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.

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.

Surface Topography of Fine-grained ZrO_2 Ceramic by Two-dimensional Ultrasonic Vibration Grinding

The surface quality of fine-grained ZrO2 engineering ceramic were researched using 270# diamond wheel both with and without work-piece two-dimension ultrasonic vibration grinding（WTDUVG）. By AFM images, the surface topography and the micro structure of the two-dimensional ultrasonic vibration grinding ceramics were especially analyzed. The experimental results indicate that the surface roughness is related to grinding vibration mode and the material removal mechanism. Surface quality of WTDUVG is superior to that of conventional grinding, and it is easy for two-dimensional ultrasonic vibration grinding that material removal mechanism is ductile mode grinding.

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.

Two-dimensional silicon nanomaterials for optoelectronics

Silicon nanomaterials have been of immense interest in the last few decades due to their remarkable optoelectronic responses,elemental abundance,and higher biocompatibility.Two-dimensional silicon is one of the new allotropes of silicon and has many compelling properties such as quantum-confined photoluminescence,high charge carrier mobilities,anisotropic electronic and magnetic response,and non-linear optical properties.This review summarizes the recent advances in the synthesis of two-dimensional silicon nanomaterials with a range of structures(silicene,silicane,and multilayered silicon),surface ligand engineering,and corresponding optoelectronic applications.

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.

Sub-nano Layers of Li, Be, and Al on the Si(100) Surface: Electronic Structure and Silicide Formation

Within the framework of the density functional theory and the pseudopotential method,the electronic structure calculations of the“metal-Si(100)”systems with Li,Be and Al as metal coverings of one to four monolayers(ML)thickness,were carried out.Calculations showed that band gaps of 1.02 eV,0.98 eV and 0.5 eV,respectively,appear in the densities of electronic states when the thickness of Li,Be and Al coverings is one ML.These gaps disappear with increasing thickness of the metal layers:first in the Li-Si system(for two ML),then in the Al-Si system(for three ML)and then in the Be-Si system(for four ML).This behavior of the band gap can be explained by the passivation of the substrate surface states and the peculiarities of the electronic structure of the adsorbed metals.In common the results can be interpreted as describing the possibility of the formation of a two-dimensional silicide with semiconducting properties in Li-Si(100),Be-Si(100)and Al-Si(100)systems.

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.

Calibration Algorithm of Surface Charge Density on Insulating Materials Measured by Pockels Technique

Surface charges greatly affect the discharge/flashover development process across an insulator. The relationship between surface charge distribution on insulating materials and measurement data based on Pockels technique is discussed, and an improved algorithm is built to calculate the real surface charge density from original data. In this algorithm, two-dimensional Fourier transform technique and Wiener filter are employed to reduce the amount of numerical calculation and improve the stability of computation, Moreover, this algorithm considers not only the influence of sample＇s thickness and permittivity, but also the impact of charges at different positions. The achievement of this calibration algorithm is demonstrated in details. Compared with traditional algorithms, the improved one supplies a better solution in the calibration of surface charge distribution on different samples with different thickness.

Performance assessment of two-dimensional hydraulic models for generation of flood inundation maps in mountain river basins

Hydraulic models for the generation of flood inundation maps are not commonly applied in mountain river basins because of the difficulty in modeling the hydraulic behavior and the complex topography. This paper presents a comparative analysis of the performance of four twodimensional hydraulic models (HEC-RAS 2D, Iber 2D, Flood Modeller 2D, and PCSWMM 2D) with respect to the generation of flood inundation maps. The study area covers a 5-km reach of the Santa B-arbara River located in the Ecuadorian Andes, at 2330 masl, in Gualaceo. The model's performance was evaluated based on the water surface elevation and flood extent, in terms of the mean absolute difference and measure of fit. The analysis revealed that, for a given case, Iber 2D has the best performance in simulating the water level and inundation for flood events with 20- and 50-year return periods, respectively, followed by Flood Modeller 2D, HEC-RAS 2D, and PCSWMM 2D in terms of their performance. Grid resolution, the way in which hydraulic structures are mimicked, the model code, and the default value of the parameters are considered the main sources of prediction uncertainty.

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.

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.

Highly stable two-dimensional graphene oxide:Electronic properties of its periodic structure and optical properties of its nanostructures

According to first principle simulations, we theoretically predict a type of stable single-layer graphene oxide（C_2O）.Using density functional theory（DFT）, C_2O is found to be a direct gap semiconductor. In addition, we obtain the absorption spectra of the periodic structure of C_2O, which show optical anisotropy. To study the optical properties of C_2O nanostructures, time-dependent density functional theory（TDDFT） is used. The C_2O nanostructure has a strong absorption near 7 eV when the incident light polarizes along the armchair-edge. Besides, we find that the optical properties can be controlled by the edge configuration and the size of the C_2O nanostructure. With the elongation strain increasing, the range of light absorption becomes wider and there is a red shift of absorption spectrum.