A Real-time Range Finding System with Binocular Stereo Vision

To acquire range information for mobile robots, a TMS320DM642 DSP-based range finding system with binocular stereo vision is proposed. Firstly, paired images of the target are captured and a Gaussian filter, as well as improved Sobel kernels, are achieved. Secondly, a feature-based local stereo matching algorithm is performed so that the space location of the target can be determined. Finally, in order to improve the reliability and robustness of the stereo matching algorithm under complex conditions, the confidence filter and the left-right consistency filter are investigated to eliminate the mismatching points. In addition, the range finding algorithm is implemented in the DSP/BIOS operating system to gain real-time control. Experimental results show that the average accuracy of range finding is more than 99% for measuring single-point distances equal to 120cm in the simple scenario and the algorithm takes about 39ms for ranging a time in a complex scenario. The effectivity, as well as the feasibility, of the proposed range finding system are verified

Nonlinearly scalarized rotating black holes in Einstein-scalar-Gauss-Bonnet theory

In this paper, we discuss a fully nonlinear mechanism for the formation of scalarized rotating black holes in Einstein-scalar-Gauss-Bonnet gravity, where Kerr black holes are linearly stable, but unstable against nonlinear scalar perturbations. With the help of the pseudospectral method, we obtain a spectrum of nonlinearly scalarized rotating black hole solutions with multiple scalarized branches. Moreover, we investigate the thermodynamic properties of nonlinearly scalarized rotating black holes and find the phase transition between Kerr and these scalarized black holes.Comment: 23 pages, 8 figures and 2 table

Spin-Charge induced spontaneous scalarization of Kerr-Newman black holes

We investigate the tachyonic instability of Kerr-Newman (KN) black holes in the Einstein-Maxwell-scalar (EMS) theory with a positive coupling parameter $\alpha$. This corresponds to exploring the onset of spontaneous scalarization for KN black holes. For this purpose, we use the hyperboloidal foliation method (HFM) to solve the linearized scalar equation numerically. We obtain a 3D graph [$\log_{10}\alpha(a,Q)$] which indicates the onset surface for spontaneous scalarization of KN black holes in the EMS theory. We find that there is no lower bound on the rotational parameter $a$, but its upper bound is given by $M^2-Q^2 \ge a^2$. Also, we confirm that the high rotation enhances spontaneous scalarization of KN black holes in the EMS theory.Comment: 21 pages, 6 figures, Version accepted for publication in PRD. arXiv admin note: text overlap with arXiv:2206.1158

Language Use as Carrier of Social Identity

In the present study, we examined the relationship of social identity (Hongkonger or Chinese) and rite attitudes toward bilingual code switching in a conversation between a Hong Kong person and a Chinese Mainlander. Students from a local university in Hong Kong (N = 159) listened to a four-turn conversation between a Hong Kong person and a Mainlander in a wedding party. As expected, when the speaker converged to rite Putonghua (the Mainland official language), those who claimed a Hongkonger identity judged the Hong Kong speaker less favourably; than did those who claimed a Chinese identity. In addition, participants who claimed a Chinese identity judged the Hong Kong speaker more favourably when he converged to Putonghua than when he maintained Cantonese (a Chinese dialect most commonly used in Hong Kong). Finally, social identity was unrelated to language attitudes when the Mainland speaker converged to Cantonese first. (C) 1999 Elsevier Science Ltd. All rights reserved

Variational-based data assimilation to simulate sediment concentration in the Lower Yellow River, China

The heavy sediment load of the Yellow River makes it difficult to simulate sediment concentration using classic numerical models. In this paper, on the basis of the classic one-dimensional numerical model of open channel flow, a variational-based data assimilation method is introduced to improve the simulation accuracy of sediment concentration and to estimate parameters in sediment carrying capacity. In this method, a cost function is introduced first to determine the difference between the sediment concentration distributions and available field observations. A one-dimensional suspended sediment transport equation, assumed as a constraint, is integrated into the cost function. An adjoint equation of the data assimilation system is used to solve the minimum problem of the cost function. Field data observed from the Yellow River in 2013 are used to test the proposed method. When running the numerical model with the data assimilation method, errors between the calculations and the observations are analyzed. Results show that (1) the data assimilation system can improve the prediction accuracy of suspended sediment concentration; (2) the variational inverse data assimilation is an effective way to estimate the model parameters, which are poorly known in previous research; and (3) although the available observations are limited to two cross sections located in the central portion of the study reach, the variational-based data assimilation system has a positive effect on the simulated results in the portion of the model domain in which no observations are available

Corrosion behavior and characteristics of passive films of laser powder bed fusion produced Ti-6Al-4V in dynamic Hank’s solution

The corrosion behavior of laser powder bed fusion produced (L-PBF-produced) titanium alloys involving flowing body fluid is still unclear. Therefore, this work investigates in vitro corrosion behavior and the characteristics of passive films formed on L-PBF-produced Ti–6Al–4V in both static and dynamic Hank’s solutions. Electrochemical measurements, immersion tests, X-ray photoelectron spectroscopy and scanning electron microscopy were conducted. In comparison to the L-PBF-produced Ti–6Al–4V in static Hank’s solution, the samples showed lower charge transfer resistance and higher passivation current density (anodic current density as well) in dynamic Hank’s solution. Meanwhile, a more apparent deposition of apatite and hydroxyapatite is found on the L-PBF-produced Ti–6Al–4V in dynamic Hank’s solution. Such outcomes mainly result from the enhancement of film/solution interfacial transportation in dynamic Hank’s solution. The dynamic Hank’s solution provides more calcium and phosphate ions to the surface of the passive film and also takes away the dissolved metal ions. Therefore, more salt deposition and a lower-quality passive film are found

Enhancement of bacteriolysis of Shuffled phage PhiX174 gene E

Bacterial ghosts that are generated using the regulated PhiX174 lysis gene E offer a new avenue for the study of inactivated vaccines. Here, we constructed a library of mutant gene E using a gene-shuffling technique. After screening and recombination with the prokaryotic non-fusion expression vector pBV220, two lysis plasmids were selected. Among which, a novel mutant E gene (named mE), consisting of a 74-bp non-encoding sequence at 5'-end and a 201-bp gene ΔE, significantly increased the lysis effect on prokaryotic Escherichia coli and Salmonella enteritidis. Moreover, lysis efficiency, as measured by the OD600 value, reached 1.0 (109 CFU), avoiding the bottleneck problem observed with other bacterial lysis procedures, which results in a low concentration of bacteria in suspension, and consequent low production of bacterial ghosts. Our results may provide a promising avenue for the development of bacterial ghost vaccines

Levitation by a dipole electric field

The phenomenon of floating can be fascinating in any field, with its presence seen in art, films, and scientific research. This phenomenon is a captivating and pertinent subject with practical applications, such as Penning traps for antimatter confinement and Ion traps as essential architectures for quantum computing models. In our project, we reproduced the 1893 water bridge experiment using glycerol and first observed that lump-like macroscopic dipole moments can undergo near-periodic oscillations that exhibit floating effects and do not need classical bridge form. By combining experimental analysis, neural networks, investigation of Kelvin force generated by the Finite element method, and exploration of discharging, we gain insights into the mechanisms of motion. Our discovery has overturned the previous impression of a bridge floating in the water, leading to a deeper understanding of the new trap mechanism under strong electric fields with a single pair of electrodes.Comment: 5 pages, 5 figure