The life-history trait trade-offs mediated by reproduction and immunity in the brown planthopper,Nilaparvata lugens Stål

Reproduction and immune defense are costly functions,and they are expected to tradeoff with each other to drive evolution.The brown planthopper(BPH),Nilaparvata lugens Stål(Hemiptera,Delphacidae),is a global superpest that mostly damages rice crops.Yeast-like symbionts(YLS)exist in the abdominal fat body tissue and are tightly associated with the development,growth,and reproduction of BPH.Our previous research demonstrated that mating behavior promotes the release of YLS from the fat body into the hemolymph in the BPH,thereby triggering an immune response.Additionally,the fitness costs related to life-history traits of BPH(such as survival rate)have a strong dependence on the relative abundance of YLS.However,the possible relationship between reproduction and the immune response in BPH has not been identified.In this study,an omics-based approach was used to analyze the transcriptome of fat body tissues in mated and unmated BPH at 72 h post-eclosion,from which two antimicrobial peptide genes,NlDefensin A(NlDfA)and NlDefensin B(NlDfB),were selected since they were highly expressed in mated BPH.Subsequently,the full-length cDNA sequences of the NlDfA and NlDfB genes were cloned and analyzed.qPCR results showed up-regulation of the NlDfA and NlDfB genes in mated BPH when compared to unmated BPH.Spatial-temporal expression analysis indicated that the NlDfA and NlDfB genes were expressed in all tissues and developmental stages,and they were most highly expressed in the fat body at 24 h post-eclosion.Moreover,the symbionts in BPH were significantly inhibited by the in vitro expression of the NlDfA and NlDfB proteins.Furthermore,RNA interference(RNAi)-mediated suppression of NlDfA and NlDfB dramatically increased the relative abundance of YLS in the fat body,while YLS in the hemolymph decreased significantly.These BPHs also displayed some fitness disadvantages in survival,fecundity,hatchability,and possibly the vertical transmission of YLS from hemolymph to egg.Our results indicated that mating could heighten the immunity of BPH by upregulating the expression of the NlDfA and NlDfB genes,which protect the host from pathogen challenges during reproduction.However,the reduced content of YLS may act as a fitness disadvantage in dictating the life-history traits of BPH.This work has significant theoretical and practical implications for the precise green control technology that involves crucial gene targeting,as well as for the“endosymbionts for pest control”strategy in insects.

Spatiotemporal variations in ecosystem services and their trade-offs and synergies against the background of the gully control and land consolidation project on the Loess Plateau,China

Studying the spatiotemporal variations in ecosystem services and their interrelationships on the Loess Plateau against the background of the gully control and land consolidation(GCLC)project has significant implications for ecological protection and quality development of the Yellow River Basin.Therefore,in this study,we took Yan'an City,Shaanxi Province of China,as the study area,selected four typical ecosystem services,including soil conservation service,water yield service,carbon storage service,and habitat quality service,and quantitatively evaluated the spatiotemporal variation characteristics and trade-offs and synergies of ecosystem services from 2010 to 2018 using the Integrated Valuation of Ecosystem Services and Trade-offs(InVEST)model.We also analysed the relationship between the GCLC project and regional ecosystem service changes in various regions(including 1 city,2 districts,and 10 counties)of Yan'an City and proposed a coordinated development strategy between the GCLC project and the ecological environment.The results showed that,from 2010 to 2018,soil conservation service decreased by 7.76%,while the other three ecosystem services changed relatively little,with water yield service increasing by 0.56% and carbon storage service and habitat quality service decreasing by 0.16% and 0.14%,respectively.The ecological environment of Yan'an City developed in a balanced way between 2010 and 2018,and the four ecosystem services showed synergistic relationships,among which the synergistic relationships between soil conservation service and water yield service and between carbon storage service and habitat quality service were significant.The GCLC project had a negative impact on the ecosystem services of Yan'an City,and the impact on carbon storage service was more significant.This study provides a theoretical basis for the scientific evaluation of the ecological benefits of the GCLC project and the realization of a win-win situation between food security and ecological security.

