Deformation analysis is fundamental in geotechnical modeling.Nevertheless,there is still a lack of an effective method to obtain the deformation field under various experimental conditions.In this study,we introduce a...Deformation analysis is fundamental in geotechnical modeling.Nevertheless,there is still a lack of an effective method to obtain the deformation field under various experimental conditions.In this study,we introduce a processebased physical modeling of a pileereinforced reservoir landslide and present an improved deformation analysis involving large strains and water effects.We collect multieperiod point clouds using a terrain laser scanner and reconstruct its deformation field through a point cloud processing workflow.The results show that this method can accurately describe the landslide surface deformation at any time and area by both scalar and vector fields.The deformation fields in different profiles of the physical model and different stages of the evolutionary process provide adequate and detailed landslide information.We analyze the large strain upstream of the pile caused by the pile installation and the consequent violent deformation during the evolutionary process.Furthermore,our method effectively overcomes the challenges of identifying targets commonly encountered in geotechnical modeling where water effects are considered and targets are polluted,which facilitates the deformation analysis at the wading area in a reservoir landslide.Eventually,combining subsurface deformation as well as numerical modeling,we comprehensively analyze the kinematics and failure mechanisms of this complicated object involving landslides and pile foundations as well as water effects.This method is of great significance for any geotechnical modeling concerning large-strain analysis and water effects.展开更多
Laser scanning technology has been widely used in landslide aspects.However,the existing deformation analysis based on terrain laser scanners can only provide limited information,which is insufficient for understandin...Laser scanning technology has been widely used in landslide aspects.However,the existing deformation analysis based on terrain laser scanners can only provide limited information,which is insufficient for understanding landslide kinematics and failure mechanisms.To overcome this limitation,this paper proposes an automated method for processing point clouds collected in landslide physical modeling.This method allows the acquisition of quantitative three-dimensional(3D)deformation field information.The results show the organized and spatially related point cloud segmentation in terms of spherical targets.The segmented point clouds can be fitted to determine the locations of all preset targets and their corresponding location changes.The proposed method has been validated based on theoretical analysis and numerical and physical tests,which indicates that it can batch-process massive data sets with high computational efficiency and good noise resistance.Compared to existing methods,this method shows a significant potential for understanding landslide kinematics and failure mechanisms and advancing the application of 3D laser scanning in geotechnical modeling.展开更多
The determination of stress distribution is important for the safe use of membrane structures in practical engineering,which is difficult to be obtained by existing measurement methods and analysis methods.This paper ...The determination of stress distribution is important for the safe use of membrane structures in practical engineering,which is difficult to be obtained by existing measurement methods and analysis methods.This paper proposes a rigid-membrane method to determine the stress distribution of the membrane,which expands the stiffness of the membrane,applies the load of the membrane in equilibrium to the membrane shape of the equilibrium state,and performs nonlinear finite element analysis.The rigid-membrane method inversely acquires the stress distribution of the membrane based only on the shape and load distribution in equilibrium obtained from the numerical simulation of a membrane structure under water loads,and determines the modulus magnitude and mesh size required to rigidize the membrane.The accuracy of the rigid-membrane method is verified by the small differences between the stress distributions obtained from the proposed method and numerical simulations.The equilibrium membrane shape in the actual project can be scanned and reconstructed by the laser scanner system without any pre-processing,and the load is determined by the water level,internal pressure,etc.Based on the actual membrane shape and water load distribution,the rigid-membrane method determines the real stress distribution of the membrane in the test of flat membrane subjected to ponding water,which verifies that the rigid-membrane method is a practical method to determine the stress distribution only by the membrane shape and external load distribution.展开更多
