Filtering algorithm of line structured light for long-distance obstacle detection

Since unmanned ground vehicles often encounter concave and convex obstacles in wild ground, a filtering algorithm using line structured light to detect these long distance obstacles is proposed. For the line structured light image, a ranked-order based adaptively extremum median （RAEM） filter algorithm on salt and pepper noise is presented. In the algorithm, firstly effective points and noise points in a filtering window are differentiated; then the gray values of noise points are replaced by the medium of gray values of the effective pixels, with the efficient points＇ gray values unchanged; in the end this algorithm is proved to be efficient by experiments. Experimental resuits demonstrate that the image blur, resulting into proposed algorithm can remove noise points effectively and minimize the protecting the edge information as much as possible.

Electronic Structure,Irreversibility Line and Magnetoresistance of Cu0.3Bi2Se3 Superconductor

Cux Bi2Se3 is a superconductor that is a potential candidate for topological superconductors. We report our laser- based angle-resolved photoemission measurement on the electronic structure of the CuxBi2Se3 superconductor, and a detailed magneto-resistance measurement in both normal and superconducting states. We find that the topological surface state of the pristine Bi2Se3 topological insulator remains robust after the Cu-intercalation, while the Dirae cone location moves downward due to electron doping. Detailed measurements on the magnetic field-dependence of the resistance in the superconducting state establishes an irreversibility line and gives a value of the upper critical field at zero temperature of ～4000 Oe for the Cu0.3Bi2Se3 superconductor with a middle point Tc of 1.g K. The relation between the upper critical field He2 and temperature T is different from the usual scaling relation found in cuprates and in other kinds of superconductors. Small positive magneto-resistance is observed in Cuo.3Bi2Se3 superconductors up to room temperature. These observations provide useful information for further study of this possible candidate for topological superconductors.

Structure and Kinematics of Emission Line Regions in AGN

I will review some key aspects of the physical conditions of the line emitting regions in AGN. The innermost BLR extends at radii of light days to light weeks from the central ionizing source. There are strong indications that the BLR clouds are connected to the outer region of an accretion disk. Trends of radial acceleration of the line emitting clouds have been found in the extended narrow line region. Ⅰ will concentrate on observations taken in the optical wavelength range. Finally, Ⅰ will discuss different methods to determine the mass of the central supermassive black hole from the emission lines.

Full-Ring Experimental Study of the Lining Structure of Shanghai Changjiang Tunnel

Shanghai Changjiang Tunnel, 15 m in diameter, is one of the world＇s largest shield-driven tunnels in diameter. Tongji University has recently carried out a test on the full-scale three-ring lining structure of Changjiang Tunnel. This paper introduces the testing processes, including loading apparatuses, test contents, test cases, etc., and makes comparison with other shield lining structure tests conducted before, and finally gives some evaluations on the design of the tunnel.

Mechanical Behavior and Shape Optimization of Lining Structure for Subsea Tunnel Excavated in Weathered Slot

Subsea tunnel lining structures should be designed to sustain the loads transmitted from surrounding ground and groundwater during excavation. Extremely high pore-water pressure reduces the effective strength of the country rock that surrounds a tunnel, thereby lowering the arching effect and stratum stability of the structure. In this paper, the mechanical behavior and shape optimization of the lining structure for the Xiang＇an tunnel excavated in weathered slots are examined. Eight cross sections with different geometric parameters are adopted to study the mechanical behavior and shape optimization of the lining structure. The hyperstatic reaction method is used through finite element analysis software ANSYS. The mechanical behavior of the lining structure is evidently affected by the geometric parameters of crosssectional shape. The minimum safety factor of the lining structure elements is set to be the objective function. The efficient tunnel shape to maximize the minimum safety factor is identified. The minimum safety factor increases significantly after optimization. The optimized cross section significantly improves the mechanical characteristics of the lining structure and effectively reduces its deformation. Force analyses of optimization process and program are conducted parametrically so that the method can be applied to the optimization design of other similar structures. The results obtained from this study enhance our understanding of the mechanical behavior of the lining structure for subsea tunnels. These results are also beneficial to the optimal design of lining structures in general.

