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Point Cloud of Cloud Points (PCCP) VAP provides a stereo reconstructed Point Cloud of Cloud Points (PCCP) that correspond to the x,y,z coordinates of cloud features detected from stereo image pairs genrated from a multi-view stereo system deployed to collect exclusive set of data on shallow cumulus clouds overhead.
Point Cloud of Cloud Points (PCCP) VAP provides a stereo reconstructed Point Cloud of Cloud Points (PCCP) that correspond to the x,y,z coordinates of cloud features detected from stereo image pairs generated from a multi-view stereo system deployed to collect exclusive set of data on shallow cumulus clouds overhead.
We present a new approach to unsupervised shape correspondence learning between pairs of point clouds. We make the first attempt to adapt the classical locally linear embedding algorithm (LLE)-originally designed for nonlinear dimensionality reduction-for shape correspondence. The key idea is to find dense correspondences between shapes by first obtaining high-dimensional neighborhood-preserving embeddings of low-dimensional point clouds and subsequently aligning the source and target embeddings using locally linear transformations. We demonstrate that learning the embedding using a new LLE-inspired point cloud reconstruction objective results in accurate shape correspondences. More specifically, the approach comprises an end-to-end learnable framework of extracting high-dimensional neighborhood-preserving embeddings, estimating locally linear transformations in the embedding space, and reconstructing shapes via divergence measure-based alignment of probability density functions built over reconstructed and target shapes. Our approach enforces embeddings of shapes in correspondence to lie in the same universal/canonical embedding space, which eventually helps regularize the learning process and leads to a simple nearest neighbors approach between shape embeddings for finding reliable correspondences. Comprehensive experiments show that the new method makes noticeable improvements over state-of-the-art approaches on standard shape correspondence benchmark datasets covering both human and nonhuman shapes.
Unmanned aerial vehicles (UAVs) equipped with integrated global navigation satellite systems/inertial navigation systems (GNSS/INS) together with cameras and/or LiDAR sensors are being widely used for topographic mapping in a variety of applications such as precision agriculture, coastal monitoring, and archaeological documentation. Integration of image-based and LiDAR point clouds can provide a comprehensive 3D model of the area of interest. For such integration, ensuring a good alignment between data from the different sources is critical. Although many works have been conducted on this topic, there is still a need for a rigorous integration approach that minimizes the discrepancy between camera and LiDAR data caused by inaccurate system calibration parameters and/or trajectory artifacts. This study proposes an automated tightly-coupled camera/LiDAR integration workflow for GNSS/INS-assisted UAV systems. The proposed strategy is conducted in three main steps. First, an image-based point cloud is generated using a LiDAR/GNSS/INS-assisted structure from motion (SfM) strategy. Then, feature correspondences between image-based and LiDAR point clouds are automatically identified. Finally, an integrated-bundle adjustment procedure including image points, LiDAR raw measurements, and GNSS/INS information is conducted to minimize the discrepancy between point clouds from different sensors while estimating system calibration parameters and refining the trajectory information. The proposed SfM strategy and integration framework are evaluated using five datasets. The SfM results show that using LiDAR data can facilitate feature matching and further increase the number of reconstructed 3D points. The experimental results also illustrate that the developed automated camera/LiDAR integration strategy is capable of accurately estimating system calibration parameters to achieve good alignment among camera/LiDAR data from single/multiple systems. Finally, an absolute accuracy in the range of 3–5 cm is achieved for the image/LiDAR point clouds after the integration process.