Feature extraction of range images provided by ranging sensor is a key issue of pattern recognition. To automatically extract the environmental feature sensed by a 2D ranging sensor laser scanner, an improved method b...Feature extraction of range images provided by ranging sensor is a key issue of pattern recognition. To automatically extract the environmental feature sensed by a 2D ranging sensor laser scanner, an improved method based on genetic clustering VGA-clustering is presented. By integrating the spatial neighbouring information of range data into fuzzy clustering algorithm, a weighted fuzzy clustering algorithm （WFCA） instead of standard clustering algorithm is introduced to realize feature extraction of laser scanner. Aimed at the unknown clustering number in advance, several validation index functions are used to estimate the validity of different clustering algorithms and one validation index is selected as the fitness function of genetic algorithm so as to determine the accurate clustering number automatically. At the same time, an improved genetic algorithm IVGA on the basis of VGA is proposed to solve the local optimum of clustering algorithm, which is implemented by increasing the population diversity and improving the genetic operators of elitist rule to enhance the local search capacity and to quicken the convergence speed. By the comparison with other algorithms, the effectiveness of the algorithm introduced is demonstrated.展开更多
Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between le...Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between leaves and nonphotosynthetic structures to retrieve the leaf normal has been challenging. We used here an approach to accurately retrieve the leaf normals of camphorwood（Cinnamomum camphora） using TLS point cloud data.First, nonphotosynthetic structures were filtered by using the curvature threshold of each point. Then, the point cloud data were segmented by a voxel method and clustered by a Gaussian mixture model in each voxel. Finally, the normal vector of each cluster was computed by principal component analysis to obtain the leaf normal distribution. We collected leaf inclination angles and estimated the distribution, which we compared with the retrieved leaf normal distribution. The correlation coefficient between measurements and obtained results was 0.96, indicating a good coincidence.展开更多
In this paper, a flexible high-precision calibration method suitable for industrial field was proposed. The complexity of the coordinate transformation was simplified by choosing the camera coordinate system as the un...In this paper, a flexible high-precision calibration method suitable for industrial field was proposed. The complexity of the coordinate transformation was simplified by choosing the camera coordinate system as the unified reference coordinate system. A flexible planar calibration pattern was introduced to the calibration process, which can be arbitrarily placed and from which the known feature points can be extracted to construct other unknown feature points. With the known intrinsic parameters, the laser projector plane equation was fitted by the multi-noncollinear points, which were acquired through the principle of triangulation and the projective invariance of cross ratio. With this method, the strict alignment and multiple times of coordinate transformation can be avoided. Experimental results showed that the arithmetic mean of the root mean square(RMS) error of distance was 0.000 7 mm.展开更多
This study demonstrated the usefulness of very long-range terrestrial laser scanning(TLS) for analysis of the spatial distribution of a snowpack, to distances up to 3000 m, one of the longest measurement range reporte...This study demonstrated the usefulness of very long-range terrestrial laser scanning(TLS) for analysis of the spatial distribution of a snowpack, to distances up to 3000 m, one of the longest measurement range reported to date. Snow depth data were collected using a terrestrial laser scanner during 11 periods of snow accumulation and melting,over three snow seasons on a Pyrenean hillslopecharacterized by a large elevational gradient, steep slopes, and avalanche occurrence. The maximum and mean absolute snow depth error found was 0.5-0.6 and 0.2-0.3 m respectively, which may result problematic for areas with a shallow snowpack, but it is sufficiently accurate to determine snow distribution patterns in areas characterized by a thick snowpack. The results indicated that in most cases there was temporal consistency in the spatial distribution of thesnowpack, even in different years. The spatial patterns were particularly similar amongst thesurveys conducted during the period dominated by snow accumulation(generally until end of April), or amongst those conducted