Terrain Surface Research Articles

A method for extracting Martian terrain features based on unsupervised contrastive learning

Intelligent recognition of Martian surface terrain is of great significance to autonomous exploration of Mars rovers. Feature extraction methods for Martian terrain images are currently mainly divided into two categories: traditional shallow visual feature extraction and deep feature extraction based on supervised learning. Loss of image information and the need for a large amount of labeled data are key issues to be addressed. A method for Martian terrain feature recognition based on unsupervised contrastive learning is proposed. By establishing an image dictionary dataset, two sets of neural networks, "query" and "encoding", are used to compare a single image with other images in the "dictionary" dataset, and the network is trained using the similarity functional as the loss function, thereby realizing feature recognition of Martian terrain images. The proposed method also has the ability to recognize new types of terrain images outside the training dataset, and has outstanding superiority in subsequent recognition and classification. Computer simulation verification shows that the recognition accuracy of the proposed method is and the 85.4%recognition accuracy of new types of terrain images is 84.5%.

DEM-based pluvial flood inundation modeling at a metropolitan scale

The global increase in urban flooding presents a substantial challenge that affects communities across the globe. This study introduces a post-flood inundation modeling framework tailored to pluvial floods on a metropolitan scale. We employ a dual drainage modeling approach for enhanced accuracy. The framework comprises two primary components: a Storm Water Management Model (SWMM) for simulating water movement within the storm drain system, and an advanced DEM-based flood inundation module that leverages SWMM results to predict flood inundation areas. Compared to the conventional flood spreading models commonly used in dual drainage modeling, this module incorporates high-resolution DEM cells into the surface flow routing processes, allowing to capture intricate surface terrain complexities. Additionally, the proposed module considers direct rainfall impacts on pluvial flood inundation mapping, resulting in enhanced accuracy. To evaluate the proposed model's accuracy, a two-step validation approach has been implemented. This includes comparing the proposed model results with both the high water marks measured in the aftermath of Hurricane Harvey and the flood depth map generated by a hydrodynamic model. The findings affirm the effectiveness of our proposed framework for post-flood inundation mapping within metropolitan settings. This method provides a dependable approach to urban flood modeling and represents an advancement in addressing the challenges associated with urban flooding.

Autonomous Vehicles Traversability Mapping Fusing Semantic–Geometric in Off-Road Navigation

This paper proposes an evaluating and mapping methodology of terrain traversability for off-road navigation of autonomous vehicles in unstructured environments. Terrain features are extracted from RGB images and 3D point clouds to create a traversal cost map. The cost map is then employed to plan safe trajectories. Bayesian generalized kernel inference is employed to assess unknown grid attributes due to the sparse raw point cloud data. A Kalman filter also creates density local elevation maps in real time by fusing multiframe information. Consequently, the terrain semantic mapping procedure considers the uncertainty of semantic segmentation and the impact of sensor noise. A Bayesian filter is used to update the surface semantic information in a probabilistic manner. Ultimately, the elevation map is utilized to extract geometric characteristics, which are then integrated with the probabilistic semantic map. This combined map is then used in conjunction with the extended motion primitive planner to plan the most effective trajectory. The experimental results demonstrate that the autonomous vehicles obtain a success rate enhancement ranging from 4.4% to 13.6% and a decrease in trajectory roughness ranging from 5.1% to 35.8% when compared with the most developed outdoor navigation algorithms. Additionally, the autonomous vehicles maintain a terrain surface selection accuracy of over 85% during the navigation process.

An adaptive low‐rank group sparse model based on edge‐preserving for eliminating mixed noise in SRTM

