Localization and tracking of phonating finless porpoises using towed stereo acoustic data-loggers

Cetaceans produce sound signals frequently. Usually, acoustic localization of cetaceans was made by cable hydrophone arrays and multichannel recording systems. In this study, a simple and relatively inexpensive towed acoustic system consisting of two miniature stereo acoustic data-loggers is described for localization and tracking of finless porpoises in a mobile survey. Among 204 porpoises detected acoustically, 34 individuals (similar to 17%) were localized, and 4 of the 34 localized individuals were tracked. The accuracy of the localization is considered to be fairly high, as the upper bounds of relative distance errors were less than 41% within 173 m. With the location information, source levels of finless porpoise clicks were estimated to range from 180 to 209 dB re 1 mu Pa pp at 1 m with an average of 197 dB (N=34), which is over 20 dB higher than that estimated previously from animals in enclosed waters. For the four tracked porpoises, two-dimensional swimming trajectories relative to the moving survey boat, absolute swimming speed, and absolute heading direction are deduced by assuming the animal movements are straight and at constant speed in the segment between two consecutive locations.

Off-axis sonar beam pattern of free-ranging finless porpoises measured by a stereo pulse event data logger

The off-axis sonar beam patterns of eight free-ranging finless porpoises were measured using attached data logger systems. The transmitted sound pressure level at each beam angle was calculated from the animal's body angle, the water surface echo level, and the swimming depth. The beam pattern of the off-axis signals between 45 and 115 (where 0 corresponds to the on-axis direction) was nearly constant. The sound pressure level of the off-axis signals reached 162 dB re 1 mPa peak-to-peak. The surface echo level received at the animal was over 140 dB, much higher than the auditory threshold level of small odontocetes. Finless porpoises are estimated to be able to receive the surface echoes of off-axis signals even at 50-m depth. Shallow water systems (less than 50-m depth) are the dominant habitat of both oceanic and freshwater populations of this species. Surface echoes may provide porpoises not only with diving depth information but also with information about surface direction and location of obstacles (including prey items) outside the on-axis sector of the sonar beam. 2005 Acoustical Society of America.

基于VR的视景生成与基于小波变换的图像匹配算法研究

图像匹配是指把一个图像区域从另一个可能在不同时间，不同视点位置或者由不同传感器所获得的图像区域中确定出来或找到它们之间对应关系的一种重要的图像分析与处理技术。 实验结果验证是图像匹配中的一个重要环节。传统的图像匹配实验验证一般是在真实环境中进行。这种验证方式基本都面临实验周期长、成本高、安全性低、不易重复实验、可控性差、受气候条件、实验场地限制等诸多缺陷。在传统实物验证前，我们迫切需要寻找一种新的实验平台。虚拟现实技术的发展为我们构建新的实验平台提供了很好的技术支持代替传统方法。虚拟现实是一种由计算机和电子技术创造的看似真实的虚拟环境。通过多种传感设备，用户可根据自身的感觉，使用人的自然技能对虚拟世界中的物体进行考察和操作，参与其中的事件;同时提供视、听、触等直观而又自然的实时感知，并使参与者“沉浸”于虚拟环境中。作为虚拟现实行业的引导者，由Multigen-Paradigm公司开发的Creator三维建模软件和Vega实时可视化三维视景仿真软件已经广泛应用各种行业。本文采用这两种软件作为我们实验平台的开发工具。结果表明利用虚拟现实技术构建的仿真实验平台能够提供图像和数据，保证图像匹配实验的进行。 基于特征的图像匹配方法是提取图像中的一些特征点，然后借助这些特征点进行匹配。它能够较好的克服基于区域图像匹配算法易受实时性、光照、几何畸变等影响的缺点。边缘特征作为图像的一种基本特征已经广泛应用于图像匹配算法之中。传统的边缘检测方法(如Sobel、Prewitt和Canny算法)对噪声很敏感。 小波变换具有检测局部突变的能力，并且对图像噪声鲁棒，因此是检测图像边缘的有效工具。本文利用小波变换作为图像边缘检测工具，首先对图像分别做两方向的小波变换，进而得到二维小波变换的幅值和梯度，然后利用非极大值抑制方法检测二维小波变换的模极值点作为图像的边缘点。最后利用边缘直方图描述符实现模板边缘与实时图像边缘之间的匹配。 本文完成的主要工作如下： 1、 利用虚拟现实技术进行视景生成，构建图像匹配实验平台。输出实时图像以及加干扰的摄像机拍摄时所对应的水平角、俯仰角、自旋角、高度等指令参数。 2、 根据实时图像及对应参数，利用几何变换将前视图像转换为下视图像。 3、 在图像匹配中，我们在分析传统的边缘检测算子如Sobel、Prewitt、Canny等对噪声敏感的基础上，提出一种基于小波变换的图像边缘检测算法。 本文的实验环境为Vega、VC6.0++、Matlab7.0 实验结果表明本文所提出算法的有效性。

