Based on the coded and non-coded targets, the targets are extracted from the images according to their size, shape and intensity etc., and thus an improved method to identify the unique identity（D） of every coded ta...Based on the coded and non-coded targets, the targets are extracted from the images according to their size, shape and intensity etc., and thus an improved method to identify the unique identity（D） of every coded target is put forward and the non-coded and coded targets are classified. Moreover, the gray scale centroid algorithm is applied to obtain the subpixel location of both uncoded and coded targets. The initial matching of the uncoded target correspondences between an image pair is established according to similarity and compatibility, which are based on the ID correspondences of the coded targets. The outliers in the initial matching of the uncoded target are eliminated according to three rules to finally obtain the uncoded target correspondences. Practical examples show that the algorithm is rapid, robust and is of high precision and matching ratio.展开更多
The fast slewing rate and wide band of the VLBI2010 Global Observing System(VGOS) telescopes are beneficial to procure more observations and to obtain VLBI reference points(RPs) of high precisions.Meanwhile, with the ...The fast slewing rate and wide band of the VLBI2010 Global Observing System(VGOS) telescopes are beneficial to procure more observations and to obtain VLBI reference points(RPs) of high precisions.Meanwhile, with the development of synchronous tracking of fixed targets on telescopes during the observing, the RPs also can be determined in near real time based on a frame defined by other techniques. These opportunities provide us a possibility to explore the high geodetic resolution of VGOS telescopes. We design a thermal variation in RP as true values, and schedule a synchronous session of VGOS and target point(TP) series observing. Then VGOS delays and TP series are simulated and solved via piecewise functions. The results show that the accuracy of vertical component of the RP could be determined at an accuracy of 0.5 ± 0.3 mm in an hour using TP series, whereas the vertical components of RP solved by using VGOS delay measurements have a greater uncertainty due to the random error in the simulated atmosphere and bad radio source sky coverage in a shorter time interval. Some details in the data processing and accuracy evaluation are also introduced.展开更多
During matching on feature point, gray correlation matching technology is utilized to extract multi-peaks as a coarse matching set. A pair of given corresponding reference points within the left and right images is us...During matching on feature point, gray correlation matching technology is utilized to extract multi-peaks as a coarse matching set. A pair of given corresponding reference points within the left and right images is used to calculate gradients of reference difference between the reference points and each feature point within the multi-peaks set. The unique correspondence is determined by criterion of minimal gradients of reference difference. The obtained correspondence is taken as a new pair of reference points to update the reference points continuously until all feature points in the left (or right) image being matched with the right (or left) image. The gradients of reference difference can be calculated easily by means of pre-setting a pair of obvious feature points in the left and right images as a pair of corresponding reference points. Besides, the efficiency of matching can be improved greatly by taking the obtained matching point as a new pair of reference points, and by updating the reference point continuously. It is proved that the proposed algorithm is valid and reliable by 3D reconstruction on two pairs of actual natural images with abundant and weak texture, respectively.展开更多
To better reflect the psychological behavior characteristics of loss aversion,this paper builds a double reference point decision making method for dynamic multi-attribute decision-making(DMADM)problem,taking bottom-l...To better reflect the psychological behavior characteristics of loss aversion,this paper builds a double reference point decision making method for dynamic multi-attribute decision-making(DMADM)problem,taking bottom-line and target as reference pints.First,the gain/loss function is given,and the state is divided according to the relationship between the gain/loss value and the reference point.Second,the attitude function is constructed based on the results of state division to establish the utility function.Third,the comprehensive utility value is calculated as the basis for alternatives classification and ranking.Finally,the new method is used to evaluate the development level of smart cities.The results show that the new method can judge the degree to which the alternatives meet the requirements of the decision-maker.While the new method can effectively screen out the unsatisfactory alternatives,the ranking results of other alternatives are consistent with those of traditional methods.展开更多
Xiehouyu (a two-part allegorical saying) is unique and refined, and the cultural load is rich and heavy. The use of Xiehouyu in verbal communication and literary works reflects the speaker’s cognitive ability and lan...Xiehouyu (a two-part allegorical saying) is unique and refined, and the cultural load is rich and heavy. The use of Xiehouyu in verbal communication and literary works reflects the speaker’s cognitive ability and language skills of operating and blending cognitive concepts dynamically. Langacker’s reference-point theory has a high explanatory power and is a basic cognitive mode of human beings. This paper attempts to make a cognitive analysis of the structure and understanding of Xiehouyu by using reference-point theory, aiming at explaining its cognitive mechanism and meaning construction.展开更多