AbstractThe Shuttle Radar Topography Mission (SRTM) is a digital representation of the terrain surface morphology that contains rich terrain information and is widely used in environmental analyses. However, SRTM is adversely affected by mixed noise, which typically include random and stripe noise. Mixed noise results in the significant loss of topographic information, which reduce the validity of related research. To eliminate mixed noise in SRTM data, we propose an adaptive low‐rank group sparse model based on edge preservation (ALGS_EP) to remove mixed noise from datasets. The method relies on a low‐rank group sparse model that considers the gradient features of the terrain. It calculates a terrain factor to adapt the noise elimination model to terrain changes. Additionally, it integrates with the edge structure of elevation data and applies a double‐gradient constraint to preserve the structural details of the elevation data. The proposed model, built upon the alternating direction multiplier method framework, enhances the traditional weighted kernel paradigm minimization algorithm by introducing variable weights that adjust according to the gradient of elevation data during iterations. Additionally, it incorporates the correlation between strip noise and residual data blocks when computing the iteration count, ensuring an iterative solution approach that converges to the optimal solution. We used ALGS_EP to process global SRTM 1 data and published a higher‐quality and higher‐precision elevation dataset. The elevation data noise before and after noise elimination were statistically analyzed. Simulated and empirical results show that the model is highly robust and more effective than existing methods in both visual and quantitative evaluations. The noise elimination rate was 97.6%, compared to the original data. Therefore, this research was valuable for applications that use digital elevation model as an important data layer.

Vehicle modeling and state estimation for autonomous driving in terrain

The automobile industry usually ignores the height of the path and uses planar vehicle models to implement automatic vehicle control. In addition, existing literature mostly concerns level terrain or homogeneous road surfaces for estimating vehicle dynamics. However, ground vehicles utilized in forestry, such as forwarders, operate on uneven terrain. The vehicle models built on level terrain assumptions are inadequate to capture the rolling or pitching dynamics of such machines as rollover of such vehicles is a potential risk. Therefore, knowledge about the height profile of the path is crucial for automating such off-road operations and avoiding rollover. We propose the use of a six-degrees-of-freedom (6-DOF) dynamic vehicle model to solve the autonomous forwarder problem. An adaptive linear tire model is used in the 6-DOF model assuming the vehicle operates in a primary handling regime. The force models are modified to include the three-dimensional (3D) map information. The calibration procedures, identifying actuator dynamics, and quantifying sensor delays are also represented.The proposed vehicle modeling contributed to realizing the continuous-discrete extended Kalman filter (CDEKF), which takes into account the 3D path during filtering and fixed-lag smoothing. Polaris (an all-terrain electric car) is used as a case study to experimentally validate the vehicle modeling and performance of the state estimator. Three types of grounds are selected — an asphalt track, a concrete track with a high elevation gradient, and a gravel track inside a forest. Stable state estimates are obtained using CDEKF and sparse 3D maps of terrains despite discontinuities in satellite navigation data inside the forest. The height estimation results are obtained with sufficient accuracy when compared to ground truth obtained by aerial 3D mapping. Finally, the proposed model’s applicability for predictive control is demonstrated by utilizing the state estimates to predict future states considering (3D) terrain.

Modeling the impact of terrain surface deformation on drag force using discrete element method and empirical formulation

Understanding motion-induced terrain deformation is essential for improving predictive models in geotechnical engineering, infrastructure development, and robotics. The existing analysis assumes a uniform and unchanged environment and lacks a description of the terrain deformation induced by motion, which is particularly significant when the grains are loosely packed. To address this gap, we performed numerical investigations to mathematically model the changes in the surrounding environment and their corresponding effects on resistance. Specifically, we examined the response of granular materials and the energy variation of the particles during motion. Increased energy in the direction of motion was categorized as influences above or below the medium surface. Aligned with the influencing factors, two variables were considered to quantify the impact on the drag force. Building upon the energy analysis and the framework of Resistive Force Theory, we proposed a drag force model for buried motion in loose granular terrain. Compared with the experimental data, the average predictive error decreased from 17.8% to less than 2.7%. Our study provides a feasible approach for incorporating the effects of terrain deformation into a drag force model, thereby enhancing the accuracy and contributing to the development of granular locomotion.

AUTOMATED SYNTHESIS OF OPTIMAL SCHEMES LOCATION OF PRODUCTION FACILITIES ON RUGGED TERRAIN

An automated method has been developed to synthesize layouts of industrial facilities on rugged terrains, aimed at minimizing costs associated with utilities routes development (construction and operation). Additional conditions of optimization synthesis include constraints on the regulatory minimum permissible clear distances between facilities and requirements that prevent facilities from being placed in restricted zones. Three characteristic types of terrain surface relief sufficient to solve the optimization problem presented under automated design conditions have been identified. The terrain allocated for enterprise placement is specified in the conditions of the optimization problem being solved by a regular grid created based on Delaunay triangulation. To calculate the elevation (applicate) of the center of the geometric image of the facility’s base at any position, a secondary approximation of a local small area is applied using a second-order Lagrange interpolation polynomial. Due to the multimodal nature of the objective function, partly caused by the complexity of the topography of the territory designated for facility location, the use of one of the stochastic population methods, specifically the modified method of differential evolution, is proposed to ensure a search for the global minimum of the objective function. A numerical example of synthesizing facilities layouts is provided, assuming their location on different slopes of a depression. The results of the numerical experiment confirmed the possibility of using the method presented in the paper for automated search of optimal (close to optimal) layouts for facilities on rugged terrains.