虚拟现实辅助机器人遥操作技术研究

本文以水下机器人的遥操作作业为应用背景 ,提出并实现了虚拟现实技术和视觉感知信息辅助机器人遥操作实验系统 .该系统使用了 CAD模型和立体视觉信息完成遥操作机器人及其作业环境的几何建模和运动学建模 ,实现了虚拟作业环境的生成和实时动态图形显示 .采用了基于立体视觉的虚拟环境与真实环境的一致性校正、图形图像叠加、作业体与环境位姿关系建立、基于网络的监控通讯等关键技术 .在这个实验系统中 ,操作人员可利用所生成的虚拟环境 ,在多视点、多窗口作业状态图形和图像显示帮助下 ,实时动态地进行作业观测与机器人遥操作与运动规划 ,为先进遥操作机器人系统的实现提供了经验和关键技术 .

Experimental Study on Vortex-Induced Vibrations of a Pipeline Near a Plane Boundary in Steady Flow

对单向水流作用下近壁管道横向涡激振动进行了实验模拟,重点探讨了管道与壁面间隙比(e/D)对管道涡激振动幅值和涡激振动频率响应特性的影响规律.实验结果表明,管道与壁面间隙宽度对管道涡激振动特性有较明显影响.在较大间隙比(e/D＞0.66)下,管道振幅随着Vr数的增大先快速增长到最大值,然后平缓下降;在振动初期(即Vr数较小时),管道振动频率变化基本符合Strouhal规律;在振动中后期(即Vr数较大时),管道振动频率变化不符合Strouhal规律,而在管道固有频率附近缓慢增长.在较小间隙比(e/D＜0.30)下,管道振幅随Vr数的增大先平缓上升到最大值,随后较快速下降;在振动初期,管道振动频率变化不遵循Strouhal规律;在整个振动范围内,与较大间隙比情况相比,随着Vr数增加,管道振动频率增长幅度明显较大.

Flow-Induced Vibrations Of A Cylinder With Two Degrees Of Freedom Near Rigid Plane Boundary

Based on similarity analyses, the flow-induced vibrations of a near-wall cylinder with 2 degrees of freedom are investigated experimentally by employing a hydroelastic apparatus in conjunction with a flume. The cylinder's vibration amplitude, vibration frequency and vortex shedding frequency were measured and analyzed. The effects of gap-to-diameter ratio (e,ID) upon the vibration responses are further investigated. The experimental results indicate that, when the reduced velocity (Vr) is small (e.g. Vr = 1.2 similar to 2.6), only streamwise vibration occurs, and its frequency is quite close to its natural frequency in still water. When increasing Vr (e.g. Vr > 3.4), both streamwise and transverse vibrations of the near-wall cylinder may occur. In the examined range of gap-to-diameter ratio (0.42 < e(0)/D < 2.68), 2 vibration stages (in terms of Vr) of streamwise vibrations usually exist: First Streamwise Vibration (FSV) and Second Streamwise Vibration (SSV). In the SSV stage, the vortex shedding frequency may either undergo a jump to that of the streamwise vibration, or stay consistent with that of the transverse vibration. The amplitudes of transverse vibration are usually much larger than those of streamwise vibration for the same value of e(0)/D. The maximum amplitudes of both streamwise and transverse vibration get larger with the increase of e(0)/D (0.42 < e(0)/D < 2.68).

