Research on orchard navigation method based on fusion of 3D SLAM and point cloud positioning

Accurate navigation is crucial in the construction of intelligent orchards, and the need for vehicle navigation accuracy becomes even more important as production is refined. However, traditional navigation methods based on global navigation satellite system (GNSS) and 2D light detection and ranging (LiDAR) can be unreliable in complex scenarios with little sensory information due to tree canopy occlusion. To solve these issues, this paper proposes a 3D LiDAR-based navigation method for trellis orchards. With the use of 3D LiDAR with a 3D simultaneous localization and mapping (SLAM) algorithm, orchard point cloud information is collected and filtered using the Point Cloud Library (PCL) to extract trellis point clouds as matching targets. In terms of positioning, the real-time position is determined through a reliable method of fusing multiple sensors for positioning, which involves transforming the real-time kinematics (RTK) information into the initial position and doing a normal distribution transformation between the current frame point cloud and the scaffold reference point cloud to match the point cloud position. For path planning, the required vector map is manually planned in the orchard point cloud to specify the path of the roadway, and finally, navigation is achieved through pure path tracking. Field tests have shown that the accuracy of the normal distributions transform (NDT) SLAM method can reach 5 cm in each rank with a coefficient of variation that is less than 2%. Additionally, the navigation system has a high positioning heading accuracy with a deviation within 1° and a standard deviation of less than 0.6° when moving along the path point cloud at a speed of 1.0 m/s in a Y-trellis pear orchard. The lateral positioning deviation was also controlled within 5 cm with a standard deviation of less than 2 cm. This navigation system has a high level of accuracy and can be customized to specific tasks, making it widely applicable in trellis orchards with autonomous navigation pesticide sprayers

Multi-scenario pear tree inflorescence detection based on improved YOLOv7 object detection algorithm

Efficient and precise thinning during the orchard blossom period is a crucial factor in enhancing both fruit yield and quality. The accurate recognition of inflorescence is the cornerstone of intelligent blossom equipment. To advance the process of intelligent blossom thinning, this paper addresses the issue of suboptimal performance of current inflorescence recognition algorithms in detecting dense inflorescence at a long distance. It introduces an inflorescence recognition algorithm, YOLOv7-E, based on the YOLOv7 neural network model. YOLOv7 incorporates an efficient multi-scale attention mechanism (EMA) to enable cross-channel feature interaction through parallel processing strategies, thereby maximizing the retention of pixel-level features and positional information on the feature maps. Additionally, the SPPCSPC module is optimized to preserve target area features as much as possible under different receptive fields, and the Soft-NMS algorithm is employed to reduce the likelihood of missing detections in overlapping regions. The model is trained on a diverse dataset collected from real-world field settings. Upon validation, the improved YOLOv7-E object detection algorithm achieves an average precision and recall of 91.4% and 89.8%, respectively, in inflorescence detection under various time periods, distances, and weather conditions. The detection time for a single image is 80.9 ms, and the model size is 37.6 Mb. In comparison to the original YOLOv7 algorithm, it boasts a 4.9% increase in detection accuracy and a 5.3% improvement in recall rate, with a mere 1.8% increase in model parameters. The YOLOv7-E object detection algorithm presented in this study enables precise inflorescence detection and localization across an entire tree at varying distances, offering robust technical support for differentiated and precise blossom thinning operations by thinning machinery in the future

Error Analysis of Polarimetric Interferometric SAR under Different Processing Modes in Urban Areas

Polarimetric Interferometric Synthetic Aperture Radar (PolInSAR) simultaneously has interferometric height measurement and full-polarized detection capabilities, which can better reflect the structural properties of feature targets. Therefore, its potential for application in complex scenarios, such as urban areas, has attracted increasing attention. In urban areas, the processing mainly includes three modes: using interferometry to extract height based on polarimetric optimal coherence, using interferometry based on polarized decomposition, and associating polarimetric interferometric observation equations to retrieve the heights of different scattering mechanisms. The analysis of error factors and effects on Interferometric SAR (InSAR) and polarized SAR is almost complete, but the analysis of error effects under different processing modes of PolInSAR is insufficient. Based on the PolInSAR error model, our paper proposes a method for solving the scattering mechanism under the simultaneous polarization observation equation. Moreover, we derive the model including each error under different processing modes in PolInSAR from the aspect of polarized errors, interferometric errors, and the Signal-to-Noise Ratio (SNR). Furthermore, the model is verified through simulations, and we provide height inversion results through three processing modes after compensating for polarized errors and interferometric errors. After the error compensation, we obtain a Root Mean Squared Error (RMSE) in building areas of 2.77 m through polarimetric optimal coherence. Finally, the simulations provide the error impact curves under different processing modes of PolInSAR and compare the degree of different processing methods affected by errors, which provides a reasonable explanation for the design of the PolInSAR system, selection of processing methods, and data application

Flood Runoff Simulation under Changing Environment, Based on Multiple Satellite Data in the Jinghe River Basin of the Loess Plateau, China