Enhancing Terrain Analysis from Digital Elevation Models Using 2-D Kalman Filtering Technique

Three-dimensional spatial information, particularly elevation, is crucial for understanding terrain characteristics essential for meaningful development, often expressed as a Digital Elevation Model (DEM). To achieve reliable and accurate DEM values for terrain analysis, modeling uncertainties is necessary. The primary objective of this study is to determine improved terrain variables from the Digital Elevation Model of the study area. The recursive 2-D Kalman filtering technique was applied four times at different orientations to 121 elevation values extracted from a 30-meter resolution ALOS DEM of the study area using QGIS Desktop 3.22.7 software of an area covering approximately 10.80 Hectares using QGIS, the process involved 144 iterations. MATLAB was used for the computations. The terrain variables (elevation, first partial derivatives along the X and Y axes) of the central point of the DEM were obtained as a linear combination of the four filtering results. The final estimated values for the central point were 26.5589m for elevation, 0.0002m and 0.0011m for partial derivatives along the X and Y directions, with standard errors of ±0.0001m, ±0.0005m, and ±0.0007m, respectively. A 3-D plot of the terrain surface of the study area using Surfer10 software showed that the recursive 2-D Kalman filtering significantly improved the quality of the terrain surface when applied over the DEM. Therefore, the adopted recursive 2-D Kalman filter is well-suited for terrain surface modeling using grid DEMs. Its use is encouraged for determining improved values of terrain topographic variables, leading to more accurate terrain interpretation. In addition, when compared with ground survey data confirmed the technique's efficiency in reducing DEM noise. These results are promising as they are necessary information for flood route modelling, land use allocation and enhance functionality of the urban space domain of the study area.

Integrating topographic factors for effective urban sponge construction in mountainous regions: A case study

The construction of sponge cities in mountainous areas is crucial to achieving high-quality development in these regions. Owing to rugged terrain, significant changes in elevation, and uneven distribution of cities, the construction of sponge cities in mountainous areas faces challenges such as difficulties in clearing mountains and roads, high cost, and varying regional development requirements. However, there is currently limited research focusing on the impact of terrain on sponge city construction plans. In this study, we developed an optimal low impact development (LID) system layout method based on the annual runoff control rate. This study suggests implementing LID plans in stages to balance cost-effectiveness and enhance resilience. The optimized case1_100 scheme, which takes regional differences into account, can effectively achieve a runoff control coefficient of less than 0.25 in 98.86% of the area. Remarkably, this achievement comes at a significantly lower total cost of only 1.22 billion RMB compared to the unoptimized case2_100 scheme (which does not consider regional differences) with a cost of 3.03 billion RMB. Interestingly, the optimized case1_100 plan, selected using the Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) method, has an LID layout that is closely related to the surface terrain. Structural equation modeling analysis indicates that terrain affects land types, which in turn impacts the surface impermeability and runoff coefficients, ultimately influencing the corresponding LID deployment plan. The coefficients of relative elevation and slope on the final plan are determined as −0.13 and −0.77, respectively, with a high overall explanatory power of 0.84. This indicates that terrain characteristics have a significant impact on the spatial patterns and surface features of typical mountainous cities in China and the optimal LID strategy largely depends on the initial terrain conditions. This study provides valuable insights for optimizing LID construction in sponge cities, particularly in the context of new mountainous urban planning.