during the period dominated by melting processes(generally after mid of April or early May). Simple linear correlation analyses for the 11 survey dates, and the application of Random Forests analysis to two days representative of snow accumulation and melting periods indicated the importance of topography to the snow distribution. The results also highlight that elevation and the Topographic Position index(TPI) were the main variables explaining the snow distribution, especially during periods dominated by melting. The intra-and inter-annual spatial consistency of the snowpack distribution suggests that the geomorphological processes linked to presence/absence of snow cover act in a similar way in the long term, and that these spatial patternscan be easily identifiedthrough several years of adequate monitoring.展开更多
Glacier mass balance is a key component of glacier monitoring programs. Information on the mass balance of Sawir Mountains is poor due to a dearth of in-situ measurements. This paper introduces the applicability of an...Glacier mass balance is a key component of glacier monitoring programs. Information on the mass balance of Sawir Mountains is poor due to a dearth of in-situ measurements. This paper introduces the applicability of an ultra-long-range terrestrial laser scanner(TLS) to monitor the mass balance of Muz Taw Glacier, Sawir Mountains, China. The Riegl VZ?-6000 TLS is exceptionally well-suited for measuring snowy and icy terrain. Here, we use TLS to create repeated high spatiotemporal resolution DEMs, focusing on the annual mass balance(June 2, 2015 to July 25, 2016). According to TLS-derived high spatial resolution point clouds, the front variation(glacier retreat) of Muz Taw Glacier was 9.3 m. The mean geodetic elevation change was 4.55 m at the ablation area. By comparing with glaciological measurements, the glaciological elevation change of individual stakes and the TLS-derived geodetic elevation change of corresponding points matched closely, and the calculated balance was-3.864±0.378 m w.e.. This data indicates that TLS provides accurate results and is therefore suitable to monitor mass balance evolution of Muz Taw Glacier.展开更多
The landscape pattern metrics can quantitatively describe the characteristics of landscape pattern and are widely used in various fields of landscape ecology.Due to the lack of vertical information,2D landscape metric...The landscape pattern metrics can quantitatively describe the characteristics of landscape pattern and are widely used in various fields of landscape ecology.Due to the lack of vertical information,2D landscape metrics cannot delineate the vertical characteristics of landscape pattern.Based on the point clouds,a high-resolution voxel model and several voxel-based 3D landscape metrics were constructed in this study and 3D metrics calculation results were compared with that of 2D metrics.The results showed that certain quantifying difference exists between 2D and 3D landscape metrics.For landscapes with different components and spatial configurations,significant difference was disclosed between 2D and 3D landscape metrics.3D metrics can better reflect the real spatial structure characteristics of the landscape than 2D metrics.展开更多
Marking arbitrary three-dimensional(3D) target curves on given objects with curved surface is required in many industrial fields, such as fabric prepreg placement in composite material part fabrication, product assemb...Marking arbitrary three-dimensional(3D) target curves on given objects with curved surface is required in many industrial fields, such as fabric prepreg placement in composite material part fabrication, product assembly, surface painting for decoration, etc. A shortcut to the solution of this intractable problem is proposed by utilizing a galvanometric laser scanner(GLS) with the aid of a camera. Without using the existing tedious GLS calibration procedures,the proposed method directly establishes a mapping between the 3D coordinates of the laser spots on the object surface and the control voltages of the scanner. A single-hidden layer feedforward neural network(SLFN) is employed to model the mapping. By projecting a dense grid of laser spots on the object to be marked and simultaneously taking only one image, the SLFN model is trained in minutes via a linear solving mechanism. Experiments demonstrate that the trained SLFN model has a good generalization performance for marking 3D target curves. The 3D laser marking errors on experimental objects are less than 0.5 mm. The proposed method is especially suitable for on-site use and can be conveniently extended to multiple GLSs for marking large complex objects.展开更多
In this article ,we chiefly discuss optical part and photoelectrical part, and analyze the result data to make out the relationship between pinhole and special resolution and the influence of PMT on the result data.
