Automatic Extraction Method of 3D Feature Guidelines for Complex Cultural Relic Surfaces Based on Point Cloud

Cultural relics line graphic serves as a crucial form of traditional artifact information documentation,which is a simple and intuitive product with low cost of displaying compared with 3D models.Dimensionality reduction is undoubtedly necessary for line drawings.However,most existing methods for artifact drawing rely on the principles of orthographic projection that always cannot avoid angle occlusion and data overlapping while the surface of cultural relics is complex.Therefore,conformal mapping was introduced as a dimensionality reduction way to compensate for the limitation of orthographic projection.Based on the given criteria for assessing surface complexity,this paper proposed a three-dimensional feature guideline extraction method for complex cultural relic surfaces.A 2D and 3D combined factor that measured the importance of points on describing surface features,vertex weight,was designed.Then the selection threshold for feature guideline extraction was determined based on the differences between vertex weight and shape index distributions.The feasibility and stability were verified through experiments conducted on real cultural relic surface data.Results demonstrated the ability of the method to address the challenges associated with the automatic generation of line drawings for complex surfaces.The extraction method and the obtained results will be useful for line graphic drawing,displaying and propaganda of cultural relics.

Development of vehicle-recognition method on water surfaces using LiDAR data:SPD^(2)(spherically stratified point projection with diameter and distance)

Swarm robot systems are an important application of autonomous unmanned surface vehicles on water surfaces.For monitoring natural environments and conducting security activities within a certain range using a surface vehicle,the swarm robot system is more efficient than the operation of a single object as the former can reduce cost and save time.It is necessary to detect adjacent surface obstacles robustly to operate a cluster of unmanned surface vehicles.For this purpose,a LiDAR(light detection and ranging)sensor is used as it can simultaneously obtain 3D information for all directions,relatively robustly and accurately,irrespective of the surrounding environmental conditions.Although the GPS(global-positioning-system)error range exists,obtaining measurements of the surface-vessel position can still ensure stability during platoon maneuvering.In this study,a three-layer convolutional neural network is applied to classify types of surface vehicles.The aim of this approach is to redefine the sparse 3D point cloud data as 2D image data with a connotative meaning and subsequently utilize this transformed data for object classification purposes.Hence,we have proposed a descriptor that converts the 3D point cloud data into 2D image data.To use this descriptor effectively,it is necessary to perform a clustering operation that separates the point clouds for each object.We developed voxel-based clustering for the point cloud clustering.Furthermore,using the descriptor,3D point cloud data can be converted into a 2D feature image,and the converted 2D image is provided as an input value to the network.We intend to verify the validity of the proposed 3D point cloud feature descriptor by using experimental data in the simulator.Furthermore,we explore the feasibility of real-time object classification within this framework.

Study on Management and Control of Nonpoint Source Pollution from Urban Surface Runoff

Urbanization is the dominant form of land-use change in terms of impacts on water quality, hydrology, physical proper- ties of watersheds and their nonpoint source (NPS) pollution po- tential at present. Urbanization has changed the source, process and sink of urban NPS pollution, especially raised the pollution load of urban runoff NPS in receiving water. Urban runoff pollu- tion is a hot spot of research on NPS. This paper analyzed type, source and harm of the NPS pollutants of urban runoff and its influence on the receiving water. Through estimating NPS pollu- tion load of urban runoff and summarizing the law and character- istics of urban runoff NPS systemically, study on management and control of urban runoff NPS pollution was focused on the applica- tion of BMPs (best management practices). It is a fresh method- ology that management and control on NPS pollution from urban surface runoff was analyzed by methods of landscape ecology, environmental economics and environmental management. The paper provided a scientific reference for mitigating urban water environment pressure and an effective method for management and control of NPS pollution from urban surface runoff..

Synthesis and application of lignin-based copolymer LSAA on controlling non-point source pollution resulted from surface runoff

In this article,alkali lignin separated from paper pulp waste was grafted into a novel copolymer LSAA (a copolymer of lignin,starch, acrylamide,and acrylic acid).Its practical application effect and environmental safety were studied.The results of field simulation experiment indicated that the application of LSAA significantly affected the output of the runoff and pollutants.The runoff quantity was decreased by 16.67%-47.00%and the loads of total suspended solids (TSS),chemical oxygen demand (COD),total nit...

Robust adaptive dynamic surface control for nonlinear uncertain systems

We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the 'explosion of terms' that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method.

