positioning model for short-wave infrared is proposed to correct for non-uniformity and blind pixels in short-wave infrared images and quantify the localization errors caused by the two,further model-based localization error simulations are performed,and a novel spot centroid positioning payload for satellite laser communications has been designed using the latest 640×512 planar array InGaAs shortwave infrared detector.The experimental results show that the non-uniformity of the corrected image is reduced from 7%to 0.6%,the blind pixels rejection rate reaches 100%,the frame rate can be up to 2000 Hz,and the spot centroid localization accuracy is as high as 0.1 pixel point,which realizes high-precision spot centroid localization of high-frame-frequency short-wave infrared images.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
Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps b...Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.展开更多
Storm surge is often the marine disaster that poses the greatest threat to life and property in coastal areas.Accurate and timely issuance of storm surge warnings to take appropriate countermeasures is an important me...Storm surge is often the marine disaster that poses the greatest threat to life and property in coastal areas.Accurate and timely issuance of storm surge warnings to take appropriate countermeasures is an important means to reduce storm surge-related losses.Storm surge numerical models are important for storm surge forecasting.To further improve the performance of the storm surge forecast models,we developed a numerical storm surge forecast model based on an unstructured spherical centroidal Voronoi tessellation(SCVT)grid.The model is based on shallow water equations in vector-invariant form,and is discretized by Arakawa C grid.The SCVT grid can not only better describe the coastline information but also avoid rigid transitions,and it has a better global consistency by generating high-resolution grids in the key areas through transition refinement.In addition,the simulation speed of the model is accelerated by using the openACC-based GPU acceleration technology to meet the timeliness requirements of operational ensemble forecast.It only takes 37 s to simulate a day in the coastal waters of China.The newly developed storm surge model was applied to simulate typhoon-induced storm surges in the coastal waters of China.The hindcast experiments on the selected representative typhoon-induced storm surge processes indicate that the model can reasonably simulate the distribution characteristics of storm surges.The simulated maximum storm surges and their occurrence times are consistent with the observed data at the representative tide gauge stations,and the mean absolute errors are 3.5 cm and 0.6 h respectively,showing high accuracy and application prospects.展开更多
The purpose of this research was to suggest an applicable procedure for computing the centroid moment tensor(CMT)automatically and in real time from earthquakes that occur in Indonesia and the surrounding areas.Gisola...The purpose of this research was to suggest an applicable procedure for computing the centroid moment tensor(CMT)automatically and in real time from earthquakes that occur in Indonesia and the surrounding areas.Gisola software was used to estimate the CMT solution by selecting the velocity model that best suited the local and regional geological conditions in Indonesia and the surrounding areas.The data used in this study were earthquakes with magnitudes of 5.4 to 8.0.High-quality,real-time broadband seismographic data were provided by the International Federation of Digital Seismograph Networks Web Services(FDSNWS)and the European Integrated Data Archive(EIDA)Federation in Indonesia and the surrounding areas.Furthermore,the inversion process and filter adjustment were carried out on the seismographic data to obtain good CMT solutions.The CMT solutions from Gisola provided good-quality solutions,in which all earthquake data had A-level quality(high quality,with good variant reduction).The Gisola CMT solution was justified with the Global CMT(GCMT)solution by using the Kagan angle value,with an average of approximately 11.2°.This result suggested that the CMT solution generated from Gisola was trustworthy and reliable.The Gisola CMT solution was typically available within approximately 15 minutes after an earthquake occurred.Once it met the quality requirement,it was automatically published on the internet.The catalog of local and regional earthquake records obtained through this technology holds great promise for improving the current understanding of regional seismic activity and ongoing tectonic processes.The accurate and real-time CMT solution generated by implementing the Gisola algorithm consisted of moment tensors and moment magnitudes,which provided invaluable insights into earthquakes occurring in Indonesia and the surrounding areas.展开更多
