Search Results (24)

In infrared detectors, the readout circuits usually cause horizontal or vertical streak noise, whereas the infrared focal plane arrays experience triangular nonuniform fixed-pattern noise. In addition, imaging devices suffer from optically relevant fixed-pattern noise owing to the temperature. When the infrared camera is in orbit, it is affected by the photon effect, temperature change, and time drift. This makes the nonuniformity correction coefficients pertaining to the ground no longer applicable, resulting in the degradation of the nonuniformity correction effect. The existing methods are not fully applicable to triangular fixed-pattern noise or the fixed-pattern noise caused by detector optics. To address this situation, this paper proposes a nonuniformity correction method, namely infrared image sequences based on the optimization of $L_{2,1}$ group sparsity in the spatiotemporal domain. We established a nonuniformity correction model of differential operators in the spatiotemporal domain for infrared image sequences by applying the time-domain differential operator constraints to the images to denoise the image. This enables the adaptive correction of the nonuniformity of the above types of noise. We demonstrate that the proposed method is effective for triangular nonuniform and optically induced fixed-pattern noises. The proposed method was extensively evaluated using publicly available datasets and datasets containing image sequences of different scenes captured by a high-resolution infrared camera of the Qilu-2 satellite. The method has high robustness and good processing results with effective ghost suppression and significant reduction of nonuniform noise. Full article

Buried pipelines represent critical lifeline infrastructure whose seismic performance is governed by complex soil–structure interaction mechanisms. In this study, a process-based numerical framework is developed to evaluate the pseudo-static seismic response of buried steel pipelines installed within a trench. A comprehensive parametric analysis is conducted using the finite-element software Rocscience RS2 (version 11.027) to examine the influence of burial depth, pipeline diameter, slope angle, groundwater level, soil type, and permanent ground deformation. The seismic loading was represented using a pseudo-static horizontal acceleration, which approximates permanent ground deformation rather than full dynamic wave propagation. Therefore, the results represent simplified lateral seismic demand and not the complete dynamic soil–structure interaction response. To verify the reliability of the 2D plane–strain formulation, a representative configuration is re-simulated using the fully three-dimensional platform Rocscience RS3. The comparison demonstrates excellent agreement in shear forces, horizontal displacements, and cross-sectional distortion patterns, confirming that RS2 accurately reproduces the dominant load-transfer and deformation mechanisms observed in three-dimensional (3D) models. Results show that deeper burial and stiffer soils increase shear demand, while higher groundwater levels and larger permanent ground deformation intensify lateral displacement and cross-sectional distortion. The combined 2D–3D evaluation establishes a validated computational process for predicting the behavior of buried pipelines under a pseudo-static lateral load and provides a robust basis for engineering design and hazard mitigation. The findings contribute to improving the seismic resilience of lifeline infrastructure and offer a validated framework for future numerical investigations of soil–pipeline interaction. Full article

Point cloud segmentation is necessary for obtaining highly precise morphological traits in plant phenotyping. Although a huge development has occurred in point cloud segmentation, the segmentation of point clouds from complex plant leaves still remains challenging. Rapeseed leaves are critical in cultivation and breeding, yet traditional two-dimensional imaging is susceptible to reduced segmentation accuracy due to occlusions between plants. The current study proposes the use of binocular stereo-vision technology to obtain three-dimensional (3D) point clouds of rapeseed leaves at the seedling and bolting stages. The point clouds were colorized based on elevation values in order to better process the 3D point cloud data and extract rapeseed phenotypic parameters. Denoising methods were selected based on the source and classification of point cloud noise. However, for ground point clouds, we combined plane fitting with pass-through filtering for denoising, while statistical filtering was used for denoising outliers generated during scanning. We found that, during the seedling stage of rapeseed, a region-growing segmentation method was helpful in finding suitable parameter thresholds for leaf segmentation, and the Locally Convex Connected Patches (LCCP) clustering method was used for leaf segmentation at the bolting stage. Furthermore, the study results show that combining plane fitting with pass-through filtering effectively removes the ground point cloud noise, while statistical filtering successfully denoises outlier noise points generated during scanning. Finally, using the region-growing algorithm during the seedling stage with a normal angle threshold set at 5.0/180.0* M_PI and a curvature threshold set at 1.5 helps to avoid the under-segmentation and over-segmentation issues, achieving complete segmentation of rapeseed seedling leaves, while the LCCP clustering method fully segments rapeseed leaves at the bolting stage. The proposed method provides insights to improve the accuracy of subsequent point cloud phenotypic parameter extraction, such as rapeseed leaf area, and is beneficial for the 3D reconstruction of rapeseed. Full article