A method based on cumulative prospect theory was proposed to solve risky multiple attribute decision making problems with Four -dimensional reference points. Considering the influence of different learning processes a...A method based on cumulative prospect theory was proposed to solve risky multiple attribute decision making problems with Four -dimensional reference points. Considering the influence of different learning processes and corresponding features on decision-making, a new reference-learning behavior is added, and a risk-based multiple-attribute decision-making method based on four-dimensional reference point cumulative prospect theory is proposed. Firstly, according to the cumulative prospect theory, the prospect value and the decision function value of the four reference points of learning, time, evaluation value and expected value are calculated respectively, and the cumulative prospect value matrix of each program dynamic is formed. Secondly,according to the WAA operalor, Maximize the stage weighting model to obtain the integrated cumulative prospect value. Finally, on the basis of this, the alternatives are sorted according to the size of the total cumulative prospect value, and compared with other methods, the validity and scientific of the proposed method are proved.展开更多
Carbonaceous aerosol,including organic carbon(OC)and elemental carbon(EC),has significant influence on human health,air quality and climate change.Accurate measurement of carbonaceous aerosol is essential to reduce th...Carbonaceous aerosol,including organic carbon(OC)and elemental carbon(EC),has significant influence on human health,air quality and climate change.Accurate measurement of carbonaceous aerosol is essential to reduce the uncertainty of radiative forcing estimation and source apportionment.The accurate separation of OC and EC is controversial due to the charring of OC.Therefore,the development of reference materials(RM)for the validation of OC/EC separation is an important basis for further study.Previous RMs were mainly based on ambient air sampling,which could not provide traceability of OC and EC concentration.To develop traceable RMs with known OC/EC contents,our study applied an improved aerosol generation and mixing technique,providing uniform deposition of particles on quartz filters.To generate OC aerosol with similar pyrolytic property of ambient aerosol,both water soluble organic carbon(WSOC)and water insoluble organic carbon(WIOC)were used,and amorphous carbon was selected for EC surrogate.The RMs were analyzed using different protocols.The homogeneity within the filter was validated,reaching below 2%.The long-term stability of RMs has been validated with RSD ranged from 1.7%–3.2%.Good correlationwas observed between nominal concentration of RMswithmeasured concentration by two protocols,while the difference of EC concentration was within 20%.The results indicated that the newly developed RMs were acceptable for the calibration of OC and EC,which could improve the accuracy of carbonaceous aerosol measurement.Moreover,the laboratory-generated EC-RMs could be suitable for the calibration of equivalent BC concentration by Aethalometers.展开更多
Reference evapotranspiration(ET_(0))is a vital component in hydrometeorological research and is widely applied to various aspects,such as water resource management,hydrological modeling,irrigation deployment,and under...Reference evapotranspiration(ET_(0))is a vital component in hydrometeorological research and is widely applied to various aspects,such as water resource management,hydrological modeling,irrigation deployment,and understanding and predicting the influence of hydrologic cycle variations on future climate and land use changes.Quantifying the influence of various meteorological variables on ET_(0) is not only helpful for predicting actual evapotranspiration but also has important implications for understanding the impact of global climate change on regional water resources.Based on daily data from 69 meteorological stations,the present study analyzed the spatiotemporal pattern of ET_(0) and major contributing meteorological variables to ET_(0) from 1960 to 2017 by the segmented re-gression model,Mann-Kendall test,wavelet analysis,generalized linear model,and detrending method.The results showed that the annual ET_(0) declined slightly because of the combined effects of the reduction in solar radiation and wind speed and the increase in vapor pressure deficit(VPD)and average air temperature in the Loess Plateau(LP)during the past 58 yr.Four change points were detected in 1972,1990,1999,and 2010,and the annual ET_(0) showed a zigzag change trend of‘increasing-decreasing-increasing-decreasing-increasing’.Wind speed and VPD played a leading role in the ET_(0) changes from 1960 to 1990 and from 1991 to 2017,respectively.This study confirms that the dominant meteorological factors affecting ET_(0) had undergone significant changes due to global climate change and vegetation greening in the past 58 years,and VPD had become the major factor controlling the ET_(0) changes on the LP.The data presented herein will contribute to increasing the accuracy of predictions on future changes in ET_(0).展开更多
Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model referen...Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model reference adaptive controller is designed using equilibrium point stability theory and output error equation polynomial. The reference model is selected in such a way that it meets the system dynamic performance. Hardware configuration of asymmetric cylinder controlled by asymmetric valve hydraulic system is replaced by intelligent control algorithm, thus the cost is lowered and easy to application. Simulation results demonstrate that the proposed adaptive control sheme has good adaptive ability and well solves asymmetric dynamic performance problem. The designed adaptive controller is fairly robust to load disturbance and system parameter variation.展开更多
This paper first analyzes the features of two classes of numerical methods for global analysis of nonlinear dynamical systems, which regard state space respectively as continuous and discrete ones. On basis of this un...This paper first analyzes the features of two classes of numerical methods for global analysis of nonlinear dynamical systems, which regard state space respectively as continuous and discrete ones. On basis of this understanding it then points out that the previously proposed method of point mapping under cell reference (PMUCR), has laid a frame work for the development of a two scaled numerical method suitable for the global analysis of high dimensional nonlinear systems, which may take the advantages of both classes of single scaled methods but will release the difficulties induced by the disadvantages of them. The basic ideas and main steps of implementation of the two scaled method, namely extended PMUCR, are elaborated. Finally, two examples are presented to demonstrate the capabilities of the proposed method.展开更多
BeiDou navigation satellite system with global coverage(BDS-3)has been fully operational since July 2020,currently providing the positioning,navigation and timing service together with regional BDS-2.In addition to th...BeiDou navigation satellite system with global coverage(BDS-3)has been fully operational since July 2020,currently providing the positioning,navigation and timing service together with regional BDS-2.In addition to the legacy signals of B1I and B3I,the BDS-3 also transmits several new signals such as BIC,B2a and B2b,which brings new opportunities for rapid ambiguity resolution(AR)of BDS precise point positioning(PPP).In this contribution,a multi-frequency(MF)rapid PPP-AR method with regional network augmentation was proposed.Firstly,BDS five-frequency observations were introduced into uncombined double-differenced models to retrieve regional augmentation corrections at the server.Thereafter,a cascade PPP-AR strategy using extra-wide-lane,wide-lane and narrow-lane ambiguity was employed at the user.Once ambiguities were fixed to integers,the phase correction accuracy could reach about 3 cm on average overall BDS frequencies in the network with inter-station distances of 100-200 km.Subsequently,the statistical results of seven-day simulated kinematic experiments showed that over 99% of epochs on average realized PPP-AR.Correspondingly,the positioning accuracy of the MF fixed solution reached 1.8,1.9,4.7 cm in the east,north and up components,respectively,improving by 5-15% compared with the dual-frequency scheme.Moreover,several vehicle-borne experiments under different urban scenarios were also conducted.Under an open-sky or a relatively open highway scene,the BDS-MF scheme similarly exhibited good performance,and over 98% of epochs achieved rapid PPP-AR with a positioning accuracy better than 3 cm.More encouragingly,for this BDS-challenged experiment with an average satellite number of 8.6,although only 72.06% of epochs were available due to serious signal blockages caused by overpass,tunnels or tall buildings,the horizontal positioning accuracy could still remain 7 cm on average.展开更多
A fast local reference frame(LRF)construction method based on the signed surface variation is proposed,which can adapt to the real-time applications such as self-driving,face recognition,object detection.The z-axis of...A fast local reference frame(LRF)construction method based on the signed surface variation is proposed,which can adapt to the real-time applications such as self-driving,face recognition,object detection.The z-axis of the LRF is generated based on the concavity of the local surface of keypoint.The x-axis is constructed by the weighted vector sum of a set of projection vectors of the local neighborhoods around keypoint.The performance of the proposed LRF is evaluated on six standard datasets and compared with six state-of-the-art LRF construction methods(e.g.,BOARD,FLARE,SHOT,RoPS and TOLDI).Experimental results validate the high repeatability,robustness,universality and time efficiency of our method.展开更多
基金The National Natural Science Foundation of China(No50475041)
文摘Based on the coded and non-coded targets, the targets are extracted from the images according to their size, shape and intensity etc., and thus an improved method to identify the unique identity（D） of every coded target is put forward and the non-coded and coded targets are classified. Moreover, the gray scale centroid algorithm is applied to obtain the subpixel location of both uncoded and coded targets. The initial matching of the uncoded target correspondences between an image pair is established according to similarity and compatibility, which are based on the ID correspondences of the coded targets. The outliers in the initial matching of the uncoded target are eliminated according to three rules to finally obtain the uncoded target correspondences. Practical examples show that the algorithm is rapid, robust and is of high precision and matching ratio.