The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adap...The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.展开更多
This study used Topological Weighted Centroid (TWC) to analyze the Coronavirus outbreak in Brazil. This analysis only uses latitude and longitude in formation of the capitals with the confirmed cases on May 24, 2020 t...This study used Topological Weighted Centroid (TWC) to analyze the Coronavirus outbreak in Brazil. This analysis only uses latitude and longitude in formation of the capitals with the confirmed cases on May 24, 2020 to illustrate the usefulness of TWC though any date could have been used. There are three types of TWC analyses, each type having five associated algorithms that produce fifteen maps, TWC-Original, TWC-Frequency and TWC-Windowing. We focus on TWC-Original to illustrate our approach. The TWC method without using the transportation information predicts the network for COVID-19 outbreak that matches very well with the main radial transportation routes network in Brazil.展开更多
Numerous published results have showr the importance of the Wcstern Pacific Warm Pool （WPWP）surface centroid movement in ENSO-（EI Nino/Southcrn Oscillation）rclated studies .Howcver,some rccent research conclusions...Numerous published results have showr the importance of the Wcstern Pacific Warm Pool （WPWP）surface centroid movement in ENSO-（EI Nino/Southcrn Oscillation）rclated studies .Howcver,some rccent research conclusions make it necessary to clarify the differenccs of the currently exicing two types of WPWP surface centroid：the geometric centroid and the thermal （heat）centrold.This study analyzes the physical backgrounds of the two typcs of centroid and points out their differenccs.which suggest that different types of ccntroid may scrve different study purposes.This study also shows that the ‘geometric center’of WPWP.actually a close approximation to the mass ccntroid,is more related to the Nino-3 region sca surfacc temperaturc（SST）ancmaly and can also be regarded as an important indicator of ENSO events.展开更多
In this paper,the reverse forms of the L p-Busemann-Petty centroid inequality are shown. As the applications of the reverse forms,we obtain the reverse forms of the L p-centroid-affine inequality and an upper bound of...In this paper,the reverse forms of the L p-Busemann-Petty centroid inequality are shown. As the applications of the reverse forms,we obtain the reverse forms of the L p-centroid-affine inequality and an upper bound of the isotropic constant for convex bodies.展开更多
In this paper, we study the characteristic properties for Lp-centroid bod- ies, and an improved version of Busemann-Petty problem for Lp-centroid bodies is obtained. In addition, using the definitions of Lp-pole curva...In this paper, we study the characteristic properties for Lp-centroid bod- ies, and an improved version of Busemann-Petty problem for Lp-centroid bodies is obtained. In addition, using the definitions of Lp-pole curvature image and Lp-affine surface area, a new proof of Busemann-Petty problem for Lp-centroid bodies is given.展开更多
Centroid depth of earthquakes is essential for seismic hazard mitigation. But, various studies provided different solutions for the centroid depth of the damaging 2013 Lushan earthquake, thus hindering further studies...Centroid depth of earthquakes is essential for seismic hazard mitigation. But, various studies provided different solutions for the centroid depth of the damaging 2013 Lushan earthquake, thus hindering further studies of the earthquake processes. To resolve its centroid depth and assess the uncertainties, we apply the teleseismic cut and paste method to invert for centroid depth with teleseismic body waves in the epicentral distance of 300-90~. We performed the inversion for P waves only as well the case of both P and SH waves and found that both cases lead to depth solutions with difference less than 0.5 km. We also investigated the effects on depth inversion from azimuth gap of seismic stations, source duration, and comer fre- quency of filter. These various tests show that even azi- muthal distribution of seismic stations is helpful for accurate depth inversion. It is also found that estimate of centroid depth is sensitive to source duration. Moreover, the depth is biased to larger values when corner frequency of low-pass filter is very low. The uncertainty in the velocity model can also generate some error in the depth estimation （- 1.0 km）.With all the above factors consid- ered, the centroid depth of Lushan earthquake is proposed to be around 12 km, with uncertainty about 2 km.展开更多
