Exchanging Dual Encoder-Decoder: A New Strategy for Change Detection with Semantic Guidance and Spatial Localization

Change detection is a critical task in earth observation applications. Recently, deep learning-based methods have shown promising performance and are quickly adopted in change detection. However, the widely used multiple encoder and single decoder (MESD) as well as dual encoder-decoder (DED) architectures still struggle to effectively handle change detection well. The former has problems of bitemporal feature interference in the feature-level fusion, while the latter is inapplicable to intraclass change detection and multiview building change detection. To solve these problems, we propose a new strategy with an exchanging dual encoder-decoder structure for binary change detection with semantic guidance and spatial localization. The proposed strategy solves the problems of bitemporal feature inference in MESD by fusing bitemporal features in the decision level and the inapplicability in DED by determining changed areas using bitemporal semantic features. We build a binary change detection model based on this strategy, and then validate and compare it with 18 state-of-the-art change detection methods on six datasets in three scenarios, including intraclass change detection datasets (CDD, SYSU), single-view building change detection datasets (WHU, LEVIR-CD, LEVIR-CD+) and a multiview building change detection dataset (NJDS). The experimental results demonstrate that our model achieves superior performance with high efficiency and outperforms all benchmark methods with F1-scores of 97.77%, 83.07%, 94.86%, 92.33%, 91.39%, 74.35% on CDD, SYSU, WHU, LEVIR-CD, LEVIR- CD+, and NJDS datasets, respectively. The code of this work will be available at https://github.com/NJU-LHRS/official-SGSLN

Comparison of flow characteristics behind squareback bluff-bodies with and without wheels

The wake dynamics of two referenced variations of the squareback Windsor model with and without wheels is numerically studied by performing improved delayed detached eddy simulation. Numerical assessments are validated against publicly available experimental data. The focus of this study is on the wake states influenced by the wheels and the thick oncoming floor boundary layer. Results show that the addition of the wheels significantly changes the aerodynamic forces, the underbody flow, and the wake topology. The wake bi-stability is also enhanced with wheels in place due to the increased curvature of lateral shear layers in the near wake. However, the bi-stable behavior is largely suppressed when immersed in a thick boundary layer. These alterations depend on the degree of interaction between the wake recirculation and the bottom flow, and such degree is strongly affected by the underbody flow momentum. The evolution of low-order flow organizations and complementary spectral analysis highlight the differences in the coherent dynamics of the wake. The finding of this present work suggests that the wake bi-stability behind the squareback body can exist not only for a simplified geometry but also for a more realistic car with wheels in real-world upstream conditions

On state instability of the bi-stable flow past a notchback bluff body

The wake of a notchback Ahmed body presenting a bi-stable nature is investigated by performing wind tunnel experiments and large-eddy simulations. Attention is confined to the Reynolds number (Re) influence on the wake state instability within 5 x 10(4) <= Re <= 25 x 10(4). Experimental observations suggest a wake bi-stability with low-frequency switches under low Re. The wake becomes \u27tri-stable\u27 with the increase of Re with the introduction of a new symmetric state. The higher presence of the symmetric state can be considered as a symmetrization of the wake bi-stability with an increasing Re. The wake symmetry under high Re attributed to the highly frequent switches of the wake is extremely sensitive to small yaw angles, showing the feature of bi-stable flows. The wake asymmetry is confirmed in numerical simulations with both low and high Re. The wake asymmetries are indicated by the wake separation, the reattachment and the wake dynamics identified by the proper orthogonal decomposition. However, the turbulence level is found to be significantly higher with a higher Re. This leads to a higher possibility to break the asymmetric state, resulting in highly frequent switches showing symmetry

Numerical investigation of the wake bi-stability behind a notchback Ahmed body

Large-eddy simulations are used to investigate the origin of the wake asymmetry and symmetry behind notchback Ahmed bodies. Two different effective backlight angles, beta(1) = 17.8 degrees and beta(2) = 21.0 degrees, are simulated resulting in wake asymmetry and symmetry in flows without external perturbations, in agreement with previous experimental observations. In particular, the asymmetric case presents a bi-stable nature showing, in a random fashion, two stable mirrored states characterized by a left or right asymmetry for long periods. A random switch and several attempts to switch between the bi-stability are observed. The asymmetry of the flow is ascribed to the asymmetric separations and reattachments in the wake. The deflection of the near-wall flow structures behind the slant counteracting the asymmetry drives the wake to be temporarily symmetric, triggering the switching process of the bi-stable wake. The consequence of deflection that forces the flow structure to form on the opposite side of the slant is the decisive factor for a successful switch. Modal analysis applying proper orthogonal decomposition is used for the exploration of the wake dynamics of the bi-stable nature observed