Trade-offs and synergies between ecosystem services in Yutian County along the Keriya River Basin,Northwest China

The Keriya River Basin is located in an extremely arid climate zone on the southern edge of the Tarim Basin of Northwest China,exhibiting typical mountain-oasis-desert distribution characteristics.In recent decades,climate change and human activities have exerted significant impacts on the service functions of watershed ecosystems.However,the trade-offs and synergies between ecosystem services(ESs)have not been thoroughly examined.This study aims to reveal the spatiotemporal changes in ESs within the Keriya River Basin from 1995 to 2020 as well as the trade-offs and synergies between ESs.Leveraging the Integrated Valuation of Ecosystem Services and Trade-offs(InVEST)and Revised Wind Erosion Equation(RWEQ)using land use/land cover(LULC),climate,vegetation,soil,and hydrological data,we quantified the spatiotemporal changes in the five principal ESs(carbon storage,water yield,food production,wind and sand prevention,and habitat quality)of the watershed from 1995 to 2020.Spearman correlation coefficients were used to analyze the trade-offs and synergies between ES pairs.The findings reveal that water yield,carbon storage,and habitat quality exhibited relatively high levels in the upstream,while food production and wind and sand prevention dominated the midstream and downstream,respectively.Furthermore,carbon storage,food production,wind and sand prevention,and habitat quality demonstrated an increase at the watershed scale while water yield exhibited a decline from 1995 to 2020.Specifically,carbon storage,wind and sand prevention,and habitat quality presented an upward trend in the upstream but downward trend in the midstream and downstream.Food production in the midstream showed a continuously increasing trend during the study period.Trade-off relationships were identified between water yield and wind and sand prevention,water yield and carbon storage,food production and water yield,and habitat quality and wind and sand prevention.Prominent temporal and spatial synergistic relationships were observed between different ESs,notably between carbon storage and habitat quality,carbon storage and food production,food production and wind and sand prevention,and food production and habitat quality.Water resources emerged as a decisive factor for the sustainable development of the basin,thus highlighting the intricate trade-offs and synergies between water yield and the other four services,particularly the relationship with food production,which warrants further attention.This research is of great significance for the protection and sustainable development of river basins in arid areas.

Cameroon Climate Predictions Using the SARIMA-LSTM Machine Learning Model: Adjustment of a Climate Model for the Sudano-Sahelian Zone of Cameroon

It is acknowledged today within the scientific community that two types of actions must be considered to limit global warming: mitigation actions by reducing GHG emissions, to contain the rate of global warming, and adaptation actions to adapt societies to Climate Change, to limit losses and damages [1] [2]. As far as adaptation actions are concerned, numerical simulation, due to its results, its costs which require less investment than tests carried out on complex mechanical structures, and its implementation facilities, appears to be a major step in the design and prediction of complex mechanical systems. However, despite the quality of the results obtained, biases and inaccuracies related to the structure of the models do exist. Therefore, there is a need to validate the results of this SARIMA-LSTM-digital learning model adjusted by a matching approach, “calculating-test”, in order to assess the quality of the results and the performance of the model. The methodology consists of exploiting two climatic databases (temperature and precipitation), one of which is in-situ and the other spatial, all derived from grid points. Data from the dot grids are processed and stored in specific formats and, through machine learning approaches, complex mathematical equations are worked out and interconnections within the climate system established. Through this mathematical approach, it is possible to predict the future climate of the Sudano-Sahelian zone of Cameroon and to propose adaptation strategies.

