基于轻量化PointNet网络的林果园喷雾作业靶标实时识别方法

为了进一步提高喷雾机器人靶标检测的精准性、实时性和应用部署的实用性,该研究提出一种基于轻量化PointNet网络的林果园喷雾作业靶标实时识别方法。首先通过区域提取降采样、地面分割和改进DBSCAN聚类等点云预处理方法提取原始点云中的靶标;然后通过移动最小二乘上采样将靶标点云转化为满足点云识别网络输入要求的点云数据;最终通过在PointNet网络中引入残差模块和改进循环剪枝算法轻量化PointNet网络,完成林果树靶标的实时识别。试验结果表明,在ModelNet40数据集上,轻量化PointNet网络可达89.7%的准确率;在实际苗圃环境的试验中,该研究方法对靶标的识别准确率可达92.49%,同时误识率与拒识率分别为13.4%和6.47%,相较PointNet网络识别准确率提升了4.38个百分点,误识率和拒识率分别降低了7.2和4.07个百分点;轻量化PointNet网络识别准确率仅比PointNet++网络低1.14个百分点,误识率和拒识率分别高了0.9和1.12个百分点。但是轻量化PointNet网络的模型参数量较PointNet网络和PointNet++网络的模型参数量显著减少,仅为PointNet网络的11.5%,PointNet++网络的27.02%;运算量相较PointNet网络、PointNet++网络分别减少13.3和76.79个百分点。该研究提出的轻量化PointNet网络具有较高的实时性、精确性和鲁棒性,能够满足林果园喷雾作业的靶标识别需求,可为林果园喷雾作业靶标实时识别提供参考。

Science Letters:Multi-frequency proportional-resonant (MFPR) current controller for PWM VSC under unbalanced supply conditions

This letter presents a multi-frequency proportional-resonant （MFPR） current controller developed for PWM voltage source converter （VSC） under the unbalanced supply voltage conditions. The delta operator is used in place of the shift operator for the implementation of MFPR by using a low-cost fixed-point DSE The experimental results with an alternative control strategy validated the feasibility of the proposed MFPR current controller for the PWM VSC during voltage unbalance.

Target detection for low angle radar based on multi-frequency order-statistics

For radar targets flying at low altitude, multiple pathways produce fade or enhancement relative to the level that would be expected in a free-space environment. In this paper, a new detec- tion method based on a wide-ranging multi-frequency radar for low angle targets is proposed. Sequential transmitting multiple pulses with different frequencies are first applied to decorrelate the cohe- rence of the direct and reflected echoes. After receiving all echoes, the multi-frequency samples are arranged in a sort descending ac- cording to the amplitude. Some high amplitude echoes in the same range cell are accumulated to improve the signal-to-noise ratio and the optimal number of high amplitude echoes is analyzed and given by experiments. Finally, simulation results are presented to verify the effectiveness of the method.

Research on nonlinear characteristics of strata collapse because of the multi-frequency mining

Based on the complexity of mine stratum and coupling of the multi-frequency for the damage of mine stratum,using the method of on-site inspection and mathematical statistics,the regulation and nonlinear characteristics of strata collapse in mine stratum's multi-frequency mining were put forward and systemically studied.Study result shows that the influence of multi-frequency mining in mine stratum has the feature of multi-frequency incontinuity,multi-characteristic and multi-type nonlinear collapse,strata collapse activa- tion turned worse,presenting an accumulation effect of multi-frequency mining for the strata damage.With the example of multi-frequency mining in the mine,the real characte- ristics of strata collapse by multi-frequency mining and nonlinear characteristics of accu- mulative response damage were analyzed.Research achievements about the surface re- cover and controlling of strata collapse by the multi-frequency mining have instruction meaning.

CHAOS IN THE SOFTENING DUFFING SYSTEM UNDER MULTI-FREQUENCY PERIODIC FORCES

The chaotic dynamics of the softening-spring Duffing system with multi-frequency external periodic forces is studied. It is found that the mechanism for chaos is the transverse heteroclinic tori. The Poincaré map, the stable and the unstable manifolds of the system under two incommensurate periodic forces were set up on a two-dimensional torus. Utilizing a global perturbation technique of Melnikov the criterion for the transverse interaction of the stable and the unstable manifolds was given. The system under more but finite incommensurate periodic forces was also studied. The (Melnikov's) global perturbation technique was therefore generalized to higher dimensional systems. The region in parameter space where chaotic dynamics may occur was given. It was also demonstrated that increasing the number of forcing frequencies will increase the area in parameter space where chaotic behavior can occur.