基金supported by National Natural Science Foundation of China (1703067)
文摘The fast slewing rate and wide band of the VLBI2010 Global Observing System(VGOS) telescopes are beneficial to procure more observations and to obtain VLBI reference points(RPs) of high precisions.Meanwhile, with the development of synchronous tracking of fixed targets on telescopes during the observing, the RPs also can be determined in near real time based on a frame defined by other techniques. These opportunities provide us a possibility to explore the high geodetic resolution of VGOS telescopes. We design a thermal variation in RP as true values, and schedule a synchronous session of VGOS and target point(TP) series observing. Then VGOS delays and TP series are simulated and solved via piecewise functions. The results show that the accuracy of vertical component of the RP could be determined at an accuracy of 0.5 ± 0.3 mm in an hour using TP series, whereas the vertical components of RP solved by using VGOS delay measurements have a greater uncertainty due to the random error in the simulated atmosphere and bad radio source sky coverage in a shorter time interval. Some details in the data processing and accuracy evaluation are also introduced.
文摘During matching on feature point, gray correlation matching technology is utilized to extract multi-peaks as a coarse matching set. A pair of given corresponding reference points within the left and right images is used to calculate gradients of reference difference between the reference points and each feature point within the multi-peaks set. The unique correspondence is determined by criterion of minimal gradients of reference difference. The obtained correspondence is taken as a new pair of reference points to update the reference points continuously until all feature points in the left (or right) image being matched with the right (or left) image. The gradients of reference difference can be calculated easily by means of pre-setting a pair of obvious feature points in the left and right images as a pair of corresponding reference points. Besides, the efficiency of matching can be improved greatly by taking the obtained matching point as a new pair of reference points, and by updating the reference point continuously. It is proved that the proposed algorithm is valid and reliable by 3D reconstruction on two pairs of actual natural images with abundant and weak texture, respectively.
基金supported in part by the National Natural Science Foundation of China under Grant 62003379Natural Science Foundation of Guangdong Province under Grant 2018A030313317+3 种基金Special Research Project on the Prevention and Control of COVID-19 Epidemic in Colleges and Universities of Guangdong under Grant 2020KZDZX1118Guangzhou Science and Technology Program under Grant 202002030246Research Project and Development Plan for Key Areas of Guangdong Province under Grant 2020B0202080002Guangzhou Key Research Base of Humanities and Social Sciences(Research Center of Agricultural Products Circulation in Guangdong-Hong Kong-Macao Greater Bay Area).
文摘To better reflect the psychological behavior characteristics of loss aversion,this paper builds a double reference point decision making method for dynamic multi-attribute decision-making(DMADM)problem,taking bottom-line and target as reference pints.First,the gain/loss function is given,and the state is divided according to the relationship between the gain/loss value and the reference point.Second,the attitude function is constructed based on the results of state division to establish the utility function.Third,the comprehensive utility value is calculated as the basis for alternatives classification and ranking.Finally,the new method is used to evaluate the development level of smart cities.The results show that the new method can judge the degree to which the alternatives meet the requirements of the decision-maker.While the new method can effectively screen out the unsatisfactory alternatives,the ranking results of other alternatives are consistent with those of traditional methods.
文摘Xiehouyu (a two-part allegorical saying) is unique and refined, and the cultural load is rich and heavy. The use of Xiehouyu in verbal communication and literary works reflects the speaker’s cognitive ability and language skills of operating and blending cognitive concepts dynamically. Langacker’s reference-point theory has a high explanatory power and is a basic cognitive mode of human beings. This paper attempts to make a cognitive analysis of the structure and understanding of Xiehouyu by using reference-point theory, aiming at explaining its cognitive mechanism and meaning construction.