Cross-Cultural Adjustment and Coping:U.S.Students in Taiwan Residents Higher Education

The aim of this study was to investigate the adjustment problems of students from the United States enrolled in universities in the East,specifically in Taiwan,their problems related to cultural adaptation,and the process of adjustment to student life in Taiwan.Under investigation were cultural adjustment and coping skills as these students transitioned from West to East.Qualitative data were collected from interviews with participants and faculty members as well as participant observations.Results indicated that U.S.students found their own ways to acclimate to their new academic setting as well as to social relations,cross-cultural issues,and the linguistic environment in Taiwan to achieve effective adaptation.They made changes in themselves to cope with all situations they encountered.This study provides suggestions for international students abroad in Taiwan,for the Taiwan Residents government,and for universities or colleges in terms of what they should offer to current and future international students.

Evaluation of Multi-Temporal-Spatial Scale Adjustment Capability and Cluster Optimization Operation Method for Distribution Networks with Distributed Photovoltaics

Themassive integration of high-proportioned distributed photovoltaics into distribution networks poses significant challenges to the flexible regulation capabilities of distribution stations.To accurately assess the flexible regulation capabilities of distribution stations,amulti-temporal and spatial scale regulation capability assessment technique is proposed for distribution station areas with distributed photovoltaics,considering different geographical locations,coverage areas,and response capabilities.Firstly,the multi-temporal scale regulation characteristics and response capabilities of different regulation resources in distribution station areas are analyzed,and a resource regulation capability model is established to quantify the adjustable range of different regulation resources.On this basis,considering the limitations of line transmission capacity,a regulation capability assessment index for distribution stations is proposed to evaluate their regulation capabilities.Secondly,considering different geographical locations and coverage areas,a comprehensive performance index based on electrical distance modularity and active power balance is established,and a cluster division method based on genetic algorithms is proposed to fully leverage the coordination and complementarity among nodes and improve the active power matching degree within clusters.Simultaneously,an economic optimization model with the objective of minimizing the economic cost of the distribution station is established,comprehensively considering the safety constraints of the distribution network and the regulation constraints of resources.This model can provide scientific guidance for the economic dispatch of the distribution station area.Finally,case studies demonstrate that the proposed assessment and optimization methods effectively evaluate the regulation capabilities of distribution stations,facilitate the consumption of distributed photovoltaics,and enhance the economic efficiency of the distribution station area.

Optimized CUDA Implementation to Improve the Performance of Bundle Adjustment Algorithm on GPUs

The 3D reconstruction pipeline uses the Bundle Adjustment algorithm to refine the camera and point parameters. The Bundle Adjustment algorithm is a compute-intensive algorithm, and many researchers have improved its performance by implementing the algorithm on GPUs. In the previous research work, “Improving Accuracy and Computational Burden of Bundle Adjustment Algorithm using GPUs,” the authors demonstrated first the Bundle Adjustment algorithmic performance improvement by reducing the mean square error using an additional radial distorting parameter and explicitly computed analytical derivatives and reducing the computational burden of the Bundle Adjustment algorithm using GPUs. The naïve implementation of the CUDA code, a speedup of 10× for the largest dataset of 13,678 cameras, 4,455,747 points, and 28,975,571 projections was achieved. In this paper, we present the optimization of the Bundle Adjustment algorithm CUDA code on GPUs to achieve higher speedup. We propose a new data memory layout for the parameters in the Bundle Adjustment algorithm, resulting in contiguous memory access. We demonstrate that it improves the memory throughput on the GPUs, thereby improving the overall performance. We also demonstrate an increase in the computational throughput of the algorithm by optimizing the CUDA kernels to utilize the GPU resources effectively. A comparative performance study of explicitly computing an algorithm parameter versus using the Jacobians instead is presented. In the previous work, the Bundle Adjustment algorithm failed to converge for certain datasets due to several block matrices of the cameras in the augmented normal equation, resulting in rank-deficient matrices. In this work, we identify the cameras that cause rank-deficient matrices and preprocess the datasets to ensure the convergence of the BA algorithm. Our optimized CUDA implementation achieves convergence of the Bundle Adjustment algorithm in around 22 seconds for the largest dataset compared to 654 seconds for the sequential implementation, resulting in a speedup of 30×. Our optimized CUDA implementation presented in this paper has achieved a 3× speedup for the largest dataset compared to the previous naïve CUDA implementation.

