Visual navigation in orchard based on multiple images at different shooting angles

The orchards usually have rough terrain,dense tree canopy and weeds.It is hard to use GNSS for autonomous navigation in orchard due to signal occlusion,multipath effect,and radio frequency interference.To achieve autonomous navigation in orchard,a visual navigation method based on multiple images at different shooting angles is proposed in this paper.A dynamic image capturing device is designed for camera installation and multiple images can be shot at different angles.Firstly,the obtained orchard images are classified into sky and soil detection stage.Each image is transformed to HSV space and initially segmented into sky,canopy and soil regions by median filtering and morphological processing.Secondly,the sky and soil regions are extracted by the maximum connected region algorithm,and the region edges are detected and filtered by the Canny operator.Thirdly,the navigation line in the current frame is extracted by fitting the region coordinate points.Then the dynamic weighted filtering algorithm is used to extract the navigation line for the soil and sky detection stage,respectively,and the navigation line for the sky detection stage is mirrored to the soil region.Finally,the Kalman filter algorithm is used to fuse and extract the final navigation path.The test results on 200 images show that the accuracy of visual navigation path fitting is 95.5%,and single frame image processing costs 60 ms,which meets the real-time and robustness requirements of navigation.The visual navigation experiments in Camellia oleifera orchard show that when the driving speed is 0.6 m/s,the maximum tracking offset of visual navigation in weed-free and weedy environments is 0.14 m and 0.24 m,respectively,and the RMSE is 30 mm and 55 mm,respectively.

A two-parameter multiple shooting method and its application to the natural vibrations of non-prismatic multi-segment beams

This paper presents an enhanced version of the standard shooting method that enables problems with two unknown parameters to be solved.A novel approach is applied to the analysis of the natural vibrations of Euler-Bernoulli beams.The proposed algorithm,named as two-parameter multiple shooting method,is a new powerful numerical tool for calculating the natural frequencies and modes of multi-segment prismatic and non-prismatic beams with different boundary conditions.The impact of the axial force and additional point masses is also taken into account.Due to the fact that the method is based directly on the fourth-order ordinary differential equation,the structures do not have to be divided into many small elements to obtain an accurate enough solution,even though the geometry is very complex.To verify the proposed method,three different examples are considered,i.e.,a three-segment non-prismatic beam,a prismatic column subject to non-uniformly distributed compressive loads,and a two-segment beam with an additional point mass.Numerical analyses are carried out with the software MATHEMATICA.The results are compared with the solutions computed by the commercial finite element program SOFiSTiK.Good agreement is achieved,which confirms the correctness and high effectiveness of the formulated algorithm.

Review of All Possible Conversion Equations of Influence Coefficients with Different Formats on Two-Plane Balancing

This article lists all possible conversion equations of influence coefficients(ICs)with different formats when some of these are known to handle two-plane balancing tasks with no or less trial weight runs.There are two approaches for two-plane balancing.One can treat it as a multi-plane balance problem involving a 2×2 matrix of complex ICs where two direct ICs along with two cross-effect ICs are generated so that correction weights at one or two balance planes can be determined.One can also apply a static pare(in-phase)and/or couple pair(180 degrees out-of-phase)weights for balancing.The latter approach has been used quite often in the field,especially on steam turbine and generator rotors.Dependent on vibration mode shapes and combinations as well as balance plane accessibility,sometimes applying static or couple pair weights can be a wise choice;other times weights at one or two end planes are needed.There are totally 4 possible sets of IC data due to weights at plane 1,plane 2,static pair,and couple pair.IC data would typically be obtained by applying trial weights followed by trial weight runs.It is found,however,that all these IC data can be converted easily without trial weight runs once any two of 4 sets are known.The above findings and conversion equations have been obtained analytically and verified by experimental results.Real cases are given to demonstratetheirapplications.

Efficient Decomposition Shooting Method for Solving Third-Order Boundary Value Problems

The present paper proposes a mathematical method to numerically treat a class of third-order linear Boundary Value Problems (BVPs). This method is based on the combination of the Adomian Decomposition Method (ADM) and, the modified shooting method. A complete derivation of the proposed method has been provided, in addition to its numerical implementation and, validation via the utilization of the Runge-Kutta method and, other existing methods. The method has been applied to diverse test problems and turned out to perform remarkably. Lastly, the simulated numerical results have been graphically illustrated and, also supported by some absolute error comparison tables.