In this paper, a video fire detection method is proposed, which demonstrated good performance in indoor environment. Three main novel ideas have been introduced. Firstly, a flame color model in RGB and HIS color space...In this paper, a video fire detection method is proposed, which demonstrated good performance in indoor environment. Three main novel ideas have been introduced. Firstly, a flame color model in RGB and HIS color space is used to extract pre-detected regions instead of traditional motion differential method, as it’s more suitable for fire detection in indoor environment. Secondly, according to the flicker characteristic of the flame, similarity and two main values of centroid motion are proposed. At the same time, a simple but effective method for tracking the same regions in consecutive frames is established. Thirdly,a multi-expert system consisting of color component dispersion,similarity and centroid motion is established to identify flames.The proposed method has been tested on a very large dataset of fire videos acquired both in real indoor environment tests and from the Internet. The experimental results show that the proposed approach achieved a balance between the false positive rate and the false negative rate, and demonstrated a better performance in terms of overall accuracy and F standard with respect to other similar fire detection methods in indoor environment.展开更多
Centroidal Voronoi tessellations(CVTs) have become a useful tool in many applications ranging from geometric modeling,image and data analysis,and numerical partial differential equations,to problems in physics,astroph...Centroidal Voronoi tessellations(CVTs) have become a useful tool in many applications ranging from geometric modeling,image and data analysis,and numerical partial differential equations,to problems in physics,astrophysics,chemistry,and biology. In this paper,we briefly review the CVT concept and a few of its generalizations and well-known properties.We then present an overview of recent advances in both mathematical and computational studies and in practical applications of CVTs.Whenever possible,we point out some outstanding issues that still need investigating.展开更多
Spatial distribution changes in major crops can reveal important information about cropping systems. Here, a new centroid method that applies physics and mathematics to spatial pattern analysis in agriculture is propo...Spatial distribution changes in major crops can reveal important information about cropping systems. Here, a new centroid method that applies physics and mathematics to spatial pattern analysis in agriculture is proposed to quantitatively describe the historical centroids of rice, maize and wheat in China from 1949 to 2014. The geographical centroids of the rice area moved 413.39 km in a 34.32° northeasterly （latitude 3.08°N, longitude 2.10°E） direction at a speed of 6.36 km/year from central Hunan province to Hubei province, while the geographical centroids of rice production moved 509.26 km in the direction of 45.44° northeasterly （latitude 3.22°N, longitude 3.27°E） at a speed of 7.83 km/year from central Hunan province to Henan province. The geographical centroids of the maize area and production moved 307.15 km in the direction of 34.33° northeasterly （latitude 2.29°N, longitude 1.56°E） and 308.16 km in the direction of 30.79° northeasterly （latitude 2.39°N, longitude 1.42°E）, respectively. However, the geographical centroids of the wheat area and production were randomly distributed along the border of Shanxi and Henan provinces. We divided the wheat into spring wheat and winter wheat and found that the geographical centroids of the spring wheat area and production were distributed within Inner Mongolia, while the geographical centroids of winter wheat were distributed in Shanxi and Henan provinces. We found that the hotspots of crop cultivation area and production do not always change concordantly at a lar-ger, regional scale, suggesting that the changing amplitude and rate of each crops＇ yield differ between different regions in China. Thus, relevant adaptation measures should be taken at a regional level to prevent production damage in those with increasing area but decreasing production.ger, regional scale, suggesting that the changing amplitude and rate of each crops＇ yield differ between different regions in China. Thus, relevant adaptation measures should be taken at a regional level to prevent production damage in those with increasing area but decreasing production.展开更多