With the increase in port throughput and the development of the trend of large-scale ships, selecting applicable anchor positions for ships and ensuring the rational and comprehensive utilization of anchorage areas have become a key issue in utilizing the rate of anchorage resources, ensuring the safety of ships anchoring operations and promoting the development of the shipping industry. Existing anchor position selection and detection algorithm studies are limited to a two-dimensional plane for ship anchor position selection, with few studies considering intelligent detection algorithms for safe ship anchoring water depths based on three-dimensional space, considering conditions such as wind and waves. By considering water depth conditions and the objectives of anchorage safety issues, this study proposes an intelligent detection method for ship anchor detection to find the ship’s ideal anchor location in the anchorages by applying the Monte Carlo algorithm. In the processing step, in combination with the Monte Carlo random plane anchor position detection algorithm and Monte Carlo random sampling water depth detection method, the anchor position circle radius model, safe spacing model, anchoring area detection model and safe water depth model are used for examining the anchorage area for awaiting the ship in three-dimensions. To verify the accuracy of the proposed model, based on the scale of common ship types and considering the most conservative parameters, a series of simulation experiments are conducted to check whether the water depth meets the requirements and fully ensure the safety of the experimental results. The research results indicate that the detection almost cover the whole anchorage area and obtain safe water depth restrictions. This method helps to improve the efficiency of ship anchoring and makes actual anchoring operations safer. Under the premise of ensuring sufficient safe spacing between ships, the anchorage ground can accommodate more ships and simulate multi-type ship anchor position detection operations concerning various ship-type parameters to further ensure the safety of ship anchoring. Full article

This work demystifies the role that packaging boundary conditions (both physically and electromagnetically) can play in a nematic liquid crystal (NLC)-based inverted microstrip (IMS) phase shifter device operating at the 60 GHz band (from 54 GHz to 66 GHz). Most notably, the air box radiating boundary and perfect electric conductor (PEC) enclosing boundary are numerically examined and compared statistically for convergence, scattering parameters, and phase-shift-to-insertion-loss ratio, i.e., figure-of-merit (FoM). Notably, the simulated phase tunability of the radiating air box boundary structure is 8.26°/cm higher than that of the encased (enclosed) PEC boundary structure at 60 GHz. However, the maximum insertion loss of the encased PEC structure is 0.47 dB smaller compared to that of the radiant air box boundary structure. This results in an FoM increase of 29.26°/dB at the enclosed PEC limit (relative to the less-than-optimal airbox radiation limit). Arguably, the NLC-filled IMS phase shifter device packaging with metals fully enclosed (in addition to the default ground plane) enhances the symmetry of the structure, both in the geometry and the materials system. In electromagnetic parlance, it contributes to a more homogenously distributed electric field and a more stable monomodal transmission environment with mitigated radiation and noise. Practically, the addition of the enclosure to the well-established NLC-IMS planar fabrication techniques provides a feasible manufacturing (assembling) solution to acquire the reasonably comparable performance advantage exhibited by non-planar structures, e.g., a fully enclosed strip line and rectangular coaxial line, which are technically demanding to manufacture with NLC. Full article

The attitude accuracy of high-resolution satellite images is the main factor affecting their geometric positioning accuracy. Bundle block adjustment is the main method for realizing the simultaneous estimation of attitude models for overlapping images over a large area. In the current research on the joint positioning of high-resolution multi-line array satellite images, the adjustment is usually carried out with the view or load as a unit without considering the consistency of the error of the same platform. In this paper, we develop a self-calibration strip bundle adjustment scheme that considers the boresight misalignment among multiple cameras. By introducing the installation angle between multiple loads, we fully utilized their geometric constraint relationship with the same platform to establish a unified attitude compensation model for multiple loads. The experimental results of the ZiYuan3 (ZY-3) satellite image show that, when the ground control points (GCPs) are laid only at four corner points of the image, the image plane and elevation accuracies are 1.85 m and 1.87 m after an adjustment using this method, which can achieve comparable accuracies with those obtained by a traditional program based on an adjustment with more GCPs. Full article

Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane motion during ambulation is associated with balancing. In addition, as more advanced neural interfaces have become available for people with amputation, it is possible to fully recover ankle function by combining neural signals and a robotic ankle. Accordingly, there is a need for a powered ankle prosthesis that can have active control on not only plantarflexion and dorsiflexion but also eversion and inversion. We designed, built, and evaluated a two-degree-of-freedom (2-DoF) powered ankle–foot prosthesis that is untethered and can support level-ground walking. Benchtop tests were conducted to characterize the dynamics of the system. Walking trials were performed with a 77 kg subject that has unilateral transtibial amputation to evaluate system performance under realistic conditions. Benchtop tests demonstrated a step response rise time of less than 50 milliseconds for a torque of 40 N·m on each actuator. The closed-loop torque bandwidth of the actuator is 9.74 Hz. Walking trials demonstrated torque tracking errors (root mean square) of less than 7 N·m. These results suggested that the device can perform adequate torque control and support level-ground walking. This prosthesis can serve as a platform for studying biomechanics related to balance and has the possibility of further recovering the biological function of the ankle–subtalar–foot complex beyond the existing powered ankles. Full article