灵境遥操作技术及其发展

灵境遥操作是消减不确定大时延影响、增强系统透明度的一种有效方法.首先阐述了灵境遥操作的技术概念和原理,提出了统一灵境遥操作系统的结构模型,然后指出并分析了需要解决的几项关键技术,最后对灵境遥操作的应用前景进行了展望.

Experimental Study on Flow Induced Vibration of a Cylinder with Two Degrees of Freedom Near a Rigid Wall

The flow-induced vibration of a cylinder with two degrees of freedom near a rigid wall under the action of steady flow is investigated experimentally. The vibration amplitude and frequency of the cylinder and the vortex shedding frequency at the wake flow region of the cylinder are measured. The influence of gap-to-diameter ratio upon the amplitude response is analyzed. The experimental results indicate that when the reduced velocity (Vr) is in the range of 1.2 < Vr < 2.6, only streamwise vibration with small amplitude occurs, whose frequency is quite close to its natural frequency in the still water. When the reduced velocity Vr > 3.4, both the streamwise and transverse vibrations of the cylinder occur. In this range, the amplitudes of transverse vibration are much larger than those of streamwise vibrations, and the amplitudes of the streamwise vibration also get larger than those at the range of 1.2 < Vr < 2.6. At the range of Vr > 3.4, the frequency of streamwise vibration undergoes a jump at certain values of Vr, at which the streamwise vibrating frequency is twice as much as the transverse one. However, when the streamwise vibration does not experience a jump, its frequency is the same as that of the transverse vibration. The maximum values of second streamwise and transverse vibration amplitudes increase with increasing gap-to-diameter ratios.

Physical Modeling And Parametric Study On Two-Degree-Of-Freedom Viv Of A Cylinder Near Rigid Wall

Unlike most previous studies on the transverse vortex-induced vibration(VIV) of a cylinder mainly under the wallfree condition (Williamson & Govardhan,2004),this paper experimentally investigates the vortex-induced vibration of a cylinder with two degrees of freedom near a rigid wall exposed to steady flow.The amplitude and frequency responses of the cylinder are discussed.The lee wake flow patterns of the cylinder undergoing VIV were visualized by employing the hydrogen bubble technique.The effects of the gap-to-diameter ratio (e0/D) and the mass ratio on the vibration amplitude and frequency are analyzed.Comparisons of VIV response of the cylinder are made between one degree (only transverse) and two degrees of freedom (streamwise and transverse) and those between the present study and previous ones.The experimental observation indicates that there are two types of streamwise vibration,i.e.the first streamwise vibration (FSV) with small amplitude and the second streamwise vibration (SSV) which coexists with transverse vibration.The vortex shedding pattem for the FSV is approximately symmetric and that for the SSV is alternate.The first streamwise vibration tends to disappear with the decrease of e0/D.For the case of large gap-to-diameter ratios (e.g.e0/D = 0.54～1.58),the maximum amplitudes of the second streamwise vibration and transverse one increase with the increasing gapto-diameter ratio.But for the case of small gap-to-diameter ratios (e.g.e0/D = 0.16,0.23),the vibration amplitude of the cylinder increases slowly at the initial stage (i.e.at small reduced velocity V,),and across the maximum amplitude it decreases quickly at the last stage (i.e.at large Vr).Within the range ofthe examined small mass ratio (m＜4),both streamwise and transverse vibration amplitude of the cylinder decrease with the increase of mass ratio for the fixed value of V,.The vibration range (in terms of Vr ) tends to widen with the decrease of the mass ratio.In the second streamwise vibration region,the vibration frequency of the cylinder with a small mass ratio (e.g.mx = 1.44) undergoes a jump at a certain Vr,.The maximum amplitudes of the transverse vibration for two-degree-of-freedom case is larger than that for one-degree-of-freedom case,but the transverse vibration frequency of the cylinder with two degrees of freedom is lower than that with one degree of freedom (transverse).

