Target Detection on Water Surfaces Using Fusion of Camera and LiDAR Based Information

To address the challenges of missed detections in water surface target detection using solely visual algorithms in unmanned surface vehicle(USV)perception,this paper proposes a method based on the fusion of visual and LiDAR point-cloud projection for water surface target detection.Firstly,the visual recognition component employs an improved YOLOv7 algorithmbased on a self-built dataset for the detection of water surface targets.This algorithm modifies the original YOLOv7 architecture to a Slim-Neck structure,addressing the problemof excessive redundant information during feature extraction in the original YOLOv7 network model.Simultaneously,this modification simplifies the computational burden of the detector,reduces inference time,and maintains accuracy.Secondly,to tackle the issue of sample imbalance in the self-built dataset,slide loss function is introduced.Finally,this paper replaces the original Complete Intersection over Union(CIoU)loss function with the Minimum Point Distance Intersection over Union(MPDIoU)loss function in the YOLOv7 algorithm,which accelerates model learning and enhances robustness.To mitigate the problem of missed recognitions caused by complex water surface conditions in purely visual algorithms,this paper further adopts the fusion of LiDAR and camera data,projecting the threedimensional point-cloud data from LiDAR onto a two-dimensional pixel plane.This significantly reduces the rate of missed detections for water surface targets.

A gradient nano/micro-structured surface layer on copper induced by severe plasticity roller burnishing

In order to investigate a gradient nano/micro-structured surface layer on pure copper produced by severe plasticity roller burnishing （SPRB） and grain refinement mechanism, the microstructure characteristics and material properties of sample at various depths from the topmost surface were investigated by SEM, TEM, XRD, OM etc. The experimental results show that the gradient nano/micro-structure was introduced into the surface layer of over 100μm in thickness. The remarkable increase in hardness near the topmost surface was mainly attributed to the reduced grain size. The equiaxed nano-sized grains were in random orientation and the most of their boundaries were low-angle grain boundaries （LAGBs）. The coarse grains are refined into the few micro-sized grains by dislocation activities;deformation twinning was found to be the primary form for the formation of submicron grains;the formation of nanostructure was dominated by dislocation activities accompanied with rotation of grains in local region.

Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies

This paper is concerned with the cooperative target tracking of multiple autonomous surface vehicles(ASVs)under switching interaction topologies.For the target to be tracked,only its position can be measured/received by some of the ASVs,and its velocity is unavailable to all the ASVs.A distributed extended state observer taking into consideration switching topologies is designed to integrally estimate unknown target dynamics and neighboring ASVs'dynamics.Accordingly,a novel kinematic controller is designed,which takes full advantage of known information and avoids the approximation of some virtual control vectors.Moreover,a disturbance observer is presented to estimate unknown time-varying environmental disturbance.Furthermore,a distributed dynamic controller is designed to regulate the involved ASVs to cooperatively track the target.It enables each ASV to adjust its forces and moments according to the received information from its neighbors.The effectiveness of the derived results is demonstrated through cooperative target tracking performance analysis for a tracking system composed of five interacting ASVs.

A Small Target Detection Method for Sea Surface Based on Guided Filtering and Local Mean Gray Difference

The traditional small target detection algorithm often results in a high false alarm rate on the sea surface background. To address this issue, a small target detection method based on guided filtering and local average gray level difference was proposed in this paper for the sea surface. Firstly, the method enhanced the details of the small targets by employing guided filtering to suppress the background clutter and noise in the sea surface image. Subsequently, the local average gray level difference of each point in the image was calculated to further distinguish the targets from other interference points. Finally, the threshold segmentation method was utilized to obtain the actual small targets on the sea surface. After conducting experiments on various sea surface scenes, the LSCRG, BSF, and ROC curve were computed for the proposed method and five other algorithms. Comparative analysis with BS, Top-hat, TDLMS, Max-median, and LCM demonstrates the superiority of the proposed method for infrared small target detection on the sea surface.