In the near future, autonomous vehicles with full self-driving features will populate our public roads. However, fully autonomous cars will require robust perception systems to safely navigate the environment, which includes cameras, RADAR devices, and Light Detection and Ranging (LiDAR) sensors. LiDAR is currently a key sensor for the future of autonomous driving since it can read the vehicle’s vicinity and provide a real-time 3D visualization of the surroundings through a point cloud representation. These features can assist the autonomous vehicle in several tasks, such as object identification and obstacle avoidance, accurate speed and distance measurements, road navigation, and more. However, it is crucial to detect the ground plane and road limits to safely navigate the environment, which requires extracting information from the point cloud to accurately detect common road boundaries. This article presents a survey of existing methods used to detect and extract ground points from LiDAR point clouds. It summarizes the already extensive literature and proposes a comprehensive taxonomy to help understand the current ground segmentation methods that can be used in automotive LiDAR sensors. Full article

In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially the pitch angle, is oscillating from subtle to obvious. Thus, estimating ground plane normal is meaningful since it can be encoded to improve the robustness of various autonomous driving tasks (e.g., 3D object detection, road surface reconstruction, and trajectory planning). Our proposed method only uses odometry as input and estimates accurate ground plane normal vectors in real time. Particularly, it fully utilizes the underlying connection between the ego pose odometry (ego-motion) and its nearby ground plane. Built on that, an Invariant Extended Kalman Filter (IEKF) is designed to estimate the normal vector in the sensor’s coordinate. Thus, our proposed method is simple yet efficient and supports both camera- and inertial-based odometry algorithms. Its usability and the marked improvement of robustness are validated through multiple experiments on public datasets. For instance, we achieve state-of-the-art accuracy on KITTI dataset with the estimated vector error of 0.39°. Full article

UAV LiDAR is a powerful tool for rapidly acquiring ground-based 3D spatial information and has been used in various applications. In addition to the ranging mechanism, the scanning method is also an important factor, affecting the performance of UAV LiDAR, and the internal angle error of LiDAR will seriously affect its measurement accuracy. Starting from the rotary scanning model of a single-sided mirror, this paper presents a comparative study of the characteristics of 45° single-sided mirror scanning, polygon prism scanning, polygon tower mirror scanning, and wedge mirror scanning. The error sources of the quadrangular tower mirror scanning are analyzed in detail, including the angle deviation between the direction of emitted laser and the rotation axis (typical 0.13 ± 0.18° and 0.85° ± 0.26°), the angle deviation between the mirror’s reflection plane and the rotation axis, and the surface angle deviation between multiple surfaces (typical ± 0.06°). As a result, the measurement deviation caused by the internal angle error can be as high as decimeter to meter, which cannot be fully compensated by simply adjusting the installation angle between the UAV and the LiDAR. After the calibration of the internal angle error, the standard deviation of the elevation difference between the point cloud and the control point is only $0.024\mathrm{m}$ in the flight experiment at $300\mathrm{m}$ altitude. Full article

A seismic response analysis of layered, liquefiable sites plays an important role in the seismic design of both aboveground and underground structures. This study presents a detailed dynamic site response analysis procedure with advanced nonlinear soil constitutive models for non-liquefiable and liquefiable soils in the OpenSees computational platform. The stress ratio controlled, bounding surface plasticity constitutive model, PM4Sand, is used to simulate the nonlinear response of the liquefiable soil layers subjected to two seismic ground motions with different characteristics. The nonlinear hysteretic behavior of the non-liquefiable soil under earthquake excitations is captured by the Pressure Independent Multi Yield kinematic plasticity model with a von Mises multi-yield surface. The soil elements are modelled utilizing the solid–fluid fully coupled plane-strain u-p elements. The seismic response of the layered liquefiable site in terms of the development of excess pore water pressure, acceleration, ground surface settlement, and stress–strain and effective stress path time histories under two representative earthquake excitations are investigated in this study. The numerical results indicate that both the characteristics of ground motions and the site profile have a significant influence on the dynamic response of the layered liquefiable site. Under the same intensity of ground motion, the loose sand layer with a 35% relative density is more prone to liquefaction and contractive deformation, which causes irreversible residual deformation and vertical settlement. The saturated soil layer can effectively filter the high-frequency components and amplify the low-frequency components of ground motions. Moreover, the liquified site produces a 40% post-earthquake consolidation settlement after the excess pore pressure dissipation. Full article