As much as accurate or precise position estimation is always desirable, coarse accuracy due to sensor node localization is often sufficient. For such level of accuracy, Range-free localization techniques are being exp...As much as accurate or precise position estimation is always desirable, coarse accuracy due to sensor node localization is often sufficient. For such level of accuracy, Range-free localization techniques are being explored as low cost alternatives to range based localization techniques. To manage cost, few location aware nodes, called anchors are deployed in the wireless sensor environment. It is from these anchors that all other free nodes are expected to estimate their own positions. This paper therefore, takes a look at some of the foremost Range-free localization algorithms, detailing their limitations, with a view to proposing a modified form of Centroid Localization Algorithm called Reach Centroid Localization Algorithm. The algorithm employs a form of anchor nodes position validation mechanism by looking at the consistency in the quality of Received Signal Strength. Each anchor within the vicinity of a free node seeks to validate the actual position or proximity of other anchors within its vicinity using received signal strength. This process mitigates multipath effects of radio waves, particularly in an enclosed environment, and consequently limits localization estimation errors and uncertainties. Centroid Localization Algorithm is then used to estimate the location of a node using the anchors selected through the validation mechanism. Our approach to localization becomes more significant, particularly in indoor environments, where radio signal signatures are inconsistent or outrightly unreliable. Simulated results show a significant improvement in localization accuracy when compared with the original Centroid Localization Algorithm, Approximate Point in Triangulation and DV-Hop.展开更多
We present a novel algorithm for adaptive triangular mesh coarsening. The algorithm has two stages. First, the input triangular mesh is refined by iteratively applying the adaptive subdivision operator that performs a...We present a novel algorithm for adaptive triangular mesh coarsening. The algorithm has two stages. First, the input triangular mesh is refined by iteratively applying the adaptive subdivision operator that performs a so-called red-green split. Second, the refined mesh is simplified by a clustering algorithm based on centroidal Voronoi tessellations (CVTs). The accuracy and good quality of the output triangular mesh are achieved by combining adaptive subdivision and the CVTs technique. Test results showed the mesh coarsening scheme to be robust and effective. Examples are shown that validate the method.展开更多
The accuracy of unstructured finite volume methods is greatly influenced by the gradient reconstruction, for which the stencil selection plays a critical role. Compared with the commonly used face-neighbor and vertex-...The accuracy of unstructured finite volume methods is greatly influenced by the gradient reconstruction, for which the stencil selection plays a critical role. Compared with the commonly used face-neighbor and vertex-neighbor stencils, the global-direction stencil is independent of the mesh topology, and characteristics of the flow field can be well reflected by this novel stencil. However, for a high-aspect-ratio triangular grid, the grid skewness is evident, which is one of the most important grid-quality measures known to affect the accuracy and stability of finite volume solvers. On this basis and inspired by an approach of using face-area-weighted centroid to reduce the grid skewness, we explore a method by combining the global-direction stencil and face-area-weighted centroid on high-aspect-ratio triangular grids, so as to improve the computational accuracy. Four representative numerical cases are simulated on high-aspect-ratio triangular grids to examine the validity of the improved global-direction stencil. Results illustrate that errors of this improved methods are the lowest among all methods we tested, and in high-mach-number flow, with the increase of cell aspect ratio, the improved global-direction stencil always has a better stability than commonly used face-neighbor and vertex-neighbor stencils. Therefore, the computational accuracy as well as stability is greatly improved, and superiorities of this novel method are verified.展开更多
基金supported by National Natural Science Foundation of China(No.52176122).