Comparison of machine learning and statistical approaches for Digital Elevation Model (DEM) correction: interim results

Abstract. The correction of digital elevation models (DEMs) can be achieved using a variety of techniques. Machine learning and statistical methods are broadly applicable to a variety of DEM correction case studies in different landscapes. However, a literature survey did not reveal any research that compared the effectiveness or performance of both methods. In this study, we comparatively evaluate three gradient boosted decision trees (XGBoost, LightGBM and CatBoost) and multiple linear regression for the correction of two publicly available global DEMs: Copernicus GLO-30 and ALOS World 3D (AW3D) in Cape Town, South Africa. The training datasets are comprised of eleven predictor variables including elevation, slope, aspect, surface roughness, topographic position index, terrain ruggedness index, terrain surface texture, vector ruggedness measure, percentage bare ground, urban footprints and percentage forest cover as an indicator of the overland forest distribution. The target variable (elevation error) was derived with respect to highly accurate airborne LiDAR. The results presented in this study represent urban/industrial and grassland/shrubland/dense bush landscapes. Although the accuracy of the original DEMs had been degraded by several anomalies, the corrections improved the vertical accuracy across vast areas of the landscape. In the urban/industrial and grassland/shrubland landscapes, the reduction in the root mean square error (RMSE) of the original AW3D DEM was greater than 70%, after correction. The corrections improved the accuracy of Copernicus DEM, e.g., > 44% RMSE reduction in the urban area and >32% RMSE reduction in the grassland/shrubland landscape. Generally, the gradient boosted decision trees outperformed multiple linear regression in most of the tests.

Indicators for monitoring reduced impact logging in the Brazilian amazon derived from airborne laser scanning technology

Monitoring reduced impact logging (RIL) activities in sustainably managed forest areas in the Amazon is a costly and complex, yet crucial endeavor. One viable monitoring option is the use of airborne laser scanning (LiDAR), which enables estimating forest structure parameters over large areas in a reduced timeframe with high accuracy. In this study, we propose and assess the applicability of five monitoring indicators for RIL based on Light Detection and Ranging (LiDAR) data acquisition in areas under forest concession. Five Annual Production Units (APUs) were investigated within the Forest Management Unit (FMU) III of the Jamari National Forest, located in the Southwest of the Brazilian Amazon. These sites were surveyed by LiDAR in 2014 and 2015 (one year after the exploration). Digital Terrain Models (DTMs), Surface Models (DSMs), and Canopy Height Models (CHMs) were generated for each APU. The proposed indicators were: i. Detection and identification of crown removal in dominant and co-dominant trees above 30 m; ii. Gap detection in the forest canopy; iii. Impacts of Reduced Impact Logging on the Understory; iv. Changes in the vertical canopy profile; and v. Affected areas within Permanent Preservation Areas (PPAs) and restricted areas. There was a 3.95% reduction in the occurrence of taller canopies after RIL, and a higher occurrence of small gaps (λ > 1), with λ values (2.34) being higher in the area with the oldest logging history (APU 1). Gini coefficient values in all APUs were below 0.5, indicating a low intensity of disturbances in the forest canopy. The shape (γ) and scale (β) parameters of the understory and canopy were not significantly correlated with variables related to selective logging. Restricted areas were considered for the allocation of roads, trails, log landings, and places with slopes equal to or >15%, and the indices of areas affected by RIL in PPAs and restricted areas were <2%. The proposed indicators using LiDAR data show great potential for monitoring managed areas in the Amazon and can be utilized by concession companies and government oversight.

Prioritization of sub-watersheds based on quantitative morphometric analysis of the Narmada River, India, using SRTM-DEM and GIS techniques

Investigating the contribution of basin to the cycle of hydrological and the area's size, shape, and creation through quantitative analysis of these characteristics of the local scenery. Additionally, estimates of the denudation rate and hypsometric analysis were made in order to comprehend the sub-basin's quantitative geomorphological properties. The link between the morphometric parameters shows that the local geological and geomorphological features significantly influence the drainage system. On a less elevated surface with a moderate slope, stream geometry displays a pattern as semi-dendritic in greater stream order flow. On mountainous terrain surfaces, main-order streams display a dendritic drainage pattern combined with a coarse texture of drainage. The center zone of the Narmada River basin's sub-watersheds area (9461 km2) underwent morphometric investigation utilizing geographical information systems (GIS) with remote sensing methods. It highlights the usefulness of using Shuttle Radar Topographic Mission – Digital Elevation Model (SRTM-DEM) and satellite images to enhance basin management to evaluate and comprehend many geo-hydrological aspects, like topographic &amp; drainage analyses. ArcGIS hydrological modeling has been used to identify and study basins utilizing SRTM-DEM having 10 m resolution. For the micro-level research of its physiographic characteristics and flow structural control along with runoff, using morphometric parameters like relief, aerial, and linear is also beneficial. This may assist in predicting floods, their extent, and their severity.