Many advanced driver assistance systems have entered the market,and automated driving technologies have been developed.Many of them may not work in adverse weather conditions.A forward-looking camera,for example,is th...Many advanced driver assistance systems have entered the market,and automated driving technologies have been developed.Many of them may not work in adverse weather conditions.A forward-looking camera,for example,is the most popular system used for lane detection but does not work for a snow-covered road.The present paper proposes a self-localization system for snowy roads when the roadsides are covered with snow.The system employs a four-layer laser scanner and onboard sensors and uses only pre-existing roadside snow poles provided for drivers in a snowy region without any other road infrastructure.Because the landscape greatly changes in a short time during a snowstorm and snow removal works,it is necessary to restrict the landmarks used for self-localization to tall objects,like snow poles.A system incorporating this technology will support a driver’s efforts to keep to a lane even in a heavy snowstorm.展开更多
Aluminum welding using a hybrid system with a laser and scanner welding head was performed under various welding conditions to verify the feasibility of applying an aluminum alloy to a car body.The experimental materi...Aluminum welding using a hybrid system with a laser and scanner welding head was performed under various welding conditions to verify the feasibility of applying an aluminum alloy to a car body.The experimental material was 5J32 aluminum alloy,and the laser power,welding speed,and laser incidence angle were used as the control variables.The weld bead shape and the tensile shear strength were evaluated in order to understand the aluminum lap joint weld characteristics.Analysis of variance (ANOVA) was conducted to identify the effect of the process variables on the tensile shear strength.Tensile strength estimation models using three different regression models were also suggested.The input variables were the laser power,welding speed,and laser incidence angle,and the output was the tensile shear strength.Among the models,the second-order polynomial estimation model had the best estimation performance,and the average error rate of this model was 0.058.展开更多
The low-stiffness of aircraft skins may results in the differences between aircraft actual parts and their theoretical models,which will consequently affect the accuracy of automatic drilling and riveting in aircraft ...The low-stiffness of aircraft skins may results in the differences between aircraft actual parts and their theoretical models,which will consequently affect the accuracy of automatic drilling and riveting in aircraft assembly.In this paper,a novel approach of hole position correction using laser line scanner(LLS)is proposed to assign a single row of holes on the parts’surfaces.First,we adopt a space circle fitting method and the random sample consensus(RANSAC)to obtain the precise coordinates of center of the datum holes’coordinates.Second,LLS is calibrated by the laser tracker,and the relations between the LLS coordinate system and the tool coordinate system(TCS)can be calculated.Third,the kinematics model of the automatic riveting machine is established based on a two-point referencing strategy proposed in this paper.Thus,the positions of the holes to be drilled can be adjusted.Finally,the experimental results show that in TCS the measurement error of LLS is less than 0.1 mm,and the correction error of the hole position is less than 0.5 mm,which demonstrates the reliability of our method.展开更多
基金the National Natural Science Foundation of China(Grant No.42020104006).
文摘Deformation analysis is fundamental in geotechnical modeling.Nevertheless,there is still a lack of an effective method to obtain the deformation field under various experimental conditions.In this study,we introduce a processebased physical modeling of a pileereinforced reservoir landslide and present an improved deformation analysis involving large strains and water effects.We collect multieperiod point clouds using a terrain laser scanner and reconstruct its deformation field through a point cloud processing workflow.The results show that this method can accurately describe the landslide surface deformation at any time and area by both scalar and vector fields.The deformation fields in different profiles of the physical model and different stages of the evolutionary process provide adequate and detailed landslide information.We analyze the large strain upstream of the pile caused by the pile installation and the consequent violent deformation during the evolutionary process.Furthermore,our method effectively overcomes the challenges of identifying targets commonly encountered in geotechnical modeling where water effects are considered and targets are polluted,which facilitates the deformation analysis at the wading area in a reservoir landslide.Eventually,combining subsurface deformation as well as numerical modeling,we comprehensively analyze the kinematics and failure mechanisms of this complicated object involving landslides and pile foundations as well as water effects.This method is of great significance for any geotechnical modeling concerning large-strain analysis and water effects.
基金the National Natural Science Foundation of China(Grant No.42020104006).