Unmanned aerial vehicles (UAVs) are quickly emerging as a popular platform for 3D reconstruction/modeling in various applications such as precision agriculture, coastal monitoring, and emergency management. For such applications, LiDAR and frame cameras are the two most commonly used sensors for 3D mapping of the object space. For example, point clouds for the area of interest can be directly derived from LiDAR sensors onboard UAVs equipped with integrated global navigation satellite systems and inertial navigation systems (GNSS/INS). Imagery-based mapping, on the other hand, is considered to be a cost-effective and practical option and is often conducted by generating point clouds and orthophotos using structure from motion (SfM) techniques. Mapping with photogrammetric approaches requires accurate camera interior orientation parameters (IOPs), especially when direct georeferencing is utilized. Most state-of-the-art approaches for determining/refining camera IOPs depend on ground control points (GCPs). However, establishing GCPs is expensive and labor-intensive, and more importantly, the distribution and number of GCPs are usually less than optimal to provide adequate control for determining and/or refining camera IOPs. Moreover, consumer-grade cameras with unstable IOPs have been widely used for mapping applications. Therefore, in such scenarios, where frequent camera calibration or IOP refinement is required, GCP-based approaches are impractical. To eliminate the need for GCPs, this study uses LiDAR data as a reference surface to perform in situ refinement of camera IOPs. The proposed refinement strategy is conducted in three main steps. An image-based sparse point cloud is first generated via a GNSS/INS-assisted SfM strategy. Then, LiDAR points corresponding to the resultant image-based sparse point cloud are identified through an iterative plane fitting approach and are referred to as LiDAR control points (LCPs). Finally, IOPs of the utilized camera are refined through a GNSS/INS-assisted bundle adjustment procedure using LCPs. Seven datasets over two study sites with a variety of geomorphic features are used to evaluate the performance of the developed strategy. The results illustrate the ability of the proposed approach to achieve an object space absolute accuracy of 3–5 cm (i.e., 5–10 times the ground sampling distance) at a 41 m flying height.
In the field of autonomous systems, neural networks have been leveraged for object detection and recognition in 2-dimensional images captured by cameras. Other types of sensors are available for sensing surroundings, including LiDAR sensors, and corresponding networks have been developed to perform detection and recognition in the point clouds generated by these sensors. The approaches are similar, both perform convolutions, but have distinct characteristics and challenges. In designing and configuring autonomous systems, a variety of LiDAR sensors are available, along with configurable deep neural networks to leverage their data. This work presents a review of the PointPillars network, an evolution of the seminal PointNet, comparing accuracy and training time relative to different LiDAR sensors, network and training parameters, CPU and GPU hardware, and the criticality of the use of reflective intensity as a feature. The value of using reflectivity as a predictive feature is explored and quantified to determine if it makes a significant difference in accuracy of the PointPillars network. Two separate LiDAR sensors are utilized, a 16-plane and a 32-plane, and corresponding accuracies and training times with the PointPillars network are evaluated.
Summary This article proposes a random‐forest based A2Cloud framework to match scientific applications with Cloud providers and their instances for high performance. The framework leverages four engines for this task: PERF engine, Cloud trace engine, A2Cloud‐ext engine, and the random forest classifier (RFC) engine. The PERF engine profiles the application to obtain performance characteristics, including the number of single‐precision (SP) floating‐point operations (FLOPs), double‐precision (DP) FLOPs, x87 operations, memory accesses, and disk accesses. The Cloud trace engine obtains the corresponding performance characteristics of the selected Cloud instances including: SP floating point operations per second (FLOPS), DP FLOPS, x87 operations per second, memory bandwidth, and disk bandwidth. The A2Cloud‐ext engine uses the application and Cloud instance characteristics to generate objective scores that represent the application‐to‐Cloud match. The RFC engine uses these objective scores to generate two types of random forests to assist users with rapid analysis: application‐specific random forests (ARF) and application‐class based random forests. The ARF consider only the input application's characteristics to generate a random forest and provide numerical ratings to the selected Cloud instances. To generate the application‐class based random forests, the RFC engine downloads the application profiles and scores of previously tested applications that perform similar to the input application. Using these data, the RFC engine creates a random forest for instance recommendation. We exhaustively test this framework using eight real‐world applications across 12 instances from different Cloud providers. Our tests show significant statistical agreement between the instance ratings given by the framework and the ratings obtained via actual Cloud executions.
About 50% of buildings in the US were constructed before energy codes were introduced. Modular overclad panel retrofits, in which a new envelope is constructed over the existing building, are a promising solution given that it minimizes occupant disruption and shortens construction time at the jobsite. Current state-of-the-art retrofit panel layout and dimensioning consists of three steps: 1) 3D point cloud data generation of the building envelope using commonly available surveying equipment, 2) manual segmentation of 3D point cloud data by a trained professional to identify and dimension window openings, door openings, and other architectural features, and 3) modular panel layout optimization and dimensioning by an architect or engineer. Among these steps, the second one remains the most difficult and costly because it is very labor-intensive. We propose a methodology to automatically label 3D point cloud data to reduce the time and expense spent in manual segmentation. Machine learning methods were employed to classify the point cloud data into distinct groups, each of which corresponds to different features of the building envelope. After classification, a segmentation algorithm was developed to perform boundary detection and separate the components of the façade. Finally, the algorithm returns the relative positions and dimensions of the features in the building envelope. The measurements obtained with the proposed automated method were compared against the actual dimensions to determine the overall algorithm accuracy. The proposed algorithm can then be used to reduce manual efforts for 3D point cloud labeling before modular panel layout optimization is performed.