HARMONIC, SUBHARMONIC, SUPERHARMONIC, SIMULTANEOUS SUB/SUPER HARMONIC AND COMBINATION RESONANCES OF SELF-EXCITED TWO COUPLED SECOND ORDER SYSTEMS TO MULTI-FREQUENCY EXCITATION

Harmonic, subharmonic, superharmonic, simultaneous sub/super harmonic, and combination resonances of the additive type of self-excited two coupled-second order systems to multi-frequency excitation are investigated. The theoretical results are obtained by the multiple-scales method. The steady state amplitudes for each resonance are plotted, showing the influence of the different parameters. Analysis for each figure is given. Approximate solution corresponding to each type of resonance is determined. Stability analyses are carried out for each case.

Bubble acoustical scattering cross section under multi-frequency acoustic excitation

The acoustical scattering cross section is usually employed to evaluate the scattering ability of the bubbles when they are excited by the incident acoustic waves. This parameter is strongly related to many important applications of performance prediction for search sonar or underwater telemetry, acoustical oceanography, acoustic cavitation, volcanology, and medical and industrial ultrasound. In the present paper, both the analytical and numerical analysis results of the acoustical scattering cross section of a single bubble under multi-frequency excitation are obtained. The nonlinear characteristics（e.g.,harmonics, subharmonics, and ultraharmonics） of the scattering cross section curve under multi-frequency excitation are investigated compared with single-frequency excitation. The influence of several paramount parameters（e.g., bubble equilibrium radius, acoustic pressure amplitude, and acoustic frequencies） in the multi-frequency system on the predictions of scattering cross section is discussed. It is shown that the combination resonances become significant in the multi-frequency system when the acoustic power is big enough, and the acoustical scattering cross section is promoted significantly within a much broader range of bubble sizes and acoustic frequencies due to the generation of more resonances.

Positioning Precision Analysis of GNSS Multi-frequency Carrier Phase Combinations

GPS positioning precision is affected by various error sources, and traditional combinations of GPS carrier phase observations have their own limitations such as the wide-lane, the narrow-lane and the ionospheric-free combinations. To obtain the optimal positioning precision, a new linear combination method is addressed through the variance-covariance （VCV） of the GPS multi-frequency carrier phase combination equations, and the impact of the positioning precision is analyzed with the changing of the observation errors deduced by the law of error propagation. For the high precision positioning with only one carrier phase combination, the optimal combination method is deduced and further validated by an example of a baseline resolution with 60 km length. The result indicates that this method is the simplest, and the positioning precision is the best. Therefore, it is useful for long baseline quick positioning for different precision requirements in various distances.

Delamination Damage Detection in Laminated Composite by LDR-Based Multi-frequency Method

Local defected resonance(LDR)is a recently-developed non-destructive testing method,which identifies damage by detecting the vibrational response of the structural surface under the wideband ultrasonic excitation. The concept of LDR is studied and applied for damage imaging of delamination in composite laminates. Aiming at the problem of poor anti-noise ability and inaccurate damage identification in traditional detection process,an LDR-based multi-frequency method is proposed. Experimental results show that the proposed method can realize the localization and imaging of delamination damage in composite materials.

DOA estimation based on multi-frequency joint sparse Bayesian learning for passive radar

This paper considers multi-frequency passive radar and develops a multi-frequency joint direction of arrival(DOA)estimation algorithm to improve estimation accuracy and resolution.The developed algorithm exploits the sparsity of targets in the spatial domain.Specifically,we first extract the required frequency channel data and acquire the snapshot data through a series of preprocessing such as clutter suppression,coherent integration,beamforming,and constant false alarm rate(CFAR)detection.Then,based on the framework of sparse Bayesian learning,the target’s DOA is estimated by jointly extracting the multi-frequency data via evidence maximization.Simulation results show that the developed algorithm has better estimation accuracy and resolution than other existing multi-frequency DOA estimation algorithms,especially under the scenarios of low signalto-noise ratio(SNR)and small snapshots.Furthermore,the effectiveness is verified by the field experimental data of a multi-frequency FM-based passive radar.