Robustness and precision evaluation of the form error of micro-structured surfaces using real coded genetic algorithm

To obtain the form error of micro-structured surfaces robustly and accurately, a form er- ror evaluation method was developed based on the real coded genetic algorithm （RCGA）. The meth- od employed the average squared distance as the matching criterion. The point to surface distance was achieved by use of iterative method and the modeling of RCGA for the surface matching was also presented in detail. Parameter selection for RCGA including the crossover rate and population size was discussed. Evaluation results of series simulated surfaces without form error show that this method can achieve the accuracy of root mean square deviation （ Sq ） less than 1 nm and surface pro- file error （ St ） less than 4 nm. Evaluation of the surfaces with different simulated errors illustrates that the proposed method can also robustly obtain the form error with nano-meter precision. The e- valuation of actual measured surfaces further indicates that the proposed method is capable of pre- cisely evaluating micro-structured surfaces.

Variable structure guidance law for attacking surface maneuver targets

The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.

Solution of scattering from rough surface with a 2D target above it by a hybrid method based on the reciprocity theorem and the forward-backward method

This paper proposes a hybrid method based on the forward-backward method （FBM） and the reciprocity theorem （RT） for evaluating the scattering field from dielectric rough surface with a 2D target above it. Here, the equivalent electric/magnetic current densities on the rough surface as well as the scattering field from it are numerically calculated by FBM, and the scattered field from the isolated target is obtained utilizing the method of moments （MOM）. Meanwhile, the rescattered coupling interactions between the target and the surface are evaluated employing the combination of FBM and RT. Our hybrid method is first validated by available MOM results. Then, the functional dependences of bistatic and monostatic scattering from the target above rough surface upon the target altitude, incident and scattering angles are numerically simulated and discussed. This study presents a numerical description for the scattering mechanism associated with rescattered coupling interactions between a target and an underlying randomly rough surface.

Theoretical analysis of the surface temperature regulation of an infrared false target subjected to periodical ambient conditions

Infrared false target is an important mean to induce the infrared-guided weapons,and the key issue is how to keep the surface temperature of the infrared false target to be the same as that of the object to be protected.One-dimensional heat transfer models of a metal plate and imitative material were established to explore the influences of the thermophysical properties of imitative material on the surface temperature difference（STD） between the metal plate and imitative material which were subjected to periodical ambient conditions.It is elucidated that the STD is determined by the imitative material’s dimensionless thickness（dim*,） and the thermal inertia(Pim).When dim* is above 1.0,the STD is invariable as long as Pim is a constant.And if the dimensionless thickness of metal plate（d,m*） is also larger than 1.0,the STD approaches to zero as long as Pimis the same as the thermal inertia of metal plate（Pm）.When dim* is between 0.08 and 1,the STD varies irregularly with Pim and dim*.However,if dm* is also in the range of 0.08-1,the STD approaches to zero on condition that Pim=Pm and dim*= dm*.If dim*,is below 0.08,the STD is unchanged when Pimdim* is a constant.And if dm* is also less than 0.08,the STD approaches to zero as long as Pimdim* = Pmdm*.Furthermore,an applicationoriented discussion indicates that the imitative material can be both light and thin via the application of the phase change material with a preset STD because of its high specific heat capacity during the phase transition process.

A hybrid method of solving near-zone composite eletromagnetic scattering from targets and underlying rough surface

For composite electromagnetic(EM)scattering from rough surface and target above it in near-field condition,modified shooting and bouncing ray(SBR)method and integral equation method(IEM),which are analytic methods combined with two-scale model for rough surface,are proposed to solve the composite near-field scattering problems.And the modified method is verified in effectiveness and accuracy by comparing the simulation results with measured results.Finally,the composite near-fielding scattering characteristics of a slanted plane and rough water surface below are obtained by using the proposed methods,and the dynamic tendency of composite scattering characteristics versus near-fielding distance is analyzed,which may have practical contribution to engineering programs in need of radar targets near-field characteristics under extra-low-altitude conditions.