文摘The centroid coordinate serves as a critical control parameter in motion systems,including aircraft,missiles,rockets,and drones,directly influencing their motion dynamics and control performance.Traditional methods for centroid measurement often necessitate custom equipment and specialized positioning devices,leading to high costs and limited accuracy.Here,we present a centroid measurement method that integrates 3D scanning technology,enabling accurate measurement of centroid across various types of objects without the need for specialized positioning fixtures.A theoretical framework for centroid measurement was established,which combined the principle of the multi-point weighing method with 3D scanning technology.The measurement accuracy was evaluated using a designed standard component.Experimental results demonstrate that the discrepancies between the theoretical and the measured centroid of a standard component with various materials and complex shapes in the X,Y,and Z directions are 0.003 mm,0.009 mm,and 0.105 mm,respectively,yielding a spatial deviation of 0.106 mm.Qualitative verification was conducted through experimental validation of three distinct types.They confirmed the reliability of the proposed method,which allowed for accurate centroid measurements of various products without requiring positioning fixtures.This advancement significantly broadened the applicability and scope of centroid measurement devices,offering new theoretical insights and methodologies for the measurement of complex parts and systems.
基金Supported by the Short-wave Infrared Camera Systems(B025F40622024)。
文摘The accuracy of spot centroid positioning has a significant impact on the tracking accuracy of the system and the stability of the laser link construction.In satellite laser communication systems,the use of short-wave infrared wavelengths as beacon light can reduce atmospheric absorption and signal attenuation.However,there are strong non-uniformity and blind pixels in the short-wave infrared image,which makes the image distorted and leads to the decrease of spot centroid positioning accuracy.Therefore,the high-precision localization of the spot centroid of the short-wave infrared images is of great research significance.A high-precision spot centroid positioning model for short-wave infrared is proposed to correct for non-uniformity and blind pixels in short-wave infrared images and quantify the localization errors caused by the two,further model-based localization error simulations are performed,and a novel spot centroid positioning payload for satellite laser communications has been designed using the latest 640×512 planar array InGaAs shortwave infrared detector.The experimental results show that the non-uniformity of the corrected image is reduced from 7%to 0.6%,the blind pixels rejection rate reaches 100%,the frame rate can be up to 2000 Hz,and the spot centroid localization accuracy is as high as 0.1 pixel point,which realizes high-precision spot centroid localization of high-frame-frequency short-wave infrared images.
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 National Natural Science Foundation of China under Grants 62173248,62073245.
文摘Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.
基金The National Natural Science Foundation of China under contract No.42076214.
文摘Storm surge is often the marine disaster that poses the greatest threat to life and property in coastal areas.Accurate and timely issuance of storm surge warnings to take appropriate countermeasures is an important means to reduce storm surge-related losses.Storm surge numerical models are important for storm surge forecasting.To further improve the performance of the storm surge forecast models,we developed a numerical storm surge forecast model based on an unstructured spherical centroidal Voronoi tessellation(SCVT)grid.The model is based on shallow water equations in vector-invariant form,and is discretized by Arakawa C grid.The SCVT grid can not only better describe the coastline information but also avoid rigid transitions,and it has a better global consistency by generating high-resolution grids in the key areas through transition refinement.In addition,the simulation speed of the model is accelerated by using the openACC-based GPU acceleration technology to meet the timeliness requirements of operational ensemble forecast.It only takes 37 s to simulate a day in the coastal waters of China.The newly developed storm surge model was applied to simulate typhoon-induced storm surges in the coastal waters of China.The hindcast experiments on the selected representative typhoon-induced storm surge processes indicate that the model can reasonably simulate the distribution characteristics of storm surges.The simulated maximum storm surges and their occurrence times are consistent with the observed data at the representative tide gauge stations,and the mean absolute errors are 3.5 cm and 0.6 h respectively,showing high accuracy and application prospects.