FPGA-BASED IMPLEMENTATION OF A GAUSSIAN SMOOTHING FILTER WITH POWERS-OF-TWO COEFFICIENTS

The purpose of the study is to develop methods for synthesizing a Gaussian filter that ensures simplified hardware and software implementation, particularly filters with powers-of-two coefficients. Such filters can provide effective denoising of images, including landscape maps, both natural and synthetically generated. The study also involves analyzing of methods for FPGA implementation, comparing their hardware complexity, performance, and noise reduction with traditional Gaussian filters. Results. An algorithm for rounding filter coefficients to powers of two, providing optimal approximation of the constructed filter to the original, is presented, along with examples of developed filters. Topics covered include FPGA implementation, based on the Xilinx Artix-7 FPGA. Filter structures, testing methods, simulation results, and verification of the scheme are discussed. Examples of the technological placement of the implemented scheme on the FPGA chip are provided. Comparative evaluations of FPGA resources and performance for proposed and traditional Gaussian filters are carried out. Digital modeling of the filters and noise reduction estimates for noisy images of the terrain surface are presented. The developed algorithm provides approximation of Gaussian filter coefficients as powers of two for a given window size and maximum number of bits with a relative error of no more than 0.18. Implementing the proposed filters on FPGA results in a hardware costs reduction with comparable performance. Computer simulation show that Gaussian filters both traditional and proposed effectively suppress additive white noise in images. Proposed filters improve the signal-to-noise ratio within 5-10 dB and practically match the filtering quality of traditional Gaussian filters.

Prefrontal cortical activity during uneven terrain walking in younger and older adults.

Walking in complex environments increases the cognitive demand of locomotor control; however, our understanding of the neural mechanisms contributing to walking on uneven terrain is limited. We used a novel method for altering terrain unevenness on a treadmill to investigate the association between terrain unevenness and cortical activity in the prefrontal cortex, a region known to be involved in various cognitive functions. Prefrontal cortical activity was measured with functional near infrared spectroscopy while participants walked on a novel custom-made terrain treadmill surface across four different terrains: flat, low, medium, and high levels of unevenness. The assessments were conducted in younger adults, older adults with better mobility function and older adults with worse mobility function. Mobility function was assessed using the Short Physical Performance Battery. The primary hypothesis was that increasing the unevenness of the terrain would result in greater prefrontal cortical activation in all groups. Secondary hypotheses were that heightened prefrontal cortical activation would be observed in the older groups relative to the younger group, and that prefrontal cortical activation would plateau at higher levels of terrain unevenness for the older adults with worse mobility function, as predicted by the Compensation Related Utilization of Neural Circuits Hypothesis. The results revealed a significant main effect of terrain, indicating a significant increase in prefrontal cortical activation with increasing terrain unevenness during walking in all groups. A significant main effect of group revealed that prefrontal cortical activation was higher in older adults with better mobility function compared to younger adults and older adults with worse mobility function in all pooled terrains, but there was no significant difference in prefrontal cortical activation between older adults with worse mobility function and younger adults. Contrary to our hypothesis, the older group with better mobility function displayed a sustained increase in activation but the other groups did not, suggestive of neural compensation. Additional findings were that task-related increases in prefrontal cortical activation during walking were lateralized to the right hemisphere in older adults with better mobility function but were bilateral in older adults with worse mobility function and younger adults. These findings support that compared to walking on a flat surface, walking on uneven terrain surfaces increases demand on cognitive control resources as measured by prefrontal cortical activation.