文摘A method based on cumulative prospect theory was proposed to solve risky multiple attribute decision making problems with Four -dimensional reference points. Considering the influence of different learning processes and corresponding features on decision-making, a new reference-learning behavior is added, and a risk-based multiple-attribute decision-making method based on four-dimensional reference point cumulative prospect theory is proposed. Firstly, according to the cumulative prospect theory, the prospect value and the decision function value of the four reference points of learning, time, evaluation value and expected value are calculated respectively, and the cumulative prospect value matrix of each program dynamic is formed. Secondly,according to the WAA operalor, Maximize the stage weighting model to obtain the integrated cumulative prospect value. Finally, on the basis of this, the alternatives are sorted according to the size of the total cumulative prospect value, and compared with other methods, the validity and scientific of the proposed method are proved.
基金supported by the National Natural Science Foundation of China(No.22206180)the funds for establishing basic quality and technology capabilities(No.ANL2203)the special fund for basic scientific research business of central public research institutes(No.AKYZD2207-4)。
文摘Carbonaceous aerosol,including organic carbon(OC)and elemental carbon(EC),has significant influence on human health,air quality and climate change.Accurate measurement of carbonaceous aerosol is essential to reduce the uncertainty of radiative forcing estimation and source apportionment.The accurate separation of OC and EC is controversial due to the charring of OC.Therefore,the development of reference materials(RM)for the validation of OC/EC separation is an important basis for further study.Previous RMs were mainly based on ambient air sampling,which could not provide traceability of OC and EC concentration.To develop traceable RMs with known OC/EC contents,our study applied an improved aerosol generation and mixing technique,providing uniform deposition of particles on quartz filters.To generate OC aerosol with similar pyrolytic property of ambient aerosol,both water soluble organic carbon(WSOC)and water insoluble organic carbon(WIOC)were used,and amorphous carbon was selected for EC surrogate.The RMs were analyzed using different protocols.The homogeneity within the filter was validated,reaching below 2%.The long-term stability of RMs has been validated with RSD ranged from 1.7%–3.2%.Good correlationwas observed between nominal concentration of RMswithmeasured concentration by two protocols,while the difference of EC concentration was within 20%.The results indicated that the newly developed RMs were acceptable for the calibration of OC and EC,which could improve the accuracy of carbonaceous aerosol measurement.Moreover,the laboratory-generated EC-RMs could be suitable for the calibration of equivalent BC concentration by Aethalometers.
基金Under the auspices of the Chinese Academy of Sciences(CAS)Strategic Leading Science and Technology Project Category A(No.XDA23100203)National Natural Science Foundation of China(No.42071144,41501093,41771118)+1 种基金Key Research and Development Program of China(No.2016YFC0501601)Fundamental Research Funds for the Central Universities(No.GK202003060)。
文摘Reference evapotranspiration(ET_(0))is a vital component in hydrometeorological research and is widely applied to various aspects,such as water resource management,hydrological modeling,irrigation deployment,and understanding and predicting the influence of hydrologic cycle variations on future climate and land use changes.Quantifying the influence of various meteorological variables on ET_(0) is not only helpful for predicting actual evapotranspiration but also has important implications for understanding the impact of global climate change on regional water resources.Based on daily data from 69 meteorological stations,the present study analyzed the spatiotemporal pattern of ET_(0) and major contributing meteorological variables to ET_(0) from 1960 to 2017 by the segmented re-gression model,Mann-Kendall test,wavelet analysis,generalized linear model,and detrending method.The results showed that the annual ET_(0) declined slightly because of the combined effects of the reduction in solar radiation and wind speed and the increase in vapor pressure deficit(VPD)and average air temperature in the Loess Plateau(LP)during the past 58 yr.Four change points were detected in 1972,1990,1999,and 2010,and the annual ET_(0) showed a zigzag change trend of‘increasing-decreasing-increasing-decreasing-increasing’.Wind speed and VPD played a leading role in the ET_(0) changes from 1960 to 1990 and from 1991 to 2017,respectively.This study confirms that the dominant meteorological factors affecting ET_(0) had undergone significant changes due to global climate change and vegetation greening in the past 58 years,and VPD had become the major factor controlling the ET_(0) changes on the LP.The data presented herein will contribute to increasing the accuracy of predictions on future changes in ET_(0).