A DNA-sequence based phylogeny for triculine snails (Gastropoda : Pomatiopsidae : Triculinae), intermediate hosts for Schistosoma (Trematoda : Digenea): phylogeography and the origin of Neotricula

Partial (DNA) sequences were examined for one nuclear (28S rRNA gene) and one mitochondrial (16S rRNA) locus for nine species of pomatiopsid snail (Gastropoda: Rissooidea: Pomatiopsidae) from south-east Asia and south-west China. Fresh field samples were

Identification of genes differentially expressed in wild type and Purkinje cell degeneration mice

Purkinje cell degeneration (pcd) mice are characterized by death of virtually all cerebellar Purkinje cells by postnatal day 30. In this study, we used DNA microarray analysis to investigate differences in gene expression between the brains of wild type and pcd mice on postnatal day 20, before the appearance of clear-cut phenotypic abnormalities. We identified 300 differentially expressed genes, most of which were involved in metabolic and physiological processes. Among the differentially expressed genes were several calcium binding proteins including calbindin -28k, paravalbumin, matrix gamma-carboxygluta mate protein and synaptotagamins 1 and 13, suggesting the involvement of abnormal Ca2+ signaling in the pcd phenotype.

Comparison of stationary acoustic monitoring and visual observation of finless porpoises

The detection performance regarding stationary acoustic monitoring of Yangtze finless porpoises Neophocaena phocaenoides asiaeorientalis was compared to visual observations. Three stereo acoustic data loggers (A-tag) were placed at different locations near the confluence of Poyang Lake and the Yangtze River, China. The presence and number of porpoises were determined acoustically and visually during each 1-min time bin. On average, porpoises were acoustically detected 81.7 +/- 9.7% of the entire effective observation time, while the presence of animals was confirmed visually 12.7 +/- 11.0% of the entire time. Acoustic monitoring indicated areas of high and low porpoise densities that were consistent with visual observations. The direction of porpoise movement was monitored using stereo beams, which agreed with visual observations at all monitoring locations. Acoustic and visual methods could determine group sizes up to five and ten individuals, respectively. While the acoustic monitoring method had the advantage of high detection probability, it tended to underestimate group size due to the limited resolution of sound source bearing angles. The stationary acoustic monitoring method proved to be a practical and useful alternative to visual observations, especially in areas of low porpoise density for long-term monitoring.

Estimation of the detection probability for Yangtze finless porpoises (Neophocaena phocaenoides asiaeorientalis) with a passive acoustic method

Yangtze finless porpoises were surveyed by using simultaneous visual and acoustical methods from 6 November to 13 December 2006. Two research vessels towed stereo acoustic data loggers, which were used to store the intensity and sound source direction of the high frequency sonar signals produced by finless porpoises at detection ranges up to 300 m on each side of the vessel. Simple stereo beam forming allowed the separation of distinct biosonar sound source, which enabled us to count the number of vocalizing porpoises. Acoustically, 204 porpoises were detected from one vessel and 199 from the other vessel in the same section of the Yangtze River. Visually, 163 and 162 porpoises were detected from two vessels within 300 m of the vessel track. The calculated detection probability using acoustic method was approximately twice that for visual detection for each vessel. The difference in detection probabilities between the two methods was caused by the large number of single individuals that were missed by visual observers. However, the sizes of large groups were underestimated by using the acoustic methods. Acoustic and visual observations complemented each other in the accurate detection of porpoises. The use of simple, relatively inexpensive acoustic monitoring systems should enhance population surveys of free-ranging, echolocating odontocetes. (C) 2008 Acoustical Society of America.

TEM study of dislocations in ZnTe/GaAs heterostructure grown by hot-wall epitaxy

A ZnTe layer grown on GaAs substrate by hot-wall epitaxy (HWE) was studied using transmission electron microscopy (TEM). For a (110) cross-sectional specimen, its (001) ZnTe/GaAs interface was analysed by large angle stereo-projection (LASP) and high resolution electron microscopy (HREM). In the LASP, a double diffraction occurred and moire fringes were formed, meanwhile misfit dislocations were revealled clearly by weak beam technique. In HREM, not only Lomer and 60 degrees types of misfit dislocations were observed, but also two types of stacking faults were analysed. The residual strain was estimated by both methods.