STUDY ON THE METHOD OF CONSTRUCTING RATIONAL CUBIC CURVES AND CURVED SURFACE INCLUDING CONTROLLING PARAMETERS

By adopting the method of controlling parameters this paper describes the construction of various kinds of cubic curve segment and curved surface fragment with rational and non rational parameters, and discusses the relationship between controlling parameters, weighted factors and types, kinds and characteristics of curve segments and curved surface fragments. A mathematical method is provided for CAGD with abundant connotations, broad covering region, convenience, flexibility and direct simplicity.

Variations in evaporation from water surfaces along the margins of the Badain Jaran Desert over nearly 60 years and influencing factors

Based on meteorological data collected over nearly 60 years(1960-2017)from four national meteorological stations along the margins of the Badain Jaran Desert,this study analyzed the spatiotemporal variations in evaporation from water surfaces and identified the dominant controlling factors.Methods used included linear trend analysis,linear tendency estimation,the departure method,the rank correlation coefficient-based method,and Multiple Linear Regression(MLR).Results indicate notable spatiotemporal differences in evaporation distribution and evolution.Spatially,average annual evaporation exhibited a pronounced altitude effect,decreasing at a rate of about 8.23 mm/m from east to west with increasing altitude.Temporally,annual evaporation showed significant upward trends after 1996 at the northeastern(Guaizi Lake)and western(Dingxin)margins,with rates of 132 mm/10a and 105 mm/10a,respectively.Conversely,along the northwestern(Ejina Banner)and southern(Alxa Right Banner)margins of the desert,an evaporation paradox was observed,with annual evaporation trending downward at rates of 162 mm/10a and 187 mm/10a,respectively,especially after 1987.The dominant factors controlling evaporation varied spatially:Average annual temperature and relative humidity influended the western margin(Dingxin),average annual temperature was the key factor for the northeastern margin(Guaizi Lake),and average wind speed was crucial for the northern(Ejina Banner)and southern(Alxa Right Banner)margins.

Adaptive Dynamic Surface Control for Integrated Missile Guidance and Autopilot

Integrated guidance and control for homing missiles utilizing adaptive dynamic surface control approach is considered based on the three channels independence design idea. A time-varying integrated guidance and control model with unmatched uncertainties is first formulated for the pitch channel, and an adaptive dynamic surface control algorithm is further developed to deal with these unmatched uncertainties. It is proved that the proposed feedback controller can ensure not only the accuracy of target interception, but also the stability of the missile dynamics. Then, the same control approach is further applied to the control design of the yaw and roll channels. The 6-degree-of-freedom （6-DOF） nonlinear missile simulation results demonstrate the feasibility and advantage of the proposed integrated guidance and control design scheme.

Adaptive dynamic surface control for air-breathing hypersonic vehicle

This paper describes an adaptive control approach for an air-breathing hypersonic vehicle. The control objective is to provide robust altitudes and velocity tracking in the presence of model uncertainties and varying disturbances. A fuzzy-neural disturbance observer is developed to estimate uncertainties and disturbances, and the adaptive controller is synthesized by the dynamic surface approach combing with the observer. The tracking error at the steady state can be guaranteed to converge to inside of a small residue set which the size of the set can be an arbitrary small value. Simulation results demonstrate the effectiveness of the presented approach.

Adiabatic cooling for cold polar molecules on a chip using a controllable high-efficiency electrostatic surface trap

We propose a controllable high-efficiency electrostatic surface trap for cold polar molecules on a chip by using two insulator-embedded charged rings and a grounded conductor plate. We calculate Stark energy structure pattern of ND3 molecules in an external electric field using the method of matrix diagonalization. We analyze how the voltages that are applied to the ring electrodes affect the depth of the efficient well and the controllability of the distance between the trap center and the surface of the chip. To obtain a better understanding, we simulate the dynamical loading and trapping processes of ND3 molecules in a ｜J, KM = ｜1,-1 state by using classical Monte–Carlo method. Our study shows that the loading efficiency of our trap can reach ～ 88%. Finally, we study the adiabatic cooling of cold molecules in our surface trap by linearly lowering the potential-well depth（i.e., lowering the trapping voltage）, and find that the temperature of the trapped ND3 molecules can be adiabatically cooled from 34.5 m K to ～ 5.8 m K when the trapping voltage is reduced from-35 k V to-3 k V.

Robust Leader-Follower Formation Tracking Control of Multiple Underactuated Surface Vessels

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.