Development of PLGA micro-and nanorods with high capacity of surface ligand conjugation for enhanced targeted delivery

Particle shape has been recognized as one of the key properties of nanoparticles in biomedical applications including targeted drug delivery.Targeting ability of shape-engineered particles depends largely on targeting ligands conjugated on the particle surface.However,poor capacity for surface ligand conjugation remains a problem in anisotropic nanoparticles made with biodegradable polymers such as PLGA.In this study,we prepared anisotropic PLGA nanoparticles with abundant conjugatable surface functional groups by a film stretching-based fabrication method with poly(ethylene-alt-maleic acid)(PEMA).Scanning electron microscopy images showed that microrods and nanorods were successfully fabricated by the PEMA-based film stretching method.The presence of surface carboxylic acid groups was confirmed by confocal microscopy and zeta potential measurements.Using the improved film-stretching method,the amount of protein conjugated to the surface of nanorods was increased three-fold.Transferrin-conjugated,nanorods fabricated by the improved method exhibited higher binding and internalization than unmodified counterparts.Therefore,the PEMA-based film-stretching system presented in this study would be a promising fabrication method for non-spherical biodegradable polymeric micro-and nanoparticles with high capacity of surface modifications for enhanced targeted delivery.

Multiple extended target tracking algorithm based on Gaussian surface matrix

In this paper, we consider the problem of irregular shapes tracking for multiple extended targets by introducing the Gaussian surface matrix（GSM） into the framework of the random finite set（RFS） theory. The Gaussian surface function is constructed first by the measurements, and it is used to define the GSM via a mapping function. We then integrate the GSM with the probability hypothesis density（PHD） filter, the Bayesian recursion formulas of GSM-PHD are derived and the Gaussian mixture implementation is employed to obtain the closed-form solutions. Moreover, the estimated shapes are designed to guide the measurement set sub-partition, which can cope with the problem of the spatially close target tracking. Simulation results show that the proposed algorithm can effectively estimate irregular target shapes and exhibit good robustness in cross extended target tracking.

Narrowing the focus:Therapeutic cell surface targets for refractory triple-negative breast cancer

Triple-negative breast cancer(TNBC)is defined as a type of breast cancer with lack of expression of estrogen receptor,progesterone receptor and human epidermal growth factor 2 protein.In comparison to other types of breast cancer,TNBC characterizes for its aggressive behavior,more prone to early recurrence and a disease with poor response to molecular target therapy.Although TNBC is identified in only 25%-30%of American breast cancer cases annually,these tumors continue to be a therapeutic challenge for clinicians for several reasons:Tumor heterogeneity,limited and toxic systemic therapy options,and often resistance to current standard therapy,characterized by progressive disease on treatment,residual tumor after cytotoxic chemotherapy,and early recurrence after complete surgical excision.Cell-surface targeted therapies have been successful for breast cancer in general,however there are currently no approved cell-surface targeted therapies specifically indicated for TNBC.Recently,several cell-surface targets have been identified as candidates for treatment of TNBC and associated targeted therapies are in development.The purpose of this work is to review the current clinical challenges posed by TNBC,the therapeutic approaches currently in use,and provide an overview of developing cell surface targeting approaches to improve outcomes for treatment resistant TNBC.

Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack

This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle （UCAV） performing an air-to-surface multi-target attack （A/SMTA） mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem （TSP）, called the dynamic-constrained TSP with neighborhoods （DCT- SPN）. Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable proba- bilistic roadmap （PRM） is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmet- ric TSP （ATSP）. Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes.

Effect of inner-surface roughness of conical target on laser absorption and fast electron generation

The effect of inner-surface roughness of conical targets on the generation of fast electrons in the laser-cone interaction is investigated using particle-in-cell simulation. It is found that the surface roughness can reduce the fast-electron number （in the energy range E 〉 1 MeV） and energy, as compared to that from a cone with smooth inner wall. A scaling law for the laser reflectivity based on the vacuum-heating model is derived. Both theory and simulation indicate that laser reflection increases with the height-to-width ratio of the periodic inner surface structure and approaches that of a smooth cone as this ratio becomes zero.