基金Universitas Negeri Surabaya,Universitas Sebelas Maret,and Universitas Syiah Kuala for providing research grants for the Indonesian Collaborative Research(RKI)scheme。
文摘The purpose of this research was to suggest an applicable procedure for computing the centroid moment tensor(CMT)automatically and in real time from earthquakes that occur in Indonesia and the surrounding areas.Gisola software was used to estimate the CMT solution by selecting the velocity model that best suited the local and regional geological conditions in Indonesia and the surrounding areas.The data used in this study were earthquakes with magnitudes of 5.4 to 8.0.High-quality,real-time broadband seismographic data were provided by the International Federation of Digital Seismograph Networks Web Services(FDSNWS)and the European Integrated Data Archive(EIDA)Federation in Indonesia and the surrounding areas.Furthermore,the inversion process and filter adjustment were carried out on the seismographic data to obtain good CMT solutions.The CMT solutions from Gisola provided good-quality solutions,in which all earthquake data had A-level quality(high quality,with good variant reduction).The Gisola CMT solution was justified with the Global CMT(GCMT)solution by using the Kagan angle value,with an average of approximately 11.2°.This result suggested that the CMT solution generated from Gisola was trustworthy and reliable.The Gisola CMT solution was typically available within approximately 15 minutes after an earthquake occurred.Once it met the quality requirement,it was automatically published on the internet.The catalog of local and regional earthquake records obtained through this technology holds great promise for improving the current understanding of regional seismic activity and ongoing tectonic processes.The accurate and real-time CMT solution generated by implementing the Gisola algorithm consisted of moment tensors and moment magnitudes,which provided invaluable insights into earthquakes occurring in Indonesia and the surrounding areas.
基金supported in part by the National Key Research and Development Program of China(2020YFB13134)Major Project of National Natural Science Foundation of China(U2013602)+2 种基金The National Nature Science Foundation of China(52075115)HIT Major Campus Cultivation Project(2023FRFK01001)National independent project(SKLRS202301A12).
文摘The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.
文摘This study used Topological Weighted Centroid (TWC) to analyze the Coronavirus outbreak in Brazil. This analysis only uses latitude and longitude in formation of the capitals with the confirmed cases on May 24, 2020 to illustrate the usefulness of TWC though any date could have been used. There are three types of TWC analyses, each type having five associated algorithms that produce fifteen maps, TWC-Original, TWC-Frequency and TWC-Windowing. We focus on TWC-Original to illustrate our approach. The TWC method without using the transportation information predicts the network for COVID-19 outbreak that matches very well with the main radial transportation routes network in Brazil.
基金This study has been supported by the Doctoral Startup Foundation of 0cean University of China(2003)partly by the Natural Science Foundation of China(No.40506035).The author is thankful to the NCDC for the SST data.The author also thanks the reviewers for their very valuable suggestions.
文摘Numerous published results have showr the importance of the Wcstern Pacific Warm Pool （WPWP）surface centroid movement in ENSO-（EI Nino/Southcrn Oscillation）rclated studies .Howcver,some rccent research conclusions make it necessary to clarify the differenccs of the currently exicing two types of WPWP surface centroid：the geometric centroid and the thermal （heat）centrold.This study analyzes the physical backgrounds of the two typcs of centroid and points out their differenccs.which suggest that different types of ccntroid may scrve different study purposes.This study also shows that the ‘geometric center’of WPWP.actually a close approximation to the mass ccntroid,is more related to the Nino-3 region sca surfacc temperaturc（SST）ancmaly and can also be regarded as an important indicator of ENSO events.
基金Supported by the National Natural Science Foundation of China (10671117)Academic Mainstay Foundation of Hubei Provincial De-partment of Education (D200729002)Science Foundation of China Three Gorges University
文摘In this paper,the reverse forms of the L p-Busemann-Petty centroid inequality are shown. As the applications of the reverse forms,we obtain the reverse forms of the L p-centroid-affine inequality and an upper bound of the isotropic constant for convex bodies.
文摘In this paper, we study the characteristic properties for Lp-centroid bod- ies, and an improved version of Busemann-Petty problem for Lp-centroid bodies is obtained. In addition, using the definitions of Lp-pole curvature image and Lp-affine surface area, a new proof of Busemann-Petty problem for Lp-centroid bodies is given.