Production Characteristics and the Control Factors of Surface Wells for Relieved Methane Drainage in the Huainan Mining Area

Based on the production data of a large number of surface drainage wells in the Huainan mining area,the present study shows that four types of typical production characteristics for relieved methane wells are recognized,of which the stable type for production and gas concentration is the most dominate,as determined by a comprehensive study on the volume and concentration of drained gases, as well as the stress changes of rocks influenced by mining.Some influence factors for the productive differences of the drainage wells were also been discussed.The results indicate that protective coal-seam mining has a significant effect on overlying strata,which promotes the development of pores and fractures of coal reservoirs for methane desorption and migration;however,the production and the stability of drainage wells are affected by deformation and damage of the overlying strata.The second distribution of strata stress is caused by mining engineering,and if the stress load is larger than the carrying capacity of the extraction well,the gas production would be influenced by the drainage well that has been damaged by rock movement.Furthermore,the case damage occurs first in the weak, lithologic interface by its special mechanical properties.The stability of drainage wells and the production status are also influenced by the different drilling techniques,uneven distribution of gas concentration,and combination of gob gas and methane from the protected layer.

Adaptive Neural Network Dynamic Surface Control for Perturbed Nonlinear Time-delay Systems

This paper proposes an adaptive neural network control method for a class of perturbed strict-feedback nonlinear systems with unknown time delays. Radial basis function neural networks are used to approximate unknown intermediate control signals. By constructing appropriate Lyapunov-Krasovskii functionals, the unknown time delay terms have been compensated. Dynamic surface control technique is used to overcome the problem of ＂explosion of complexity＂ in backstepping design procedure. In addition, the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is proved. A main advantage of the proposed controller is that both problems of ＂curse of dimensionality＂ and ＂explosion of complexity＂ are avoided simultaneously. Finally, simulation results are presented to demonstrate the effectiveness of the approach.

Best bounds on the distance between 3-direction quartic box spline surface and its control net

We present the best bounds on the distance between 3-direction quartic box spline surface patch and its control net by means of analysis and computing for the basis functions of 3-direction quartic box spline surface.Both the local bounds and the global bounds are given by the maximum norm of the first differences or second differences or mixed differences of the control points of the surface patch.

Fabrication of extreme wettability surface for controllable droplet manipulation over a wide temperature range

Droplet controllable manipulation over a wide temperature range has promising applications in microelectronic heat dissipation, inkjet printing, and high temperature microfluidic system. However, the fabrication of a platform for controllable droplet manipulation using the methods commonly used in industry remains a tremendously challenge. The popular method of controlling droplets is highly dependent on external energy input and has relatively poor controllability in terms of droplet motion behaviors and manipulation environment, such as distance, velocity, direction and a wide temperature range. Here, we report a facile and industrially applicable method for preparing Al superhydrophobic (S-phobic) surfaces, which enables controlled droplet bouncing, evaporation, and transport over a wide temperature range. Systematic mechanistic studies are also investigated. Extreme wettability surfaces were prepared on Al substrate by a composite process of electrochemical mask etching and micro-milling. To investigate the evaporation process and thermal coupling characteristics, controlled evaporation and controlled bouncing of droplet in a wide temperature range were conducted. Based on the evaporation regulation and bouncing mechanism of droplets on an extreme wettability surface, by using Laplace pressure gradients and temperature gradients, we realized controlled transport of droplets with confluence, split-flow, and gravity-resistant transport over a wide temperature range, offering a potential platform for a series of applications, such as new drug candidates and water collection.

Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation

In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.

Output-feedback Dynamic Surface Control for a Class of Nonlinear Non-minimum Phase Systems

In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.

Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has ＂explosion of terms＂ problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control （DSC） technique can resolve the ＂explosion of terms＂ problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF （degree of freedom） flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically.

Dynamic Surface Control with Nonlinear Disturbance Observer for Uncertain Flight Dynamic System

A new robust control method of a nonlinear flight dynamic system with aerodynamic coefficients and external disturbance has been proposed.The proposed control system is a combination of the dynamic surface control(DSC)and the nonlinear disturbance observer(NDO).DSC technique provides the ability to overcome the″explosion of complexity″problem in backstepping control.NDO is adopted to observe the uncertainties in nonlinear flight dynamic system.It has been proved that the proposed design method can guarantee uniformly ultimately boundedness of all the signals in the closed-loop system by Lyapunov stability theorem.Finally,simulation results show that the proposed controller provides better performance than the traditional nonlinear controller.

Control mesh representation of a class of minimal surfaces

Minimal surface is extensively employed in many areas. In this paper, we propose a control mesh representation of a class of minimal surfaces, called generalized helicoid minimal surfaces, which contain the right helicoid and catenoid as special examples. We firstly construct the Bézier-like basis called AHT Bézier basis in the space spanned by {1, t, sint, cost, sinht, cosht}, t∈[0,α], α∈[0,5π/2]. Then we propose the control mesh representation of the generalized helicoid using the AHT Bézier basis. This kind of representation enables generating the minimal surfaces using the de Casteljau-like algorithm in CAD/CAGD mod- elling systems.