Aerodynamic performance of a high-speed train passing through three standard tunnel junctions under crosswinds

The aerodynamic performance of a high-speed train passing through tunnel junctions under severe crosswind condition was numerically investigated using improved delayed detached-eddy simulations (IDDES). Three ground scenarios connected with entrances and exits of tunnels were considered. In particular a flat ground, an embankment, and a bridge configuration were used. The numerical method was first validated against experimental data, showing good agreement. The results show that the ground scenario has a large effect on the train\u27s aerodynamic performance. The bridge case resulted in generally smaller drag and lift, as well as a lower pressure coefficient on both the train body and the inner tunnel wall, as compared to the tunnel junctions with flat ground and embankment. Furthermore, the bridge configuration contributed to the smallest pressure variation in time in the tunnel. Overall, the study gives important insights on complicated tunnel junction scenarios coupled with severe flow conditions, that, to the knowledge of the authors, were not studied before. Beside this, the results can be used for further improvements in the design of tunnels where such crosswind conditions may occur

Robust Control of An Aerial Manipulator Based on A Variable Inertia Parameters Model

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this paper, system modeling and control problem of the aerial manipulator are studied. Firstly, an UAV dynamic model is proposed with consideration of the dynamic coupling from an attached manipulator, which is treated as disturbance for the UAV. In the dynamic model, the disturbance is affected by the variable inertia parameters of the aerial manipulator system. Then, based on the proposed dynamic model, a disturbance compensation robust $H_{\infty}$ controller is designed to stabilize flight of the UAV while the manipulator is in operation. Finally, experiments are conducted and the experimental results demonstrate the feasibility and validity of the proposed control scheme

Fractal pore and its impact on gas adsorption capacity of outburst coal: Geological significance to coalbed gas occurrence and outburst

Pore structure and methane adsorption of coal reservoir are closely correlated to the coalbed gas occurrence and outburst. Full-scale pore structure and its fractal heterogeneity of coal samples were quantitatively characterized using low-pressure N2 gas adsorption (LP-N2GA) and high-pressure mercury intrusion porosimetry (HP-MIP). Fractal pore structure and adsorption capacities between outburst and nonoutburst coals were compared, and their geological significance to gas occurrence and outburst was discussed. The results show that pore volume (PV) is mainly contributed by macropores ( \u3e 1000 nm) and mesopores (100-1000 nm), while specific surface area (SSA) is dominated by micropores ( \u3c 10 nm) and transition pores (10 - 100 nm). On average, the PV and SSA of outburst coal samples are 4.56 times and 5.77 times those of nonoutburst coal samples, respectively, which provide sufficient place for gas adsorption and storage. The pore shape is dominated by semiclosed pores in the nonoutburst coal, whereas open pores and inkbottle pores are prevailing in the outburst coal. The pore size is widely distributed in the outburst coal, in which not only micropores are dominant, but also, transition pores and mesopores are developed to a certain extent. Based on the data from HP-MIP and LP-N2GA, pore spatial structure and surface are of fractal characteristics with fractal dimensions Dm1 (2.81 - 2.97) and Dn (2.50 - 2.73) calculated by Menger model and Frenkel-Halsey-Hill (FHH) model, respectively. The pore structure in the outburst coal is more heterogeneous as its Dn and Dm1 are generally larger than those of the nonoutburst coal. The maximum methane adsorption capacities (VL: 15.34 - 20.86 cm 3 / g) of the outburst coal are larger than those of the nonoutburst coal (VL : 9.97-13.51cm 3 / g). The adsorptivity of coal samples is governed by the micropores, transition pores, and Dn because they are positively correlated with the SSA. The outburst coal belongs to tectonically deformed coal (TDC) characterized by weak strength, rich microporosity, complex pore structure, strong adsorption capacity, but poor pore connectivity because of inkbottle pores. Therefore, the area of TDC is at high risk for gas outburst as there is a high-pressure gas sealing zone with abundant gas enrichment but limited gas migration and extraction