Trade-Offs and Synergie Effects of Regulating Ecosystem Services along an Climatic Gradient in Slovakia

This study aims to assess the synergies and trade-offs of regulating ecosystem services. Ecosystem services are non-linearly interconnected and changes in one service can positively or negatively affect another. We evaluated ecosystem services based on biophysical indicators using an expert scoring system that determines the corresponding soil functions and is part of the existing databases available in Slovakia. This methodological combination enabled us to provide unique mapping and assessment of ecosystem services within Slovakia. Correlation analysis between individual regulating ecosystem services and climate regions, slope, texture, and altitude confirm the statistically significant influence of climate and slope in all agricultural land, arable land, and grassland ecosystems. Statistically significant synergistic effects were established between the regulation of the water regime and the regulation of soil erosion within each climate region, apart from the very warm climate region. Only in a very warm climate region was potential of regulating ecosystem services mutually beneficial for soil erosion control and soil cleaning potential (immobilization of inorganic pollutants).

Spatiotemporal Characteristics and Future Scenario Simulation of the Trade-offs and Synergies of Mountain Ecosystem Services: A Case Study of the Dabie Mountains Area, China

Mountain ecosystems play an essential role in supporting regional sustainable development and improving local ecological environments. However, economic development in mountainous areas has long been lagging, and multiple conflicts related to resource assurance, ecological protection, and economic development have emerged. An accurate grasp of the current status and evolutionary trends of mountain ecosystems is essential to enhance the overall benefits of ecosystem services and maintain regional ecological security. Based on the In VEST(Integrated Valuation of Ecosystem Services and Trade-offs) model, this study analyzed the spatiotemporal evolution patterns and the trade-offs and synergies among ecosystem services(ES) in the Dabie Mountains Area(DMA) of eastern China. The Markov-PLUS(Patch-generating Land Use Simulation) model was used to conduct a multi-scenario simulation of the area's future development. Water yield(WY) and soil conservation(SC) had overall increasing trends during 2000-2020, carbon storage(CS)decreased overall but slowed with time, and habitat quality(HQ) increased and then decreased. The ecological protection scenario is the best scenario for improving ES in the DMA by 2030;compared to 2020, the total WY would decrease by 3.77 × 10^(8) m^(3), SC would increase by 0.65 × 10^(6) t, CS would increase by 1.33 × 10^(6) t, and HQ would increase by 0.06%. The comprehensive development scenario is the second-most effective scenario for ecological improvement, while the natural development scenario did not have a significant effect. However, as the comprehensive development scenario considers both environmental protection and economic development, which are both vital for the sustainable development of the mountainous areas, this scenario is considered the most suitable path for future development. There are trade-offs between WY, CS, and HQ, while there are synergies between SC, CS, and HQ. Spatially, the DMA's central core district is the main strong synergistic area, the marginal zone is the weak synergistic area, and trade-offs are mainly distributed in the transition zone.

Trade-offs between ion-conducting and mechanical properties: The case of polyacrylate electrolytes

Polymer electrolytes(PEs)have been long recognized as the key materials to enable energy-dense batteries and render flexible energy devices practically viable,owing to their chemical and mechanical reliability.However,much of their promise is yet to be realized.The roomtemperature ion conductivity of existing PEs still falls short of the implementation criterion of 10^(-4) S cm^(-1) on the promise of acceptable mechanical properties,thereby precluding their practical application.The twin but inversely related duties of polymers,that is,functioning as both an ion-conducting medium and a structural backbone,underlie this issue but are less elucidated systematically.The polyacrylate(PA)family is among promising polymer matrices on account of ester polarity,electrode compatibility,chemical tunability,and mechanical durability.The extensive applicability of PA in plasticized gels,dry solids,and emerging composites makes PA-based PEs representative to illustrate the trade-off between ion conduction and mechanical strength.We herein seek to outline the stated long-standing conflict exemplified by PA-based PEs,focusing on crucial strategies toward balancing and reconciling the two mutually exclusive properties,with the intention of offering designing guidelines for next-generation PEs.