Subgrid-Scale Topographic Effects on Radiation for Global Weather Forecast Models

The incoming solar radiation arriving the Earth’s surface is strongly influenced by surface terrain. Conventional global weather forecast models, with grid scales of about 10 km, lack the resolution to accurately capture terrain-induced variations. We devised a new parameterization method to incorporate high-resolution subgrid-scale terrain data into grid-scale radiative flux calculations without averaging or smoothing topographic features. Utilizing a 15″ digital elevation model from the Shuttle Radar Topography Mission, we computed subgrid-scale data and transformed them onto the Korean Integrated Model’s cubed sphere grid using a Voronoi diagram to maintain geographical accuracy. The new scheme was initially evaluated through offline ideal tests and case studies. The results demonstrated that the scheme accurately captured the variations in downward shortwave flux, keeping the mean flux on a global scale nearly constant. The global mean flux difference in all skies was less than 0.01%. Statistical analyses demonstrated improved temperature and geopotential height predictions compared to reanalysis data. The anomaly correlation coefficient for East Asia at 850 hPa increased by 0.036 at 240 forecast hours. Overall, the anomaly correlation coefficient and root mean square error of geopotential height and temperature showed enhancements, particularly in the Northern Hemisphere and tropics. Importantly, the scheme introduces negligible additional memory and CPU requirements, making it suitable for both regional and global models. Only a 0.58% increase in CPU time was observed for the 10-day forecast.

Application of 3D Imaging for Analyzing the Chip Groove Shapes of Cutting Inserts

An effective chip formation process is significant for an efficient metal-cutting process. Long continuous chips can lead to scratches on the machined surface, increasing the risk to operator safety and stability of the machining process. The use of chip grooves on cutting inserts allows for control of the chip formation and breaking process during machining. The shape of the rake surface and the design of the chip groove also affect the efficiency of the machining process. The article presents the use of 3D imaging to analyze changes in the selected chip groove shapes depending on the cutting depth ap = 0.10, 0.25, and 0.50 mm and the angular location of the cutting insert relative to the machined surface of the workpiece (i.e., major cutting-edge angle K = 60° and K = 90°). The analysis methodology was based on the use of 3D image registration and surface shape modeling. In the analysis based on the 3D imaging presented, the novelty was the adaptation of methods typically used to map and model the terrain surface, which have not been used previously in cutting processes. The evaluation of the shape of the chip groove surface was carried out using, e.g., watershed maps and 3D surface maps. The obtained results indicated a significant influence of the cutting depth and major cutting-edge angle on the surface shape, profile, and length of the chip former; chip groove volume; and the theoretical contact area of the formed chip with the cutting insert. It was observed that for small depths of cut, i.e., ap &lt; 0.25 mm, the chip-curling process may be difficult due to the flattened shape of the rake surface. In addition, the influence of the convexity of the rake surface of the cutting insert on the chip formation process was demonstrated. The results of the experimental research that verified the conclusions are presented. The developed results may be useful in the process of selecting the parameters and conditions of the metal finishing through use of tools with a shaped rake surface.

Geological setting, lead-zinc mineralization characteristics and its potential prospects in the Na Bop - Pu Sap area, Cho Don, Northeastern Vietnam

The Lo Gam structural zone is recognized as a crucial area for the occurrence of lead-zinc deposits in Northeast Vietnam, encompassing the distinguished territories of Cho Dien and Cho Don. Specifically, within the Cho Don area, the Na Bop-Pu Sap area emerges as particularly noteworthy owing to the considerable scale and quality of its lead-zinc ore deposits. In order to comprehensively investigate the geological attributes and lead-zinc mineralization phenomena prevalent in Na Bop-Pu Sap, a suite of analytical techniques including petrographic analyses, mineralogical examinations, scanning electron microscopy (SEM), and ICP-MS were employed. Furthermore, stable isotope investigations and single mineral sphalerite analyses were conducted to assess the origin of metal constituents and the physicochemical conditions conducive to ore genesis. The Na Bop-Pu Sap area is under the influence of the NW-SE fault system, with the ore structure predominantly manifesting as bands and veins aligned parallel to the foliations of hosted rock. This configuration suggests a close association between the formation of lead-zinc ore and the foliation processes occurring within the shear zones. The assemblage of ore minerals within the region primarily comprises galena, sphalerite, pyrite, pyrrhotite, and arsenopyrite. Integration of S and Pb isotopic analyses alongside single mineral sphalerite assessments reveals that the ore-forming solutions emanate from both magmatic activity and sedimentary sources, with lead-zinc ore deposition occurring at temperatures ranging from low to medium. Projections suggest that the Na Bop-Pu Sap mining area may exhibit relative degrees of erosion extending to depths of approximately 600 meters below the existing terrain surface. This comprehensive examination of the ore characteristics in the Na Bop-Pu Sap mine area yields invaluable insights, thereby advancing our understanding of the potential for deep-seated lead-zinc mineral resources within the Northeastern Vietnam.