Rotor-Flying Manipulator: Modeling, Analysis, and Control

Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance

Rethinking Scale Imbalance in Semi-supervised Object Detection for Aerial Images

This paper focuses on the scale imbalance problem of semi-supervised object detection(SSOD) in aerial images. Compared to natural images, objects in aerial images show smaller sizes and larger quantities per image, increasing the difficulty of manual annotation. Meanwhile, the advanced SSOD technique can train superior detectors by leveraging limited labeled data and massive unlabeled data, saving annotation costs. However, as an understudied task in aerial images, SSOD suffers from a drastic performance drop when facing a large proportion of small objects. By analyzing the predictions between small and large objects, we identify three imbalance issues caused by the scale bias, i.e., pseudo-label imbalance, label assignment imbalance, and negative learning imbalance. To tackle these issues, we propose a novel Scale-discriminative Semi-Supervised Object Detection (S^3OD) learning pipeline for aerial images. In our S^3OD, three key components, Size-aware Adaptive Thresholding (SAT), Size-rebalanced Label Assignment (SLA), and Teacher-guided Negative Learning (TNL), are proposed to warrant scale unbiased learning. Specifically, SAT adaptively selects appropriate thresholds to filter pseudo-labels for objects at different scales. SLA balances positive samples of objects at different scales through resampling and reweighting. TNL alleviates the imbalance in negative samples by leveraging information generated by a teacher model. Extensive experiments conducted on the DOTA-v1.5 benchmark demonstrate the superiority of our proposed methods over state-of-the-art competitors. Codes will be released soon

QTL analysis of eating quality and cooking process of rice using a new RIL population derived from a cross between Minghui 63 and Khao Dawk Mali105

Abstract The cooking and eating quality of the rice grain is one of the most serious problems in many rice producing areas of the world. In this study, QTL analysis was performed for rice cooking and eating quality using a new recombinant inbred line (RIL) population derived from a cross between Minghui 63 (MH63), the Chinese best male sterility restorer in the hybrid rice programs, and Khao Dawk Mali105 (KDML105), the Thai jasmine rice, known as the best quality rice. The traits analyzed included amylose content (AC), gel consistency (GC), alkali spreading value (ASV), and 13 parameters from the viscosity profile. Comparison of the QTLs identified revealed 11 QTL clusters for these traits distributed on six chromosomes. The QTLs for the traits in the same class often clustered into the same chromosomal regions. A total of 29 QTLs were identified for 16 traits (or parameters) in the two years at P≤0.01 level. Our results clearly showed that the QTL cluster (six QTLs) corresponding to the Wx locus controlled six of the viscosity parameters such as BAtime-time needed from initial viscosity increase to peak viscosity (PKV), hot paste viscosity (HPV), final viscosity (FV), setback viscosity (SB) and consistency viscosity (CS), and had no effect on AC, GC, and ASV. The QTL cluster (13 QTLs) corresponding to the Alk locus played a role in ASV, GC, AC and all of the viscosity parameters except for PKV, FV and CS. In this study both AC and GC were not influenced by the Wx gene region. Our study investigated QTL analysis for the seven parameters of the viscosity profile, namely, Atemp, Atime, Btemp, Btime, BAtime, V95, and FV. Most of the QTLs previously found for these parameters on chromosome 6 in the Wx and Alk loci and on chromosome 5 and chromosome 7 were confirmed in the present study. Furthermore, new minor and major QTLs were also mapped on the chromosomes 5, 6, 7, 8, 11 and 12 for these parameters. However, we noted the instability of some of these QTLs across the environments and their small phenotypic variation value. Further investigation of these new QTLs or locus could bring more specific and comprehensive and probably complete information about them. Keywords: QTL, Recombinant inbred line, Rice quality, SSR markers, Viscosity profile. Abbreviations: AC-amylose content; Add-additive effect; Alk-alkali gene locus; Atemp-pasting temperature; Atime-pasting time; BAtime-time needed from initial viscosity increase to PKV; BD-breakdown viscosity; Btemp-peak temperature; Btime-peak time; Chrs-chromosome; CPV-cool paste viscosity; CS-consistency viscosity; FV-final viscosity at 40°C; GC-gel consistency; GTgelatinization temperature; HPV-hot paste viscosity; KDML105-Kkao Dawk Mali105; MH63-Minghui 63; PKV-peak viscosity ; QTL-quantitative trait loci; RIL-recombinant inbred lines; RVA-rapid visco analyzer; SB-setback viscosity; SD-standard deviation; SSR-simple sequence repeats; V95-viscosity at 95°C; Var%-phenotypic variation percentage; Wx-waxy gene locus