文摘Laser scanning technology has been widely used in landslide aspects.However,the existing deformation analysis based on terrain laser scanners can only provide limited information,which is insufficient for understanding landslide kinematics and failure mechanisms.To overcome this limitation,this paper proposes an automated method for processing point clouds collected in landslide physical modeling.This method allows the acquisition of quantitative three-dimensional(3D)deformation field information.The results show the organized and spatially related point cloud segmentation in terms of spherical targets.The segmented point clouds can be fitted to determine the locations of all preset targets and their corresponding location changes.The proposed method has been validated based on theoretical analysis and numerical and physical tests,which indicates that it can batch-process massive data sets with high computational efficiency and good noise resistance.Compared to existing methods,this method shows a significant potential for understanding landslide kinematics and failure mechanisms and advancing the application of 3D laser scanning in geotechnical modeling.
基金the National Natural Science Foundation of China(No.51978395)。
文摘The determination of stress distribution is important for the safe use of membrane structures in practical engineering,which is difficult to be obtained by existing measurement methods and analysis methods.This paper proposes a rigid-membrane method to determine the stress distribution of the membrane,which expands the stiffness of the membrane,applies the load of the membrane in equilibrium to the membrane shape of the equilibrium state,and performs nonlinear finite element analysis.The rigid-membrane method inversely acquires the stress distribution of the membrane based only on the shape and load distribution in equilibrium obtained from the numerical simulation of a membrane structure under water loads,and determines the modulus magnitude and mesh size required to rigidize the membrane.The accuracy of the rigid-membrane method is verified by the small differences between the stress distributions obtained from the proposed method and numerical simulations.The equilibrium membrane shape in the actual project can be scanned and reconstructed by the laser scanner system without any pre-processing,and the load is determined by the water level,internal pressure,etc.Based on the actual membrane shape and water load distribution,the rigid-membrane method determines the real stress distribution of the membrane in the test of flat membrane subjected to ponding water,which verifies that the rigid-membrane method is a practical method to determine the stress distribution only by the membrane shape and external load distribution.
基金the National Natural Science Foundation of China (60234030)the Natural Science Foundationof He’nan Educational Committee of China (2007520019, 2008B520015)Doctoral Foundation of Henan Polytechnic Universityof China (B050901, B2008-61)
文摘Feature extraction of range images provided by ranging sensor is a key issue of pattern recognition. To automatically extract the environmental feature sensed by a 2D ranging sensor laser scanner, an improved method based on genetic clustering VGA-clustering is presented. By integrating the spatial neighbouring information of range data into fuzzy clustering algorithm, a weighted fuzzy clustering algorithm （WFCA） instead of standard clustering algorithm is introduced to realize feature extraction of laser scanner. Aimed at the unknown clustering number in advance, several validation index functions are used to estimate the validity of different clustering algorithms and one validation index is selected as the fitness function of genetic algorithm so as to determine the accurate clustering number automatically. At the same time, an improved genetic algorithm IVGA on the basis of VGA is proposed to solve the local optimum of clustering algorithm, which is implemented by increasing the population diversity and improving the genetic operators of elitist rule to enhance the local search capacity and to quicken the convergence speed. By the comparison with other algorithms, the effectiveness of the algorithm introduced is demonstrated.
文摘Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between leaves and nonphotosynthetic structures to retrieve the leaf normal has been challenging. We used here an approach to accurately retrieve the leaf normals of camphorwood（Cinnamomum camphora） using TLS point cloud data.First, nonphotosynthetic structures were filtered by using the curvature threshold of each point. Then, the point cloud data were segmented by a voxel method and clustered by a Gaussian mixture model in each voxel. Finally, the normal vector of each cluster was computed by principal component analysis to obtain the leaf normal distribution. We collected leaf inclination angles and estimated the distribution, which we compared with the retrieved leaf normal distribution. The correlation coefficient between measurements and obtained results was 0.96, indicating a good coincidence.
基金Supported by the National Natural Science Foundation of China(No.51105273)
文摘In this paper, a flexible high-precision calibration method suitable for industrial field was proposed. The complexity of the coordinate transformation was simplified by choosing the camera coordinate system as the unified reference coordinate system. A flexible planar calibration pattern was introduced to the calibration process, which can be arbitrarily placed and from which the known feature points can be extracted to construct other unknown feature points. With the known intrinsic parameters, the laser projector plane equation was fitted by the multi-noncollinear points, which were acquired through the principle of triangulation and the projective invariance of cross ratio. With this method, the strict alignment and multiple times of coordinate transformation can be avoided. Experimental results showed that the arithmetic mean of the root mean square(RMS) error of distance was 0.000 7 mm.