Understanding the hydrological surface condition changes, climate change and their combined impacts on flood runoff are critical for comprehending the hydrology under environmental changes and for solving future flood management challenges. This study was designed to examine the relative contributions of the hydrological surface condition changes and climate change in the flood runoff of a 45,421-km2 watershed in the Loess Plateau region. Statistical analytical methods, including Kendall’s trend test, the Theisen median trend analysis, and cumulative anomaly method, were used to detect trends in the relationship between the climatic variables, the normalized difference vegetation index (NDVI), land use/cover change (LUCC) data, and observed flood runoff. A grid-cell distributed rainfall–runoff model was used to detect the quantitative hydrologic responses to the climatic variability and land-use change. We found that climatic variables were not statistically significantly different (p > 0.05) over the study period. From 1985 to 2013, the cropland area continued to decrease, while the forest land, pastures, and residential areas increased in the Jinghe River Basin. Affected by LUCC and climate change, the peak discharges and flood volumes decreased by 8–22% and 5–67%, respectively. This study can provide a reference for future land-use planning and flood runoff control policy formulation and for revision in the study area

Spatial and temporal variation of nearshore significant wave height in the Three Gorges Reservoir, China

The study of wave characteristic changes is critical for understanding the role of wave erosion in the shoreline erosion of reservoirs and its subsequent impact on environmental pollution. This study utilizes RBRvirtuoso D-wave-pressure-based wave gauges to make in situ observations of the nearshore significant wave height (SWH) in the Three Gorges Reservoir. The differential and impact factors affecting the SWH under varying water levels, in the main and tributary streams, and shoreline sections are analyzed. This research also investigates the alteration of the frequency distribution of the SWH. The findings indicate that the average SWH increases as the water level increases, reaching 1.2 cm, 1.5 cm, and 1.9 cm for water levels of 150 m, 165 m, and 175 m, respectively, with a SWH frequency distribution curve that becomes increasingly smooth. The average SWH in the mainstream is 2.9 times larger than that in the tributaries, with the former having a smoother frequency distribution curve. The average SWHs in different shoreline sections are inconsistent at the same water level, with the Badong (downstream) section near the Three Gorges Dam exhibiting a significantly higher average SWH than the Zhongxian (midstream) section further from the dam. When shipping activities intensify, there is often a marked increase in the magnitude of the SWH. The SWH in narrower reservoir sections is significantly greater than that in wider sections, with average measurements of 2.2 cm and 1.4 cm, respectively. Fluctuations of the water level, shipping activities, and other factors in the Three Gorges Reservoir have a significant impact on the alteration of the nearshore SWH, and changes in the SWH from low to high water levels may result in changes in both the spatial and temporal patterns of shoreline erosion. These alterations can, in turn, affect sediment and nutrient transport, potentially exacerbating environmental pollution issues

Technologies and Equipment of Mechanized Blossom Thinning in Orchards: A Review

Orchard thinning can avoid biennial bearing and improve fruit quality, which is a necessary agronomic section in orchard management. The existing methods of artificial fruit thinning and chemical spraying are no longer suitable for the development of modern agriculture. With the continuous acceleration of the construction process of modern orchards, blossom thinning mechanization has become an inevitable trend in the development of the orchard flower and fruit management. Based on relevant reports in the past 20 years, the paper discusses the current level of development of mechanized blossom thinning technologies and equipment in orchards from three aspects: mechanism research, machine development, and intelligent upgrading. Firstly, for thinning mechanism research, three directions were investigated: the rope flexible hitting force, thinning agronomic requirements, and the fruit tree growth model between thinning and fruit yields. Secondly, for marketable machine developments, two types of machines were investigated: the hand-held thinner and tractor-mounted thinner. The hand-held thinner is mainly suitable for traditional old orchards with a messy canopy structure, especially in the interior and top of the canopy. The tractor-mounted thinner is mainly suitable for orchards with the same crown structure, such as the hedge type, trunk type, and V-type. Thirdly, for equipment intelligent upgrading, the research of the intelligent detection algorithm for inflorescence on the fruit tree was investigated, for species including the apple, pear, citrus, grape, litchi, mango, and apricot. Finally, combining the advantages and disadvantages of the research, the authors propose thoughts and prospects, which can provide a reference for the design and applications of orchard mechanized blossom thinning

Microsatellite records for volume 10, issue 2 (vol 10, pg 269, 2018)

The author group of the article is not displayed in the web/online version, though the information appeared in print version

Determination of the number of ψ(3686)\psi(3686) events at BESIII

The numbers of ψ(3686) events accumulated by the BESIII detector for the data taken during 2009 and 2012 are determined to be and , respectively, by counting inclusive hadronic events, where the uncertainties are systematic and the statistical uncertainties are negligible. The number of events for the sample taken in 2009 is consistent with that of the previous measurement. The total number of ψ(3686) events for the two data taking periods is