文摘Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model reference adaptive controller is designed using equilibrium point stability theory and output error equation polynomial. The reference model is selected in such a way that it meets the system dynamic performance. Hardware configuration of asymmetric cylinder controlled by asymmetric valve hydraulic system is replaced by intelligent control algorithm, thus the cost is lowered and easy to application. Simulation results demonstrate that the proposed adaptive control sheme has good adaptive ability and well solves asymmetric dynamic performance problem. The designed adaptive controller is fairly robust to load disturbance and system parameter variation.
基金supported by the National Natural Science Foundation of China (NSFC) (10872155)
文摘This paper first analyzes the features of two classes of numerical methods for global analysis of nonlinear dynamical systems, which regard state space respectively as continuous and discrete ones. On basis of this understanding it then points out that the previously proposed method of point mapping under cell reference (PMUCR), has laid a frame work for the development of a two scaled numerical method suitable for the global analysis of high dimensional nonlinear systems, which may take the advantages of both classes of single scaled methods but will release the difficulties induced by the disadvantages of them. The basic ideas and main steps of implementation of the two scaled method, namely extended PMUCR, are elaborated. Finally, two examples are presented to demonstrate the capabilities of the proposed method.
基金supported by the National Natural Science Foundation of China[Grant 41774030,Grant 41974027 and Grant 41974029]the Hubei Province Natural Science Foundation of China[Grant 2018CFA081]+1 种基金the frontier project of basic application from Wuhan science and technology bureau[Grant 2019010701011395]the Sino-German mobility programme[Grant No.M-0054].
文摘BeiDou navigation satellite system with global coverage(BDS-3)has been fully operational since July 2020,currently providing the positioning,navigation and timing service together with regional BDS-2.In addition to the legacy signals of B1I and B3I,the BDS-3 also transmits several new signals such as BIC,B2a and B2b,which brings new opportunities for rapid ambiguity resolution(AR)of BDS precise point positioning(PPP).In this contribution,a multi-frequency(MF)rapid PPP-AR method with regional network augmentation was proposed.Firstly,BDS five-frequency observations were introduced into uncombined double-differenced models to retrieve regional augmentation corrections at the server.Thereafter,a cascade PPP-AR strategy using extra-wide-lane,wide-lane and narrow-lane ambiguity was employed at the user.Once ambiguities were fixed to integers,the phase correction accuracy could reach about 3 cm on average overall BDS frequencies in the network with inter-station distances of 100-200 km.Subsequently,the statistical results of seven-day simulated kinematic experiments showed that over 99% of epochs on average realized PPP-AR.Correspondingly,the positioning accuracy of the MF fixed solution reached 1.8,1.9,4.7 cm in the east,north and up components,respectively,improving by 5-15% compared with the dual-frequency scheme.Moreover,several vehicle-borne experiments under different urban scenarios were also conducted.Under an open-sky or a relatively open highway scene,the BDS-MF scheme similarly exhibited good performance,and over 98% of epochs achieved rapid PPP-AR with a positioning accuracy better than 3 cm.More encouragingly,for this BDS-challenged experiment with an average satellite number of 8.6,although only 72.06% of epochs were available due to serious signal blockages caused by overpass,tunnels or tall buildings,the horizontal positioning accuracy could still remain 7 cm on average.
基金Youth Program of National Natural Science Foundation of China(Nos.41901415,61801481)。
文摘A fast local reference frame(LRF)construction method based on the signed surface variation is proposed,which can adapt to the real-time applications such as self-driving,face recognition,object detection.The z-axis of the LRF is generated based on the concavity of the local surface of keypoint.The x-axis is constructed by the weighted vector sum of a set of projection vectors of the local neighborhoods around keypoint.The performance of the proposed LRF is evaluated on six standard datasets and compared with six state-of-the-art LRF construction methods(e.g.,BOARD,FLARE,SHOT,RoPS and TOLDI).Experimental results validate the high repeatability,robustness,universality and time efficiency of our method.