Prototype test study on mechanical characteristics of segmental lining structure of underwater railway shield tunnel

Based on the first unde rwater railway shield tunnel, the Shiziyang shield tunnel of Guangzhou Zhu- jiang River, the prototype test was carried out against its segmental lining structure by using ＂multi-function shield tunnel structure test system＂. And the mechanical characteristics of segmental lining structure using straight assembling and staggered assembling were studied deeply. The results showed that, the mechanical characteristics of segmental lining structure varied with the water pressures; especially after cracking, the high water pressure played a significant role in slowing down the growing inner force and deformation. It also testi- fied that the failure characteristics varied with straight assembling structure and staggered assembling structure. Shear thilurc often occurred near longitudinal seam when using straight assembling.

Research on Visual Detection Algorithm for Groove Feature Sizes by Means of Structured Light Projection

The visual inspection is an economical and effective method for welding. For measuring the feature sizes of grooves,a method based on line structured light is presented. Firstly,an adaptive algorithm to extract the subpixel centerline of structured light stripes is introduced to deal with the uneven width and grayscale distributions of laser stripes,which is based on the quadratic weighted grayscale centroid. By means of region-of-interest(ROI)division and image difference,an image preprocessing algorithm is developed for filtering noise and improving image quality. Furthermore,to acquire geometrical dimensions of various grooves and groove types precisely,the subpixel feature point extraction algorithm of grooves is designed. Finally, experimental results of feature size measuring show that the absolute error of measurement is 0.031—0.176 mm,and the relative error of measurement is 0.2%—3.6%.

Rock Pressure on Tunnel with Shallow Depth in Geologically Inclined Bedding Strata

The method to calculate rock pressure to which the lining structure of tunnel with shallow depth is subjected in geologically inclined bedding strata is analyzed and put forward. Both the inclination angle of bedding strata as well as the internal friction angle of bedding plane and its cohesion all exert an influence upon the magnitude of the asymmetric rock pressure applied to tunnel. The feature that rock pressure applied to tunnel structure varies with the incUnation angle of bedding strata is discussed, At last, the safety factor, which is utilized to evaluate the working state of tunnel lining structure, is calculated for both symmetric and asymmetric lining structures. The calculation results elucidate that the asymmetric tunnel structure can be more superior to bear rock pressure in comparison with the symmetric one and should be adopted in engineering as far as possible.

Scaling properties of phase-change line memory

Phase-change line memory cells with different line widths are fabricated using focused-ion-beam deposited C-Pt as a hard mask. The electrical performance of these memory devices was characterized. The current^oltage （I-V） and resistance-voltage （RV） characteristics demonstrate that the power consumption decreases with the width of the phase-change line. A three-dimensional simulation is carried out to further study the scaling properties of the phase- change line memory. The results show that the resistive amorphous （RESET） power consumption is proportional to the cross-sectional area of the phase-change line, but increases as the line length decreases.

High Curvature Stripe Profile Extraction Algorithm of Line Structured Light Measuring System

In the line structured light measuring system, the accuracy of the process of laser stripe directly affects the measurement results. Therefore, the extraction algorithm for the laser stripe, especially the surface with high reflection and high curvature, is very important. The imaging principle of line structured light, the light intensity distribution law of laser stripe and the extraction algorithm have been studied, and a stripe profile extraction method based on real light intensity distribution has been proposed. In this algorithm, fast region of interest extraction, stripe width estimation, and adaptive filtering on the striped image are performed. Then the energy center of the stripe at the sub-pixel level is extracted. Finally, the low-quality center points are eliminated, and the context information is used to recover the missing central points. Simulated images generated based on the imaging principle of line structured light and real experimental images were used to evaluate the accuracy and repeatability of the proposed method. The results show that the method behaves excellently at the edges of high-curvature stripes;the maximum error is only 1.6 pixels, which is 1/10 of the classic Steger algorithm;the experiment repeatability is only 8.8 μm, which is 2.7 times that of the Steger method. Therefore, the proposed method improves the accuracy of object contour extraction, and it is especially suitable for contour detection of objects with high curvature.