Bidirectional reflectance distribution function modeling of one-dimensional rough surface in the microwave band

An efficiently iterative analytical-numerical method is proposed for two-dimensional （2D） electromagnetic scattering from a perfectly electric conducting （PEC） target buried under a dielectric rough surface. The basic idea is to employ the Kirchhoff approximation （KA） to accelerate the boundary integral method （BIM）. Below the rough surface, an iterative system is designed between the rough surface and the target. The KA is used to simulate the initial field on the rough surface based on the Fresnel theory, while the target is analyzed by the boundary integral method to obtain a precise result. The fields between the rough surface and the target can be linked by the boundary integral equations below the rough surface. The technique presented here is highly efficient in terms of computational memory, time, and versatility. Numerical simulations of two typical models are carried out to validate the method.

Microscopic degradation mechanism of polyimide film caused by surface discharge under bipolar continuous square impulse voltage

Polyimide （PI） film is an important type of insulating material used in inverter-fed motors. Partial discharge （PD） under a sequence of high-frequency square impulses is one of the key factors that lead to premature failures in insulation systems of inverter-fed motors. In order to explore the damage mechanism of PI film caused by discharge, an aging system of surface discharge under bipolar continuous square impulse voltage （BCSIV） is designed based on the ASTM 2275 01 standard and the electrical aging tests of PI film samples are performed above the partial discharge inception voltage （PDIV）. The chemical bonds of PI polymer chains are analyzed through Fourier transform infrared spectroscopy （FTIR） and the dielectric properties of unaged and aged PI samples are investigated by LCR testers HIOKI 3532-50. Finally, the micro-morphology and micro-structure changes of PI film samples are observed through scanning electron microscopy （SEM）. The results show that the physical and chemical effects of discharge cut off the chemical bonds of PI polymer chains. The fractures of ether bond （C-O-C） and imide ring （C-N-C） on the backbone of a PI polymer chain leads to the decrease of molecular weight, which results in the degradation of PI polymers and the generation of new chemical groups and materials, like carboxylic acid, ketone, aldehydes, etc. The variation of microscopic structure of PI polymers can change the orientation ability of polarizable units when the samples are under an AC electric field, which would cause the dielectric constant e to increase and dielectric loss tan ~ to decrease. The SEM images show that the degradation path of PI film is initiated from the surface and then gradually extends to the interior with continuous aging. The injection charge could result in the PI macromolecular chain degradation and increase the trap density in the PI oolvmer bulk.

Surface Temperature Changes Projected by FGOALS Models under Low Warming Scenarios in CMIP5 and CMIP6

To meet the low warming targets proposed in the 2015 Paris Agreement,substantial reduction in carbon emissions is needed in the future.It is important to know how surface climates respond under low warming targets.The present study investigates the surface temperature changes under the low-forcing scenario of Representative Concentration Pathways(RCP2.6)and its updated version(Shared Socioeconomic Pathways,SSP1-2.6)by the Flexible Global Ocean-Atmosphere-Land System(FGOALS)models participating in phases 5 and 6 of the Coupled Model Intercomparison Project(CMIP5 and CMIP6,respectively).In both scenarios,radiative forcing(RF)first increases to a peak of 3 W m^−2 around 2045 and then decreases to 2.6 W m^−2 by 2100.Global mean surface air temperature rises in all FGOALS models when RF increases(RF increasing stage)and declines or holds nearly constant when RF decreases(RF decreasing stage).The surface temperature change is distinct in its sign and magnitude between the RF increasing and decreasing stages over the land,Arctic,North Atlantic subpolar region,and Southern Ocean.Besides,the regional surface temperature change pattern displays pronounced model-to-model spread during both the RF increasing and decreasing stages,mainly due to large intermodel differences in climatological surface temperature,ice-albedo feedback,natural variability,and Atlantic Meridional Overturning Circulation change.The pattern of tropical precipitation change is generally anchored by the spatial variations of relative surface temperature change(deviations from the tropical mean value)in the FGOALS models.Moreover,the projected changes in the updated FGOALS models are closer to the multi-model ensemble mean results than their predecessors,suggesting that there are noticeable improvements in the future projections of FGOALS models from CMIP5 to CMIP6.