A Self-calibration Bundle Adjustment Algorithm Based on Block Matrix Cholesky Decomposition Technology

In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.

分离膜的Trade-off效应及其突破研究进展

综述通过文献调研,对膜材料在水通量与污染物截留效率之间存在的此消彼长的Trade-off效应进行分析,并对近几年国内外突破分离膜Trade-off效应的方法进行了总结。结果表明,膜表面接枝两性离子技术、非溶剂诱导相分离技术、结构改性技术、物理共混技术、表面涂覆技术等可以突破该技术瓶颈。而物理共混技术表现出非常优异的效果,且该技术方法相对简便,无需更新设备,易于实施,制备出的膜材料具有良好的机械性能和产水能力。综述为高效分离膜的开发提供了新的技术思路,为膜技术的应用和推广提供有益的技术借鉴。

Synergies and trade-offs of climate-smart agriculture(CSA)practices selected by smallholder farmers in Geshy watershed,Southwest Ethiopia

Studies on mainstreaming climate-smart agriculture(CSA)practices can increase smallholder farmers’capacity and awareness to improve food security and establish sustainable livelihoods through resilient agricultural systems,while achieving adaptation and mitigation benefits.Hence,valuable insights can be obtained from smallholder farmers in responding to present and forthcoming challenges of climate change impacts.However,there is little research work on trade-off and synergy assessments.Taking Geshy watershed in Southwest Ethiopia as a case study area,both quantitative and qualitative data analysis were undertaken in this study.The data were collected from 15 key informant interviews,6 focus group discussions,and 384 households to answer the following questions:(1)what are the top 5 preferred CSA practices for smallholder farmers in Geshy watershed when coping with the impacts of climate change?(2)What is the performance of the preferred CSA practices?And(3)which trade-offs and synergies are experienced upon the implementation of CSA practices?The study came up with the most preferred CSA practices such as the use of improved crop varieties,small-scale irrigation,improved animal husbandry,the use of efficient inorganic fertilizers,and crop rotation with legumes.The selected CSA practices showed that the productivity goal exhibit the best synergy,while the mitigation goal has trade-offs.The study also indicated that the use of improved crop varieties causes high synergies in all 3 goals of CSA practices;small-scale irrigation provides a medium synergy on productivity goal but high synergy for adaptation and mitigation goals;improved animal husbandry shows a high synergy with the adaptation goal,a relatively lower synergy with the productivity goal,and a trade-off with the mitigation goal;the use of efficient inorganic fertilizers shows maximum synergy for the productivity and adaptation goals;and crop rotation with legumes exhibits high synergy with the productivity and mitigation goals but a relatively lower synergy with the adaptation goal.These results can provide evidence to various stakeholder farmers in the value chain that the impacts of climate change can be addressed by the adoption of CSA practices.In general,CSA practices are considered indispensable.Smallholder farmers prefer CSA practices that help to increase crop productivity and household resilience to climate change impacts.The results generate a vital foundation for recommendations to smallholder farming decision-makers.It also sensitizes actions for innovative and sustainable methods that are able to upscale the preferred CSA practices in the agricultural system in Geshy watershed of Southwest Ethiopia and other regions.