Stability analysis and grouting treatment of inclined shaft lining structure in water-rich strata: A case study

The stability of inclined shaft lining structure (ISLS) in complex water-rich strata is affected by many factors, suchas water pressure, joint, soft rock, lining corrosion and so on. The instability of the ISLS will affect the safe andefficient coal mine production. Bathe sed on the geological conditions of the Xiaobaodang coal mine, this papertested the evolution characteristics of concrete composition in long-term water seepage areas and revealed theinfluence mechanism of corrosion weakening of shaft lining (SL) in water-rich strata. Meanwhile, transientelectromagnetic, ground penetrating radar, and infrared monitoring are used to detect the water-rich zones, anddamage zones of surrounding rock and lining water seepage zones, and a three-level safety evaluation model forthe instability risk of ISLS is constructed. Water abundance of the surrounding rock, surrounding rock deterioration, and shaft lining seepage were the specific indicators in the model. The main inclined shaft (MIS) in thestudied coal mine is divided into three levels: non instability risk zone, potential instability risk zone, and highinstability risk zone. According to the evaluation results, comprehensive prevention and control measures of“hydrophobic hole drainage” and “back-lining grouting” are adopted for the water inrush source and the surrounding rock micro-crack water channel. The precise prevention and control of ISLS is realized. The researchresults also provide a reference for the stability evaluation of ISLS and the accurate prevention and control undersimilar conditions.

Development of an In-Situ Laser Machining System Using a Three-Dimensional Galvanometer Scanner

In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.

OMHT method for weak signal processing of GPR and its application in identification of concrete micro-crack

In the light of the problem of weak reflection signals shielded by strong reflections from the concrete surface,the detection and the recognition of hidden micro-cracks in the shield tunnel lining were studied using the orthogonal matching pursuit and the Hilbert transform(OMHT method).First,according to the matching pursuit algorithm and the strong reflection-forming mechanism,and based on the sparse representation theory,a sparse dictionary,adapted to the characteristics of the strong reflection signal,was selected,and a matching decomposition of each signal was performed so that the weak target signal submerged in the strong reflection was displayed more strongly.Second,the Hilbert transform was used to extract multiple parameters,such as the instantaneous amplitude,the instantaneous frequency,and the instantaneous phase,from the processed signal,and the ground penetrating radar(GPR)image was comprehensively analyzed and determined from multiple angles.The results show that the OMHT method can accurately weaken the effect of the strong impedance interface and effectively enhance the weak reflected signal energy of hidden micro-crack in the shield tunnel segment.The resolution of the processed GPR image is greatly improved,and the reflected signal of the hidden micro-crack is easily visible,which proves the validity and accuracy of the analysis method.

Creep characteristic simulation of deep soft rock roadway and long-term mechanical analysis of lining support

By the generalized Kelvin creep model,rheological characteristics of deep softrock and long-term mechanical behaviors of support structures were simulated.Mechanicaldeformation characteristics of support structures under different lining circumstanceswere also analyzed on the basis of deducing the relationship between the generalizedKelvin creep model and implicit creep equations in ANSYS FEM software.The resultsshow that high stress of deep tunnels is the main factor in creep damage;the surroundingrock's deformation binding effect due to lining increases as the thickness increases but theeffect becomes very weak when it increases to a certain value;contact pressure on thelining decreases as its thickness decreases.