Lactobacillus from fermented bamboo shoots prevents inflammation in DSS-induced colitis mice via modulating gut microbiome and serum metabolites

Fermented bamboo shoots(FBS)is a region-specific food widely consumed in Southwestern China,with Lactobacillus as the predominant fermenting bacteria.However,the probiotic potential of Lactobacillus derived from FBS reminds largely unexplored,especially for diseases with a low prevalence in areas consuming FBS,namely,inflammatory bowel disease.In this study,Lactiplantibacillus pentosus YQ001 and Lentilactobacillus senioris YQ005 were screening by in vitro probiotic tests to further investigate the probioticlike bioactivity in dextran sulfate sodium(DSS)-induced ulcerative colitis(UC)mouse.They exhibited more positive probiotic effects than Lactobacillus rhamnosus GG in preventing intestinal inflammatory response.The results revealed that both strains improved the abundance of deficient intestinal microbiota in UC mice,including Muribaculaceae and Akkermansia.In the serum metabolome,they modulated the DSS-disturbed levels of metabolites,with significant increment of cinnamic acid.Meanwhile,they reduced the expression levels of interleukin-1β(IL-1β),interleukin-6(IL-6)inflammatory factors and increased zonula occludens-1(ZO-1),Occludin,and cathelicidin-related antimicrobial peptide(CRAMP)in the colon.Consequently,these results demonstrated that Lactobacillus spp.isolates derived from FBS showed promising probiotic activity based on the gut microbiome homeostasis modulation,anti-inflammation and intestinal barrier protection in UC mice.

Summer Warming Limited Bud Output Drives a Decline in Daughter Shoot Biomass through Reduced Photosynthetis of Parent Shoots in Leymus chinensis Seedlings

Understanding how summer warming influences the parent and daughter shoot production in a perennial clonal grass is vital for comprehending the response of grassland productivity to global warming.Here,we conducted a simulated experiment using potted Leymus chinensis,to study the relationship between the photosynthetic activ-ity of parent shoots and the production of daughter shoots under a whole(90 days)summer warming scenario(+3°C).The results showed that the biomass of parents and buds decreased by 25.52%and 33.45%,respectively,under warming conditions.The reduction in parent shoot biomass due to warming directly resulted from decreased leaf area(18.03%),chlorophyll a(18.27%),chlorophyll b(29.21%)content,as well as a reduction in net photosynthetic rate(7.32%)and the maximum quantum efficiency of photosystem II(PSII)photochemistry(4.29%).The decline in daughter shoot biomass was linked to a decrease in daughter shoot number(33.33%)by warming.However,the number of belowground buds increased by 46.43%.The results indicated that long-term summer warming reduces biomass accumulation in parent shoot by increasing both limitation of stoma and non-stoma.Consequently,the parent shoot allocates relatively more biomass to the belowground organs to maintain the survival and growth of buds.Overall,buds,as a potential aboveground population,could remedy for the cur-rent loss of parent shoot density by increasing the number of future daughter shoots if summer warming subsides.

Multi-Scale Mixed Attention Tea Shoot Instance Segmentation Model

Tea leaf picking is a crucial stage in tea production that directly influences the quality and value of the tea.Traditional tea-picking machines may compromise the quality of the tea leaves.High-quality teas are often handpicked and need more delicate operations in intelligent picking machines.Compared with traditional image processing techniques,deep learning models have stronger feature extraction capabilities,and better generalization and are more suitable for practical tea shoot harvesting.However,current research mostly focuses on shoot detection and cannot directly accomplish end-to-end shoot segmentation tasks.We propose a tea shoot instance segmentation model based on multi-scale mixed attention(Mask2FusionNet)using a dataset from the tea garden in Hangzhou.We further analyzed the characteristics of the tea shoot dataset,where the proportion of small to medium-sized targets is 89.9%.Our algorithm is compared with several mainstream object segmentation algorithms,and the results demonstrate that our model achieves an accuracy of 82%in recognizing the tea shoots,showing a better performance compared to other models.Through ablation experiments,we found that ResNet50,PointRend strategy,and the Feature Pyramid Network(FPN)architecture can improve performance by 1.6%,1.4%,and 2.4%,respectively.These experiments demonstrated that our proposed multi-scale and point selection strategy optimizes the feature extraction capability for overlapping small targets.The results indicate that the proposed Mask2FusionNet model can perform the shoot segmentation in unstructured environments,realizing the individual distinction of tea shoots,and complete extraction of the shoot edge contours with a segmentation accuracy of 82.0%.The research results can provide algorithmic support for the segmentation and intelligent harvesting of premium tea shoots at different scales.