Test particle simulations of resonant interactions between energetic electrons and discrete, multi-frequency artificial whistler waves in the plasmasphere

Modulated high frequency （HF） heating of the ionosphere provides a feasible means of artificially generating ex- tremely low frequency （ELF）/very low frequency （VLF） whistler waves, which can leak into the inner magnetosphere and contribute to resonant interactions with high energy electrons. Combining the ray tracing method and test particle simulations, we evaluate the effects of energetic electron resonant scattering driven by the discrete, multi-frequency arti- ficially generated ELF/VLF waves. The simulation results indicate a stochastic behavior of electrons and a linear profile of pitch angle and kinetic energy variations averaged over all test electrons. These features are similar to those associated with single-frequency waves. The computed local diffusion coefficients show that, although the momentum diffusion of relativistic electrons due to artificial ELF/VLF whistlers with a nominal amplitude of ~ 1 pT is minor, the pitch angle scattering can be notably efficient at low pitch angles near the loss cone, which supports the feasibility of artificial triggering of multi-frequency ELF/VLF whistler waves for the removal of high energy electrons from the magnetosphere. We also investigate the dependences of diffusion coefficients on the frequency interval （△f） of the discrete, multi-frequency waves. We find that there is a threshold value of Af for which the net diffusion coefficient of multi-frequency whistlers is inversely proportional to △f （proportional to the frequency components Nw） when △f is below the threshold value but it remains unchanged with increasing Af when △f is larger than the threshold value. This is explained as being due to the fact that the resonant scattering effect of broadband waves is the sum of the effects of each frequency in the ＇effective frequency band＇. Our results suggest that the modulation frequency of HF heating of the ionosphere can be appropriately selected with reasonable frequency intervals so that better performance of controlled precipitation of high energy electrons in the plasmasphere by artificial ELF/VLF whistler waves can be achieved.

基于PointNet++的邻域特征增强点云语义分割方法

随着智能驾驶、机器人导航等以点云为基础的应用蓬勃发展,点云语义分割逐渐成为研究热点。然而,现有的点云语义分割方法存在局部特征提取不充分、特征融合不完整的缺陷。针对这些不足,提出了对应的解决方案。对于局部特征提取不充分的现象,通过嵌入邻域点的坐标、方向、距离等相关信息去关联邻域点的显式特征。对于特征融合不完整的现象,提出了一种最大池化与自注意力池化相结合的混合池化方法。网络架构基于PointNet++,并结合提出的局部特征提取和融合方法,在S3DIS数据集上的实验结果表明,与基线方法PointNet++相比,各评价指标都有不同程度的提高,证实了新方法的有效性和优越性。

On Multi-Frequency Channel Interference Alignment of 3 Channels and 4 Users

This paper explores the multi-frequency independent channel interference alignment(MFC-IA) system of 3 channels and4 users,and single data stream transmit,i.e.(3×3,1)~4 system.We derive the analytic solution for(3×3,1)~4 MFC-IA system.Based on the analytic solution,an optimization problem is proposed aim at the optimal IA solution.Then based on such a math model,we propose a simulated annealing(SA) algorithm to search optimal IA solution.The simulation results show that the simulated annealing IA algorithm has a better sum rate performance than iterative maximize signal to interference plus noise ratio(Max-SINR) algorithm.This result can be extended to single data stream multi-antenna IA system with 3 antennas and4 users.

基于Point Transformer v2的点云枝叶分离方法研究

准确高效的点云枝叶分离对精确计算森林树木的垂直参数至关重要。然而,当前的研究方法计算成本高,且依赖先验知识导致泛化能力不足。针对以上问题,文章提出利用基于点特征的Transformer网络进行自动化的森林场景三维点云的枝叶分离研究。该方法使用Point Transformer v2网络,首先利用网格编码模块提取可学习的局部结构关系,保留点云的几何拓扑结构;其次使用分组注意力实现多通道联合学习,降低特征的冗余度,提高计算的效率;最后构建了基于点的Transformer网络实现高精度森林树木三维点云语义分割,降低了对于先验知识的需求。使用地基激光扫描仪获取的加拿大和芬兰7个不同树种样地的三维点云数据,进行枝叶分离实验和精度评价。实验结果表明,网络整体精度(OA)为94.42%,mIoU为78.89%,能够适应不同树种、不同点云密度的森林场景的枝叶分离。