Multi-Band Bandpass Filter Using Novel Topology for Next-Generation IoT Wireless Systems

The design of single-and quad-band Bandpass Filter(BPF)topology has been presented in this paper for next-generation Internet of Things(IoT)devices.The main topology is constructed using the Split Ring Resonator(SRR),separated by the Anti-Parallel Coupled Line Structure(APCLS).A detailed analysis of APCLS has been presented,which is further used to construct the single-and quad-band BPF.The single-band BPF design consists of SRR loaded with APCLS.The developed single-band BPF displays a dual-mode response with a center frequency of 2.65 GHz and a measured fractional bandwidth of 17.17%.Moreover,a quad-band bandpass filter has been achieved using the same topology with minor modification in the SRR and APCLS electrical parameters.The developed quad-band BPF generates a dual-mode response having center frequencies of 1.2,2.4,3.5,and 4.7 GHz with the measured fractional bandwidth of 13%,26%,16%,and 5%,respectively.Two prototypes have been fabricated on the highfrequency substrate to validate the proposed topologies.Very high rejection in the stopbands region,little in-band insertion loss,and very selective passband have been measured for single-and quad-band BPFs.The measured and simulated results are well correlated.

Key Technologies for Energy Efficient Al(OH)_3 Dilute Phase Fluidized Bed Roasting Furnaces

Research on new tes of castab/es, pre-cast assembly parts and thermal insulation materials with good resistance to wear, thermal shock and erosion, and low thermal conductivity, was dong to solve problems of high system energy consumption, cracking and spalling of partial lining and mismatch of furnace top material and hanging material and so on, caused by unreasonable design of China＇ s Al（ OH ）3 dilute phase fluidized bed roasting frnace lining. Several difficult problems such as the matching tf different materials,

Influence of secondary lining thickness on mechanical behaviours of double-layer lining in large-diameter shield tunnels

In large-diameter shield tunnels,applying the double-layer lining structure can improve the load-bearing properties and maintain the stability of segmental lining.The secondary lining thickness is a key parameter in the design of a double lining structure,which is worth being explored.Based on an actual large-diameter shield tunnel,loading model tests are carried out to investigate the effect of the secondary lining thickness on the mechanical behaviours of the double lining structure.The test results show that within the range of secondary lining thicknesses discussed,the load-bearing limit of the double-layer lining increases with growing secondary lining thickness.As a passive support,the secondary lining acts as an auxiliary load-bearing structure by contacting the segment.And changes in secondary lining thickness have a significant effect on the contact state between the segment and secondary lining,with both the contact pressure level and the contact area between the two varying.For double-layer lining structures in large-diameter shield tunnels,it is proposed that the stiffness of the secondary lining needs to be matched to the stiffness of the segment,as this allows them to have a coordinated deformation and a good joint load-bearing effect.

Analysis of the harmful effects to buried oil pipeline from power line short-circuit fault

Based on the transmission line theory of the buried metallic structures, the concerned harmful effects to the buried oil and natural gas pipelines caused by the power line short-circuit fault are further discussed. A closed-form expression of the induced voltage caused by the short-circuit fault of the ultra-high voltage power （UHVAC） transmission line is given. The transmission line model of the buried pipeline is set up and a set of formulas for calculating induced voltage on the pipeline and the parameters of the buried pipeline in actual environment condition are given. At last, the characteristic of the harm^hl effects on the buried pipeline from the power line short-circuit fault are discussed.

Reliability-based design of lining structures for underground space against water seepage

The use of underground spaces is becoming increasingly important in this era of rapid urbanization and population growth.However,underground spaces are susceptible to water ingress,which may trigger the deterioration of their structural performance and reduce their serviceability.This highlights the importance of the proper design of lining structures with an emphasis on water penetration.This study develops a reliability-based approach to guide the design of lining structures used for underground spaces.The equivalent depth of water seepage is considered for a two-dimensional lining structure in the presence of the randomness and spatial correlation of the water seepage distribution.The probabilistic behavior of the equivalent seepage depth that is derived serves as the basis for reliability-based design of lining structures.A simple design criterion is developed.An example is presented to demonstrate the applicability of the proposed approach.