Study of Potential Edaphic Chemical Factors in the Prevalence of Swollen Shoot Disease of Cocoa in the Marahoué Region (Côte d’Ivoire)

This study looks at the prevalence of swollen shoot disease in cocoa plantations in the Marahoué region of Côte d’Ivoire, a key cocoa-producing area. Cocoa accounts for around a third of the country’s export earnings, but production is under threat from the swollen shoot virus, which is causing major yield reductions. The aim of the study is to establish a link between the chemical properties of the soil and the presence of the disease, in particular the levels of carbon, nitrogen, phosphorus, calcium and acidity (pH) in the soil. Specifically, soils from healthy plots were compared with soils from infested plots in six plantations in the Bouaflé and Kononfla sub-prefectures. The results show that soils from infested plots have lower phosphorus levels and near-neutral acidity in the 20 - 40 cm soil layer, while soils from healthy plots are slightly acidic and contain more calcium and phosphorus. These chemical differences seem to influence the prevalence of the virus. Low phosphorus levels appear to be a key factor in the vulnerability of cocoa trees to the disease. The study therefore suggests that any strategy to combat swollen shoot should include better soil management, incorporating factors such as soil depth and the availability of essential nutrients. In addition, an assessment of the micro-organisms present in the soil could provide further information on the interactions between the soil and the disease.

机械工程trouble-shooting案例分析教学与动手能力培养

通过trouble shooting案例的分析、讨论、实例讲解,力图引导、启发和培养学生在实际工作中如何去发现问题、如何对已有知识、经验、技能的灵活处理和技术知识的转移、搬迁、嫁接、变异、变通和改进等方面的技巧和动手能力,目的是使学生学习达到“鱼”、“渔”共获。

A CASE STUDY ON LONG HOLE RAISING BY SHOOTING TO RELIEF HOLES

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Optimal index shooting policy for layered missile defense system

In order to cope with the increasing threat of the ballistic missile(BM)in a shorter reaction time,the shooting policy of the layered defense system needs to be optimized.The main decisionmaking problem of shooting optimization is how to choose the next BM which needs to be shot according to the previous engagements and results,thus maximizing the expected return of BMs killed or minimizing the cost of BMs penetration.Motivated by this,this study aims to determine an optimal shooting policy for a two-layer missile defense(TLMD)system.This paper considers a scenario in which the TLMD system wishes to shoot at a collection of BMs one at a time,and to maximize the return obtained from BMs killed before the system demise.To provide a policy analysis tool,this paper develops a general model for shooting decision-making,the shooting engagements can be described as a discounted reward Markov decision process.The index shooting policy is a strategy that can effectively balance the shooting returns and the risk that the defense mission fails,and the goal is to maximize the return obtained from BMs killed before the system demise.The numerical results show that the index policy is better than a range of competitors,especially the mean returns and the mean killing BM number.

Influence of core box vents distribution on flow dynamics of core shooting process based on experiment and numerical simulation

Core shooting process plays a decisive role in the quality of sand cores, and core box vents distribution is one of the most important factor determining the effectiveness of core shooting process. In this paper, the influence of core box vents distribution on the flow dynamics of core shooting process was investigated based on in situ experimental observations with transparent core box, high-speed camera and pressure measuring system. Attention was focused on the variation of both the flow behavior of sand and pressure curves due to different vents distribution. Taking both kinetic and frictional stress into account, a kinetic-frictional constitutive model was established to describe the internal momentum transfer in the solid phase. Two-fluid model(TFM) simulation was then performed and good agreement was achieved between the experimental and simulated results on both the flow behavior of sand and the pressure curves. It was found that vents distribution has direct effect on the pressure difference of different locations in the core box, which determines the buoyancy force exerting on the sand particles and significantly influences the filling process of core sand.

Influence of core sand properties on flow dynamics of core shooting process based on experiment and multiphase simulation

The influence of core sand properties on flow dynamics was investigated synchronously with various core sands, transparent core-box and high-speed camera. To confirm whether the core shooting process has significant turbulence, the flow pattern of sand particles in the shooting head and core box was reproduced with colored core sands. By incorporating the kinetic theory of granular flow(KTGF), kinetic-frictional constitutive correlation and turbulence model, a two-fluid model(TFM) was established to study the flow dynamics of the core shooting process. Two-fluid model(TFM) simulations were then performed and a areasonable agreement was achieved between the simulation and experimental results. Based on the experimental and simulation results, the effects of turbulence, sand density, sand diameter and binder ratio were analyzed in terms of filling process, sand volume fraction(αs) and sand velocity(Vs).

A SHOOTING METHOD FOR THE SWIFT-HOHENBERG EQUATION

Stationary even single bump periodic solutions of the Swift Hohenberg equation are analyzed. The coefficient k in the equation is found to be a critical parameter. It is proved if 0<k<1 , there exist periodic solutions having the same energy as the constant solution u=0; if 1<k<32 , there exist periodic solutions having the same energy as the stable states u=±k-1. The proof of the above results is based on a shooting technique, together with a linearization method and a scaling argument.