Vibration energy harvesting for low frequency using auto-tuning parametric rolling pendulum under exogenous multi-frequency excitations

An electromagnetic parametrically excited rolling pendulum energy harvester with self-tuning mechanisms subject to multi-frequency excitation is proposed and investigated in this paper.The system consists of two uncoupled rolling pendulum.The resonance frequency of each the rolling pendulum can be automatically tuned by adjusting its geometric parameters to access parametric resonance.This harvester can be used to harvest the energy at low frequency.A prototype is developed and evaluated.Its mathematical model is derived.A cam with rolling follower mechanism is employed to generate multi-frequency excitation.An experimental study is conducted to validate the proposed concept.The experimental results are confirmed by the numerical results.The harvester is successfully tuned when the angular velocity of the cam is changed from 1.149 to 1.236 Hz.

BIFURCATION IN A NONLINEAR DUFFING SYSTEM WITHMULTI-FREQUENCY EXTERNAL PERIODIC FORCES

By introducing nonlinear frequency, using Floquet theory and referring to the characteristics of the solution when it passes through the transition boundaries, all kinds of bifurcation modes and their transition boundaries of Duffing equation with two periodic excitations as well as the possible ways to chaos are studied in this paper.

Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://github.com/yahuiliu99/PointC onT.

Optimization of ultrasonic elastography by coded excitation and transmit-side multi-frequency compounding

To improve the quality of ultrasonic elastography, by taking the advantage of code excitation and frequency compounding, a transmitting-side multi-frequency with coded excitation for elastography （TFCCE） was proposed. TFCCE adopts the chirp signal excitation scheme and strikes a balance in the selection of sub-signal bandwidth, the bandwidth overlap and the number of sub-strain image based on theoretical derivation, so as to further improve the quality of elastic image. Experiments have proved that, compared with the other optimizing methods, the elastographyic signal-to-noise ratio（Re-SN） and contrast-to-noise ratio（Re-CN） are improved significantly with different echo signal-to-noise ratios （ReSN） and attenuation coefficients. When ReSN is 50 dB, compared with short pulse, Rc-SN and Re-CN obtained by TFCCE increase by 53% and 143%, respectively. Moreover, in a deeper investigation （85-95 mm）, the image has lower strain noise and clear details. When the attenuation coefficient is in the range of 0-1 dB/（cm.MHz）, Re-SN and Re-CN obtained by TFCCE can be kept in moderate ranges of 5〈Re-SN〈6.8 and 11.4〈Re-CN〈15.2, respectively. In particular, for higher tissue attenuation, the basic image quality cannot be ensured with short pulse excitation, while mediocre quality strain figure can be obtained by TFCCE. Therefore, the TFCCE technology can effectively improve the elastography quality and can be applied to ultrasonic clinical trials.

Creation of multi-frequency terahertz waves by optimized cascaded difference frequency generation

A new scheme which generates multi-frequency terahertz(THz)waves from planar waveguide by the optimized cascaded difference frequency generation(OCDFG)is proposed.A THz wave with frequencyω_(T1)is generated by the OCDFG with two infrared pump waves,and simultaneously a series of cascaded optical waves with a frequency intervalω_(T1)is generated.The THz wave with a frequency of M-timesω_(T1)is generated by mixing the m-th-order and the(m+M)-th-order cascaded optical wave.The phase mismatch distributions of cascaded difference frequency generation(CDFG)are modulated by changing the thickness of planar waveguide step by step,thereby satisfying the phase-matching condition from first-order to high-order cascaded Stokes process step by step.As a result,the intensity of THz wave can be enhanced and modulated by controlling the cascading order of OCDFG.

Material point method simulation of hydro-mechanical behaviour in twophase porous geomaterials: A state-of-the-art review

The material point method(MPM)has been gaining increasing popularity as an appropriate approach to the solution of coupled hydro-mechanical problems involving large deformation.In this paper,we survey the current state-of-the-art in the MPM simulation of hydro-mechanical behaviour in two-phase porous geomaterials.The review covers the recent advances and developments in the MPM and their extensions to capture the coupled hydro-mechanical problems involving large deformations.The focus of this review is aiming at providing a clear picture of what has or has not been developed or implemented for simulating two-phase coupled large deformation problems,which will provide some direct reference for both practitioners and researchers.