Vertical deformation analysis based on combined adjustment for GNSS and leveling data

A method is proposed to fuse the velocity data of the global navigation satellite system(GNSS) and leveling height via combined adjustment with constraints. First, stable GNSS-leveling points are uniformly selected, and the constraints of the geodetic height change velocity and normal height change velocity are given. Then, the GNSS vertical velocities and leveling height difference are used as observations of combined adjustment, and robust least-squares estimation are used to estimate the velocities of the unknown points. Finally, a vertical movement model is established with the GNSS vertical velocities and leveling vertical velocities obtained via combined adjustment. Data from the second-order leveling network and GNSS control points in Shandong Province are taken as test data, and eight calculation schemes are used for discussion. One of the schemes, the bifactor robust combined adjustment method based on variance component estimation with two kinds of vertical velocity constraints achieves the optimal results. The method applied in the scheme can be recommended for data fusion of GNSS and leveling, further improving the reliability of vertical crustal movement in Shandong Province.

Verification of Depth Adjustment Factor in Eurocode 5 for Tropical Hardwood Timbers

The depth adjustment factor for bending strength stated in Eurocode 5(EC5)is only applicable to timbers having a characteristic density below 700 kg/m^(3).However,most Malaysian timbers are hardwood,some with a characteristic density reaching above 700 kg/m^(3).Therefore,the objective of this study was to examine whether the depth adjustment factor stipulated in EC5 is valid for Malaysian hardwood timbers.Six timber species were selected for this study,namely Kapur(Dryobalanops C.F.Gaertn.),Kempas(Koompassia Maingay ex Benth.),Keruing(Dipterocarpus C.F.Gaertn.),Light red meranti(Shorea Roxb.ex C.F.Gaertn.),Geronggang(Cratoxylum Blume)and Balau(Shorea Roxb.ex C.F.Gaertn.).The determination of bending strength and characteristic density was conducted according to BS EN 408:2010 and BS EN 384:2016,respectively.A graph for mean bending strength vs.(150/h)was plotted for each timber species.The power function was selected to analyze the relationship between the two variables.The power of the regression equations varied depending on the characteristic density of the timber species.For species with a characteristic density below 700 kg/m^(3),such as Kapur,Keruing,and Light red meranti,the power was between 0.16 to 0.17.In contrast,for species having a characteristic density above 700 kg/m^(3),namely Kempas and Balau,the power was higher at 0.23 and 0.24,respectively.Geronggang was an exception to this pattern.These values are close to the depth adjustment factor given in EC5,which is 0.2.Based on the results,it can be suggested that the adjustment factor of 0.2 is also applicable to Malaysian hardwood timbers with a characteristic density above 700 kg/m^(3).

Proposing Adjustments to the Dry Season Inter-Reservoir Operation Rules of the Red River System to Improve Water Use Efficiency of the Reservoirs

The Red-Thai Binh River system is an important water resource to the Northern Delta, serving the development of agriculture, people’s livelihood and other economic sectors through its upstream reservoirs and a system of water abstraction works along the rivers. However, due to the impact of climate change and pressure from socio-economic development, the operation of the reservoir system according to Decision No. 740/QD-TTg was issued on June 17, 2019 by the Prime Minister of Government promulgating the Red-Thai Binh River system inter-reservoir operation rules (Operation rules 740) has some shortcomings that need adjustments for higher water use efficiency, meeting downstream water demand and power generation benefits. Through the results of water balance calculation and analysis of economic benefits from water use scenarios, this research proposed adjustment to the inter-reservoir operation during dry season in the Red River system. The result showed that an average water level of 1.0 - 1.7 m should be maintained at Hanoi during the increased release period.

Construction of Psychological Adjustment Function Model of Music Education Based on Emotional Tendency Analysis

In the face offierce competition in the social environment,mental health problems gradually get the attention of the public,in order to achieve accurate mental health data analysis,the construction of music education is based on emotional tendency analysis of psychological adjustment function model.Design emotional tendency analysis of music education psychological adjustment function architecture,music teaching goal as psychological adjust-ment function architecture building orientation,music teaching content as a foundation for psychological adjust-ment function architecture and music teaching process as a psychological adjustment function architecture building,music teaching evaluation as the key of building key regulating function architecture,Establish a core literacy oriented evaluation system.Different evaluation methods were used to obtain the evaluation results.Four levels of psychological adjustment function model of music education are designed,and the psychological adjust-ment function of music education is put forward,thus completing the construction of psychological adjustment function model of music education.The experimental results show that the absolute value of the data acquisition error of the designed model is minimum,which is not more than 0.2.It is less affected by a bad coefficient and has good performance.It can quickly converge to the best state in the actual prediction process and has a strong con-vergence ability.