基金CGL2014-52599-P “Estudio del manto de nieve enla montana espanola y su respuesta a la variabilidad y cambio climatico” funded by the Spanish Ministry of Economy and CompetitivenessEl glaciar de Monte Perdido: estudio de su dinámica actual y procesos criosféricos asociados como indicadores de procesos de cambio global” (MAGRAMA 844/2013).
文摘This study demonstrated the usefulness of very long-range terrestrial laser scanning(TLS) for analysis of the spatial distribution of a snowpack, to distances up to 3000 m, one of the longest measurement range reported to date. Snow depth data were collected using a terrestrial laser scanner during 11 periods of snow accumulation and melting,over three snow seasons on a Pyrenean hillslopecharacterized by a large elevational gradient, steep slopes, and avalanche occurrence. The maximum and mean absolute snow depth error found was 0.5-0.6 and 0.2-0.3 m respectively, which may result problematic for areas with a shallow snowpack, but it is sufficiently accurate to determine snow distribution patterns in areas characterized by a thick snowpack. The results indicated that in most cases there was temporal consistency in the spatial distribution of thesnowpack, even in different years. The spatial patterns were particularly similar amongst thesurveys conducted during the period dominated by snow accumulation(generally until end of April), or amongst those conducted during the period dominated by melting processes(generally after mid of April or early May). Simple linear correlation analyses for the 11 survey dates, and the application of Random Forests analysis to two days representative of snow accumulation and melting periods indicated the importance of topography to the snow distribution. The results also highlight that elevation and the Topographic Position index(TPI) were the main variables explaining the snow distribution, especially during periods dominated by melting. The intra-and inter-annual spatial consistency of the snowpack distribution suggests that the geomorphological processes linked to presence/absence of snow cover act in a similar way in the long term, and that these spatial patternscan be easily identifiedthrough several years of adequate monitoring.
基金supported by the National Natural Science Foundation of China(41601076,41471058 nd 91425303)the"Light of West China"program for Talent Introduction of Chinese Academy
文摘Glacier mass balance is a key component of glacier monitoring programs. Information on the mass balance of Sawir Mountains is poor due to a dearth of in-situ measurements. This paper introduces the applicability of an ultra-long-range terrestrial laser scanner(TLS) to monitor the mass balance of Muz Taw Glacier, Sawir Mountains, China. The Riegl VZ?-6000 TLS is exceptionally well-suited for measuring snowy and icy terrain. Here, we use TLS to create repeated high spatiotemporal resolution DEMs, focusing on the annual mass balance(June 2, 2015 to July 25, 2016). According to TLS-derived high spatial resolution point clouds, the front variation(glacier retreat) of Muz Taw Glacier was 9.3 m. The mean geodetic elevation change was 4.55 m at the ablation area. By comparing with glaciological measurements, the glaciological elevation change of individual stakes and the TLS-derived geodetic elevation change of corresponding points matched closely, and the calculated balance was-3.864±0.378 m w.e.. This data indicates that TLS provides accurate results and is therefore suitable to monitor mass balance evolution of Muz Taw Glacier.
文摘The landscape pattern metrics can quantitatively describe the characteristics of landscape pattern and are widely used in various fields of landscape ecology.Due to the lack of vertical information,2D landscape metrics cannot delineate the vertical characteristics of landscape pattern.Based on the point clouds,a high-resolution voxel model and several voxel-based 3D landscape metrics were constructed in this study and 3D metrics calculation results were compared with that of 2D metrics.The results showed that certain quantifying difference exists between 2D and 3D landscape metrics.For landscapes with different components and spatial configurations,significant difference was disclosed between 2D and 3D landscape metrics.3D metrics can better reflect the real spatial structure characteristics of the landscape than 2D metrics.