Analysis on Stochastic Passage Characteristics for Gun Barrel in Shooting Domain

Aiming at some weapon systems with shooting domain,the stochastic passage characteristics of the barrel were studied.On the basis of the exact definition of the stochastic passage characteristics,its opportunity-awaiting time,residence time and stochastic passage period were given by using the transition probability matrix,and they all obeyed the geometry distributions.Their means and variances were also derived,and the relations between the time indexes and the structure and parameters of weapon control system were established.Finally,the creditability of the conclusions was verified by the test data of weapon system in proving ground.

Core clock component MtLUX controls shoot architecture through repression of MtTB1/MtTCP1A in Medicago truncatula

Plants are capable of regulating their shoot architecture in response to diverse internal and external environments.The circadian clock is an adaptive mechanism that integrates information from internal and ambient conditions to help plants cope with recurring environmental fluctuations.Despite the current understanding of plant circadian clock and genetic framework underlying plant shoot architecture,the intricate connection between these two adaptive mechanisms remains largely unclear.In this study,we elucidated how the core clock gene LUX ARRHYTHMO(LUX)regulates shoot architecture in the model legume plant Medicago truncatula.We show that mtlux mutant displays increased main stem height,reduced lateral shoot length,and decreased the number of lateral branches and biomass yield.Gene expression analysis revealed that Mt LUX regulated shoot architecture by repressing the expression of strigolactone receptor MtD14 and MtTB1/MtTCP1A,a TCP gene that functions centrally in modulating shoot architecture.In vivo and in vitro experiments showed that Mt LUX directly binds to a cis-element in the promoter of MtTB1/MtTCP1A,suggesting that Mt LUX regulates branching by rhythmically suppressing MtTB1/MtTCP1A.This work demonstrates the regulatory effect of the circadian clock on shoot architecture,offering a new understanding underlying the genetic basis towards the flexibility of plant shoot architecture.

Scattering from Rough Surfaces Using the"Shooting and Bouncing Rays" Technique

The “shooting and bouncing rays” (SBR) technique is used to analyze the electromagnetic scattering characters of ocean rough surfaces varying with time. Some numerical results are presented and compared with the method of moments, and some factors, such as the incident angle, polarization and frequency are investigated which influence on electromagnetic scattering characters of ocean rough surfaces.

Numerical experiment of anharmonic oscillators by using the symplectic scheme-shooting method

Symplectic scheme-shooting method (SSSM) is applied to solve the energy eigenvalues of anharmonic oscillators characterized by the potentials V(x)=λx 4 and V(x)=(1/2)x 2+λx 2α with α=2,3,4 and doubly anharmonic oscillators characterized by the potentials V(x)=(1/2)x 2+λ 1x 4 +λ 2x 6, and a high order symplectic scheme tailored to the "time"-dependent Hamiltonian function is presented. The numerical results illustrate that the energy eigenvalues of anharmonic oscillators with the symplectic scheme-shooting method are in good agreement with the numerical accurate ones obtained from the non-perturbative method by using an appropriately scaled basis for the expansion of each eigenfunction; and the energy eigenvalues of doubly anharmonic oscillators with the sympolectic scheme-shooting method are in good agreement with the exact ones and are better than the results obtained from the four-term asymptotic series. Therefore, the symplectic scheme-shooting method, which is very simple and is easy to grasp, is a good numerical algorithm.

Shooting Back

A project that puts cameras in the hands of war’s youngest victims offers them away to tell—and show——their stories. Two million children dead.Six millionmaimed or mutilated.Ten million psychologicallydamaged.Such is the tragic tally,in the last decade,of the world’s wars.border skirmishes and ethnicconflicts.And it doesn’t stop there.According toa 1999 report by the U.N.’s Special Representativefor Children and Armed Conflict,more than

Real Hypersurfaces in Complex Two-Plane Grassmannians Whose Jacobi Operators Corresponding to -Directions are of Codazzi Type

We prove the non-existence of Hopf real hypersurfaces in complex two-plane Grassmannians whose Jacobi operators or the Jacobi corresponding to the directions in the distribution are of Codazzi type if they satisfy a further condition. We obtain that that they must be either of type (A) or of type (B) (see [2]), but no one of these satisfies our condition. As a consequence, we obtain the non-existence of Hopf real hypersurfaces in such ambient spaces whose Jacobi operators corresponding to -directions are parallel with the same further condition.