文摘Centroid depth of earthquakes is essential for seismic hazard mitigation. But, various studies provided different solutions for the centroid depth of the damaging 2013 Lushan earthquake, thus hindering further studies of the earthquake processes. To resolve its centroid depth and assess the uncertainties, we apply the teleseismic cut and paste method to invert for centroid depth with teleseismic body waves in the epicentral distance of 300-90~. We performed the inversion for P waves only as well the case of both P and SH waves and found that both cases lead to depth solutions with difference less than 0.5 km. We also investigated the effects on depth inversion from azimuth gap of seismic stations, source duration, and comer fre- quency of filter. These various tests show that even azi- muthal distribution of seismic stations is helpful for accurate depth inversion. It is also found that estimate of centroid depth is sensitive to source duration. Moreover, the depth is biased to larger values when corner frequency of low-pass filter is very low. The uncertainty in the velocity model can also generate some error in the depth estimation （- 1.0 km）.With all the above factors consid- ered, the centroid depth of Lushan earthquake is proposed to be around 12 km, with uncertainty about 2 km.
基金supported by National Natural Science Foundation of China(41471387,41631072)
文摘In this paper, a video fire detection method is proposed, which demonstrated good performance in indoor environment. Three main novel ideas have been introduced. Firstly, a flame color model in RGB and HIS color space is used to extract pre-detected regions instead of traditional motion differential method, as it’s more suitable for fire detection in indoor environment. Secondly, according to the flicker characteristic of the flame, similarity and two main values of centroid motion are proposed. At the same time, a simple but effective method for tracking the same regions in consecutive frames is established. Thirdly,a multi-expert system consisting of color component dispersion,similarity and centroid motion is established to identify flames.The proposed method has been tested on a very large dataset of fire videos acquired both in real indoor environment tests and from the Internet. The experimental results show that the proposed approach achieved a balance between the false positive rate and the false negative rate, and demonstrated a better performance in terms of overall accuracy and F standard with respect to other similar fire detection methods in indoor environment.
基金supported by the US Department of Energy Office of Science Climate Change Prediction Program through grant numbers DE-FG02-07ER64431 and DE-FG02-07ER64432the US National Science Foundation under grant numbers DMS-0609575 and DMS-0913491
文摘Centroidal Voronoi tessellations(CVTs) have become a useful tool in many applications ranging from geometric modeling,image and data analysis,and numerical partial differential equations,to problems in physics,astrophysics,chemistry,and biology. In this paper,we briefly review the CVT concept and a few of its generalizations and well-known properties.We then present an overview of recent advances in both mathematical and computational studies and in practical applications of CVTs.Whenever possible,we point out some outstanding issues that still need investigating.
基金National Key Research and Development Program of China,No.2017YFD0300201National Natural Science Foundation of China,No.41401116+1 种基金Ministry of Finance of China through the Non-Profit National Research Institute,No.Y2017JC30Field Strategic Research Project of Medium and Long-Term Development Strategy of China’s Engineering Science and Technology,No.2016-ZCQ-08
文摘Spatial distribution changes in major crops can reveal important information about cropping systems. Here, a new centroid method that applies physics and mathematics to spatial pattern analysis in agriculture is proposed to quantitatively describe the historical centroids of rice, maize and wheat in China from 1949 to 2014. The geographical centroids of the rice area moved 413.39 km in a 34.32° northeasterly （latitude 3.08°N, longitude 2.10°E） direction at a speed of 6.36 km/year from central Hunan province to Hubei province, while the geographical centroids of rice production moved 509.26 km in the direction of 45.44° northeasterly （latitude 3.22°N, longitude 3.27°E） at a speed of 7.83 km/year from central Hunan province to Henan province. The geographical centroids of the maize area and production moved 307.15 km in the direction of 34.33° northeasterly （latitude 2.29°N, longitude 1.56°E） and 308.16 km in the direction of 30.79° northeasterly （latitude 2.39°N, longitude 1.42°E）, respectively. However, the geographical centroids of the wheat area and production were randomly distributed along the border of Shanxi and Henan provinces. We divided the wheat into spring wheat and winter wheat and found that the geographical centroids of the spring wheat area and production were distributed within Inner Mongolia, while the geographical centroids of winter wheat were distributed in Shanxi and Henan provinces. We found that the hotspots of crop cultivation area and production do not always change concordantly at a lar-ger, regional scale, suggesting that the changing amplitude and rate of each crops＇ yield differ between different regions in China. Thus, relevant adaptation measures should be taken at a regional level to prevent production damage in those with increasing area but decreasing production.ger, regional scale, suggesting that the changing amplitude and rate of each crops＇ yield differ between different regions in China. Thus, relevant adaptation measures should be taken at a regional level to prevent production damage in those with increasing area but decreasing production.