基金partly supported by the National Natural Science Foundation of China (No. 51575276)
文摘Marking arbitrary three-dimensional(3D) target curves on given objects with curved surface is required in many industrial fields, such as fabric prepreg placement in composite material part fabrication, product assembly, surface painting for decoration, etc. A shortcut to the solution of this intractable problem is proposed by utilizing a galvanometric laser scanner(GLS) with the aid of a camera. Without using the existing tedious GLS calibration procedures,the proposed method directly establishes a mapping between the 3D coordinates of the laser spots on the object surface and the control voltages of the scanner. A single-hidden layer feedforward neural network(SLFN) is employed to model the mapping. By projecting a dense grid of laser spots on the object to be marked and simultaneously taking only one image, the SLFN model is trained in minutes via a linear solving mechanism. Experiments demonstrate that the trained SLFN model has a good generalization performance for marking 3D target curves. The 3D laser marking errors on experimental objects are less than 0.5 mm. The proposed method is especially suitable for on-site use and can be conveniently extended to multiple GLSs for marking large complex objects.
文摘In this article ,we chiefly discuss optical part and photoelectrical part, and analyze the result data to make out the relationship between pinhole and special resolution and the influence of PMT on the result data.
基金This work was supported by Japan Institute of Country-ology and Engineering(JICE 2017 and 2018).
文摘Many advanced driver assistance systems have entered the market,and automated driving technologies have been developed.Many of them may not work in adverse weather conditions.A forward-looking camera,for example,is the most popular system used for lane detection but does not work for a snow-covered road.The present paper proposes a self-localization system for snowy roads when the roadsides are covered with snow.The system employs a four-layer laser scanner and onboard sensors and uses only pre-existing roadside snow poles provided for drivers in a snowy region without any other road infrastructure.Because the landscape greatly changes in a short time during a snowstorm and snow removal works,it is necessary to restrict the landmarks used for self-localization to tall objects,like snow poles.A system incorporating this technology will support a driver’s efforts to keep to a lane even in a heavy snowstorm.
基金Project(KRF-2010-0003259)supported by the Korea Research Foundation Grant funded by the Korean Government
文摘Aluminum welding using a hybrid system with a laser and scanner welding head was performed under various welding conditions to verify the feasibility of applying an aluminum alloy to a car body.The experimental material was 5J32 aluminum alloy,and the laser power,welding speed,and laser incidence angle were used as the control variables.The weld bead shape and the tensile shear strength were evaluated in order to understand the aluminum lap joint weld characteristics.Analysis of variance (ANOVA) was conducted to identify the effect of the process variables on the tensile shear strength.Tensile strength estimation models using three different regression models were also suggested.The input variables were the laser power,welding speed,and laser incidence angle,and the output was the tensile shear strength.Among the models,the second-order polynomial estimation model had the best estimation performance,and the average error rate of this model was 0.058.
基金supported by the National Natural Science Foundation of China (No.51875287)the National Defense Basic Scientific Research Program of China (No.JCKY2018605C010)the National Key Research and Development Program of China (No.2018YFB1306800)
文摘The low-stiffness of aircraft skins may results in the differences between aircraft actual parts and their theoretical models,which will consequently affect the accuracy of automatic drilling and riveting in aircraft assembly.In this paper,a novel approach of hole position correction using laser line scanner(LLS)is proposed to assign a single row of holes on the parts’surfaces.First,we adopt a space circle fitting method and the random sample consensus(RANSAC)to obtain the precise coordinates of center of the datum holes’coordinates.Second,LLS is calibrated by the laser tracker,and the relations between the LLS coordinate system and the tool coordinate system(TCS)can be calculated.Third,the kinematics model of the automatic riveting machine is established based on a two-point referencing strategy proposed in this paper.Thus,the positions of the holes to be drilled can be adjusted.Finally,the experimental results show that in TCS the measurement error of LLS is less than 0.1 mm,and the correction error of the hole position is less than 0.5 mm,which demonstrates the reliability of our method.