Research on Surface Peeling in Cu-Fe-P Alloy

Surface peeling of Cu-Fe-P lead frame alloy was analyzed using plane strain model and elastoplastic finite element method. Based on the characterization of microstructure at surface peeling in finish rolled Cu-Fe-P lead frame alloy, the stress and strain distributions of the interface between Cu matrix and Fe particle are studied. Results indicate that the equivalent strain mismatch 6.9% between Cu matrix and Fe particle and the intense stress concentration at the interface have influence on surface peeling generation. The crack is prone to the electrical conductivity decreasing of Cu-Fe-P alloy and surface peeling on finish rolling.

MUTS-Based Cooperative Target Stalking for A Multi-USV System

This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle(multi-USV)system.Based on the multi-agent deep deterministic policy gradient(MADDPG)algorithm,a multi-USV target stalking(MUTS)algorithm is proposed.Firstly,a V-type probabilistic data extraction method is proposed for the first time to overcome shortcomings of the MADDPG algorithm.The advantages of the proposed method are twofold:1)it can reduce the amount of data and shorten training time;2)it can filter out more important data in the experience buffer for training.Secondly,in order to avoid the collisions of USVs during the stalking process,an action constraint method called Safe DDPG is introduced.Finally,the MUTS algorithm and some existing algorithms are compared in cooperative target stalking scenarios.In order to demonstrate the effectiveness of the proposed MUTS algorithm in stalking tasks,mission operating scenarios and reward functions are well designed in this paper.The proposed MUTS algorithm can help the multi-USV system avoid internal collisions during the mission execution.Moreover,compared with some existing algorithms,the newly proposed one can provide a higher convergence speed and a narrower convergence domain.

氦气地质理论认识、资源勘查评价与全产业链一体化评价关键技术

鉴于我国氦气产业链理论技术需求,针对国内外尚无系统的氦气地质理论认识,缺乏针对性的氦气资源评价方法、参数取值标准,缺乏氦气含量综合准确检测、有利富集区优选方法,无成本指标优化体系及全产业链一体化评价方法等卡点和难点,本文运用地质、地球化学、重磁电震、投资经济等多学科方法及实验技术,集中力量攻克氦气成藏机理、资源评价及资产评价的关键技术瓶颈。研发形成1项地质理论认识和3项关键技术:基于典型富氦气藏解剖、地下流体中“氦-气-水”相平衡及相-势耦合分析,研究提出氦气“水溶相、气容相、游离相”3种主要赋存状态、“集流、渗流、扩散”3种运移机理、“近氦源、邻断裂、低压区、高部位”4项分布富集控制因素,初步建立了基于“优质氦源、高效输导、适宜载体”的氦气“生-运-聚”地质理论认识。针对国内氦气含量检测技术参差不齐、部分准确度差、与国外数据差别大、无针对性的氦气资源评价方法等系列难题,以氦气源及氦气含量为核心,研发氦气含量综合准确检测技术,构建4类10种氦气资源评价方法,解决了氦气资源分级分类评价的技术瓶颈。针对基底氦源分布、岩性识别、通源断裂刻画及含氦储层评价难题,创建了归一化重磁下延方案,研发了基于深度学习的多尺度断裂智能识别技术和不同氦气含量下的气藏声学性质模拟方法,为氦源岩分布预测、通源断裂刻画、含氦储层测井解释评价及预测奠定了基础。通过建立多元控氦的富氦区带与目标优选技术,解决了富氦区带与目标优选难题。针对国内贫氦实际情况,以提氦装置投资和操作成本最小化为目标,采用响应面法建立优化目标与各主要工艺参数的非线性回归模型,建立了氦气全产业链一体化评价技术,初步解决了天然气低成本提氦工艺流程优化的技术需求。研究成果为我国长期、安全、规模利用氦气资源资产提供了有效支撑。