An Investigation of Purely Azimuthal Passive Localization and Position Adjustment in Attempted UAV Formation Flights

When a cluster of unmanned aerial vehicles (UAVs) is flying in formation, it is crucial to maintain the formation and not to be interfered by external electromagnetic wave signals. In order to maintain the formation, this paper proposes to use pure azimuth passive positioning to adjust the position of UAVs, i.e., certain UAVs in the formation transmit signals, the rest of the UAVs receive the signals passively, and extract the orientation information from them to adjust the position of the UAVs [1] [2] [3]. In this paper, the position adjustment problem of UAVs in “circular” formation flight under three models is investigated. To address the problem of “how to obtain the position of the receiving UAV when there are two UAVs with known numbers and evenly distributed on the circumference in addition to the UAV transmitting at the known center of the circle, and the rest of the UAVs with slight deviations in their positions are receiving the signals”, two purely mathematical geometric methods, namely, triangular localization method and polar co-ordinate method, are proposed respectively. We have determined the position of the receiving UAV;we have used the exhaustive method and the construction and disproof method to solve the problem of “how many UAVs are needed to transmit signals in order to realize the effective positioning of the UAVs when it is known that a certain UAV with a slight deviation in its position receives the signals emitted by two UAVs at the same time”, and the results show that: in addition to the known signals emitted by two UAVs, it is also necessary to transmit the signals emitted by two UAVs. The results show that in addition to the known two UAVs transmitting signals, two additional UAVs are required to transmit signals for precise po-sitioning. When the position of UAVs has deviation at the initial moment, the ideal approximation method and the target delimitation method are pro-posed, and the target of nine UAVs uniformly distributed on a circle of a spe-cific radius is achieved through several adjustments, after which the ad-vantages and disadvantages of each model are analyzed, and suggestions for improvement are put forward. The purely azimuthal passive localization method and the constructed model approach proposed in this paper can be extended to other fields, such as spacecraft formations in space and battle-ship formations at sea, as well as other formation flight position adjustment problems.

Improving Accuracy and Computational Burden of Bundle Adjustment Algorithm Using GPUs

Bundle adjustment is a camera and point refinement technique in a 3D scene reconstruction pipeline. The camera parameters and the 3D points are refined by minimizing the difference between computed projection and observed projection of the image points formulated as a non-linear least-square problem. Levenberg-Marquardt method is used to solve the non-linear least-square problem. Solving the non-linear least-square problem is computationally expensive, proportional to the number of cameras, points, and projections. In this paper, we implement the Bundle Adjustment (BA) algorithm and analyze techniques to improve algorithmic performance by reducing the mean square error. We investigate using an additional radial distortion camera parameter in the BA algorithm and demonstrate better convergence of the mean square error. We also demonstrate the use of explicitly computed analytical derivatives. In addition, we implement the BA algorithm on GPUs using the CUDA parallel programming model to reduce the computational time burden of the BA algorithm. CUDA Streams, atomic operations, and cuBLAS library in the CUDA programming model are proposed, implemented, and demonstrated to improve the performance of the BA algorithm. Our implementation has demonstrated better convergence of the BA algorithm and achieved a speedup of up to 16× on the use of the BA algorithm on various datasets.

An extended state observer with adjustable bandwidth for measurement noise

In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the bandwidth decreases to suppress the noise,otherwise the bandwidth does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environments.The mean error of total disturbance of ABESO is 15.28% lower than that of LESO.