文摘As much as accurate or precise position estimation is always desirable, coarse accuracy due to sensor node localization is often sufficient. For such level of accuracy, Range-free localization techniques are being explored as low cost alternatives to range based localization techniques. To manage cost, few location aware nodes, called anchors are deployed in the wireless sensor environment. It is from these anchors that all other free nodes are expected to estimate their own positions. This paper therefore, takes a look at some of the foremost Range-free localization algorithms, detailing their limitations, with a view to proposing a modified form of Centroid Localization Algorithm called Reach Centroid Localization Algorithm. The algorithm employs a form of anchor nodes position validation mechanism by looking at the consistency in the quality of Received Signal Strength. Each anchor within the vicinity of a free node seeks to validate the actual position or proximity of other anchors within its vicinity using received signal strength. This process mitigates multipath effects of radio waves, particularly in an enclosed environment, and consequently limits localization estimation errors and uncertainties. Centroid Localization Algorithm is then used to estimate the location of a node using the anchors selected through the validation mechanism. Our approach to localization becomes more significant, particularly in indoor environments, where radio signal signatures are inconsistent or outrightly unreliable. Simulated results show a significant improvement in localization accuracy when compared with the original Centroid Localization Algorithm, Approximate Point in Triangulation and DV-Hop.
基金supported by the National Natural Science Foundation of China (No. 60773179)the National Basic Research Program (973) of China (No. 2004CB318000)
文摘We present a novel algorithm for adaptive triangular mesh coarsening. The algorithm has two stages. First, the input triangular mesh is refined by iteratively applying the adaptive subdivision operator that performs a so-called red-green split. Second, the refined mesh is simplified by a clustering algorithm based on centroidal Voronoi tessellations (CVTs). The accuracy and good quality of the output triangular mesh are achieved by combining adaptive subdivision and the CVTs technique. Test results showed the mesh coarsening scheme to be robust and effective. Examples are shown that validate the method.
基金Project supported by the National Key Project, China (Grant No. GJXM92579).
文摘The accuracy of unstructured finite volume methods is greatly influenced by the gradient reconstruction, for which the stencil selection plays a critical role. Compared with the commonly used face-neighbor and vertex-neighbor stencils, the global-direction stencil is independent of the mesh topology, and characteristics of the flow field can be well reflected by this novel stencil. However, for a high-aspect-ratio triangular grid, the grid skewness is evident, which is one of the most important grid-quality measures known to affect the accuracy and stability of finite volume solvers. On this basis and inspired by an approach of using face-area-weighted centroid to reduce the grid skewness, we explore a method by combining the global-direction stencil and face-area-weighted centroid on high-aspect-ratio triangular grids, so as to improve the computational accuracy. Four representative numerical cases are simulated on high-aspect-ratio triangular grids to examine the validity of the improved global-direction stencil. Results illustrate that errors of this improved methods are the lowest among all methods we tested, and in high-mach-number flow, with the increase of cell aspect ratio, the improved global-direction stencil always has a better stability than commonly used face-neighbor and vertex-neighbor stencils. Therefore, the computational accuracy as well as stability is greatly improved, and superiorities of this novel method are verified.