Low-cost dual-frequency receivers and antennas have created opportunities for a wide range of new applications, in regions and disciplines where traditional GNSS equipment is unaffordable. However, the major drawback of using low-cost antenna equipment is that antenna phase patterns are typically poorly defined. Therefore, the noise in tropospheric zenith delay and coordinate time series is increased and systematic errors may occur. Here, we present a field calibration method that fully relies on low-cost solutions. It does not require costly software, uses low-cost equipment (~500 Euros), requires limited specialist expertise, and takes complex processing steps into the cloud. The application is more than just a relative antenna calibration: it is also a means to assess the quality and performance of the antenna, whether this is at a calibration site or directly in the field. We cover PCV calibrations, important for deformation monitoring, GNSS meteorology and positioning, and the computation of PCOs when the absolute position is of interest. The method is made available as an online web service. The performance of the calibration method is presented for a range of antennas of different quality and price in combination with a low-cost dual-frequency receiver. Carrier phase residuals of the low-cost antennas are reduced by 11–34% on $L_1$ and 19–39% on $L_2$, depending on the antenna type and ground plane used. For the cheapest antenna, when using a circular ground plane, the $L_1$ residual is reduced from 3.85 mm before to 3.41 mm after calibration, and for $L_2$ from 5.34 mm to 4.3 mm. The calibration reduces the Median Absolute Deviations (MADs) of the low-cost antennas in the vertical direction using Post Processed Kinematic (PPK) by 20–24%. For the cheapest antenna, the MAD is reduced from 5.6 to 3.8 mm, comparable to a geodetic-grade antenna (3.5 mm MAD). The calibration also has a positive impact on the Precise Point Positioning (PPP) results, delivering more precise results and reducing height biases. Full article

This work presents the design and analysis of newly developed reconfigurable, flexible, inexpensive, optically-controlled, and fully printable chipless Arabic alphabet-based radio frequency identification (RFID) tags. The etching of the metallic copper tag strip is performed on a flexible simple thin paper substrate (ϵ_r = 2.31) backed by a metallic ground plane. The analysis of investigated tags is performed in CST MWS in the frequency range of 1–12 GHz for the determination of the unique signature resonance characteristics of each tag in terms of its back-scattered horizontal and vertical mono-static radar cross section (RCS). The analysis reflects that each tag has its own unique electromagnetic signature (EMS) due to the changing current distribution of metallic resonator. This EMS of each tag could be used for the robust detection and recognition of all realized 28 Arabic alphabet tags. The study also discusses, for the first time, the effect of the change in font type and size of realized tags on their EMS. The robustness and reliability of the obtained EMS of letter tags is confirmed by comparing the RCS results for selective letter tags using FDTD and MoM numerical methods, which shows very good agreement. The proposed tags could be used for smart internet of things (IoT) and product marketing applications. Full article

This document presents the design and manufacture of a reflectarray (RA) antenna for the Ku-band that is based on a fully-metallic 3D architecture. The reflectarray unit cell is formed by a square-shaped waveguide section ending in a short circuit, which is the reflectarray back ground plane. Each cell has the ability of configuring the phase of its own reflected field by means of resonators perforated on the walls of the cell waveguide section. The resonator-based waveguide cell introduces the 3D character to the design. The geometry of the resonators and the size variation introduces the phase behavior of each cell, thus, conforming the radiation pattern of the reflectarray. This design explores the potential of phase value truncation (six states and two states) and demonstrates that proper pattern results can be obtained with this phase truncation. Full article

To make Europe competitive in the field of astronomical sensors and detectors, the main goal of this research is to provide the capability to manufacture high performance infrared focal plane arrays (FPA) devoted to scientific and astronomical ground and space telescope missions. This paper presents the main outcome of an international project with the highest standard of quality for this detector. The resulting detector is a sensor with a hybridized MCT (HgCdTe) epilayer on a CdZnTe substrate of 2 k × 2 k pixels and 15 μm of pixel pitch. On this framework, an optical setup has been developed at the IFAE optical laboratory with the capabilities to perform the characterization of a near-infrared (NIR) detector covering the range from 800 to 2500 nm. The optical setup is mainly composed of a power controlled quartz–halogen (QTH) lamp and an astigmatism-corrected Czerny–Turner monochromator with two diffraction gratings covering the detector wavelength range with a minimum resolution of ∼1 nm. A temperature stabilized gold-coated integration sphere provides a uniform and monochromatic illumination, while an InGaAs photodiode located at the north pole of the integration sphere is used to measure the radiant flux toward the detector. The whole setup is fully controlled by a Labview™ application and synchronized with the detector’s readout electronic (ROE). Full article