One-year-long turbulence measurements and modeling using large-eddy simulation domains in the Weather Research and Forecasting model

We present an intercomparison of a full year of turbulence measurements and simulations at Østerild, a site in northern Denmark with relatively flat terrain and high surface roughness, where a high-quality tall meteorological mast is deployed. Both sonic and cup anemometers are mounted on booms on the mast from 7 up to 244 m, thus covering the range of heights in which modern wind turbines operate. The simulations were performed using the Weather Research and Forecasting model in a multiscale setup, with large-eddy simulations (LESs) nested one-way within mesoscale simulations. The mesoscale domains thus simulated the evolving weather, while the two innermost domains used an LES closure, intending the largest scales of turbulence to be explicitly resolved. For a selected day, we show that the simulated turbulence is accurately resolved within the innermost LES domain, and agrees well with the observations at all vertical levels. For the full year, we show that the innermost domain accurately reproduces mean wind speed, direction, and turbulence levels, whereas the mesoscale simulations have difficulties matching the frequency of occurrence of both low and high turbulence ranges when compared to the observations. The largest differences between the simulated turbulence from the innermost domain and the observations are found under low wind speed conditions close to the surface, particularly during nighttime where the simulated mean wind and turbulence levels are higher and lower, respectively, than the observations, potentially due to the inability of the LES mesh to resolve the very small scales of turbulence and associated momentum transport that those features support.

Biomimetic lizard robot for adapting to Martian surface terrain

The exploration of the planet Mars still is a top priority in planetary science. The Mars surface is extensively covered with soil-like material. Current wheeled rovers on Mars have been occasionally experiencing immobilization instances in unexpectedly weak terrains. The development of Mars rovers adaptable to these terrains is instrumental in improving exploration efficiency. Inspired by locomotion of the desert lizard, this paper illustrates a biomimetic quadruped robot with structures of flexible active spine and toes. By accounting for spine lateral flexion and its coordination with four leg movements, three gaits of tripod, trot and turning are designed. The motions corresponding to the three gaits are conceptually and numerically analyzed. On the granular terrains analog to Martian surface, the gasping forces by the active toes are estimated. Then traversing tests for the robot to move on Martian soil surface analog with the three gaits were investigated. Moreover, the traversing characteristics for Martian rocky and slope surface analog are analyzed. Results show that the robot can traverse Martian soil surface analog with maximum forward speed 28.13 m s−1 turning speed 1.94° s−1 and obstacle height 74.85 mm. The maximum angle for climbing Martian soil slope analog is 28°, corresponding slippery rate 76.8%. It is predicted that this robot can adapt to Martian granular rough terrain with gentle slopes.

Proximity Queries on Point Clouds using Rapid Construction Path Oracle

The prevalence of computer graphics technology boosts the developments of point clouds in recent years, which offer advantages over terrain surfaces (represented by Triangular Irregular Networks, i.e., TINs) in proximity queries, including the shortest path query, the k-Nearest Neighbor (kNN) query and the range query. Since (1) all existing on-the-fly and oracle-based shortest path query algorithms on a TIN are very expensive, (2) all existing on-the-fly shortest path query algorithms on a point cloud are still not efficient, and (3) there are no oracle-based shortest path query algorithms on a point cloud, we propose an efficient (1+ε)-approximate shortest path oracle that answers the shortest path query for a set of Points-Of-Interests (POIs) on the point cloud, which has a good performance (in terms of the oracle construction time, oracle size and shortest path query time) due to the concise information about the pairwise shortest paths between any pair of POIs stored in the oracle. Our oracle can be easily adapted to answering the shortest path query for any points on the point cloud if POIs are not given as input, and also achieve a good performance. Then, we propose efficient algorithms for answering the (1+ε)-approximate kNN and range query with the assistance of our oracle. Our experimental results show that when POIs are given (resp. not given) as input, our oracle is up to 390 times, 30 times and 6 times (resp. 500 times, 140 times and 50 times) better than the best-known oracle on a TIN in terms of the oracle construction time, oracle size and shortest path query time, respectively. Our algorithms for the other two proximity queries are both up to 100 times faster than the best-known algorithms.