Recent developments in remote sensing are enabling automatic, high resolution, and non-destructive survey of agriculture fields, providing the key basis for advancing plant breeding. Among the used remote sensing modalities, LiDAR has attracted wide attention for its ability to directly provide accurate 3D information. Despite the increasing utilization of LiDAR technology in phenotyping, there is still a lack of effective quality control strategies, in particular, quality control of LiDAR data collected on a multi-temporal basis. This study proposes a targetless framework for multi-temporal LiDAR data quality control and crop characterization in mechanized agricultural fields. Features extracted from the fields – terrain patches and row/alley locations – are utilized for evaluating the vertical and planimetric relative accuracy of the point clouds. Row/alley locations in the field are automatically identified from the point clouds based on the assumption that higher point density and/or higher elevation correspond to plant locations. The performance of the proposed quality control strategies is evaluated using multi-temporal datasets collected in agricultural fields of different sizes, orientation, crops, and growth stages. The result shows that the net vertical and planimetric discrepancies between multi-temporal point clouds are ±3 cm and ±8 cm, respectively. While the former reflects the actual accuracy of the point clouds, the latter is a combined effect of the LiDAR point cloud accuracy, rasterization artifacts, crop type, growth pattern, and wind condition during data acquisition. In terms of row and alley detection, the result shows that the proposed strategy achieves high performance and can deal with different planting orientation, crop types, growth stages, canopy cover, and planting density. In conclusion, this study presents a quality control framework for multi-temporal LiDAR data. Finally, the row and alley detection leads to automated extraction of plots, and hence facilitates the use of remotely sensed data for automated phenotyping.
A vibrometer may measure acoustic responses in portions of a structure along a scan path to acoustic excitation of the structure. A ranging device may measure distances to the portions of the structure along the scan path. A three-dimensional point cloud may be generated based on the acoustic responses in the portions of the structure and the distances to the portions of the structure. The three-dimensional point cloud may include points representing geometry of the portions of the structure. The points may be associated with the acoustic responses in corresponding portions of the structure. One or more properties of the structure may be determined based on an analysis of the three-dimensional point cloud.
Abstract In recent years, direct calculations of simulated cumulus entrainment and detrainment have facilitated new physical insights into these highly elusive but critically important processes. However, these calculations require substantial computational resources that may limit their widespread usage. To facilitate such calculations, two simplified approximations of direct cumulus entrainment and detrainment are examined herein. The first approximation, termed the “semidirect” method, follows a standard bulk approach but makes more realistic assumptions about the sources of entrained and detrained air near the cloud edges. In contrast, the second approximation (the “projection” method) uses the governing equations of motion to project whether grid points near the cloud edge will entrain or detrain as the mean cloud ascends by one grid point. Verification exercises using large-eddy simulations reveal that both methods generally agree better with corresponding direct entrainment/detrainment estimates than the traditional bulk formulation, with the projection method outperforming the semidirect method. The two methods can be used in a synergistic fashion, with the semidirect method helping to optimize the projection method, to suit a wide range of applications. Because the latter incorporates the essential dynamics of entrainment and detrainment at the local scale, it can be used to gain physical insight into the causal mechanisms regulating these complex processes.
We demonstrated production of a superior performance biodiesel referred to here as fatty acid fusel alcohol esters (FAFE) – by reacting fusel alcohols (isobutanol, 3-methyl-1-butanol, and (S)-(-)-2-methyl-1-butanol) with oil (glyceryl trioleate) using lipase from Aspergillus oryzae. Reaction conditions corresponding to a molar ratio of 5:1 (fusel alcohols to oil), enzyme loading of 2% w/w, reaction temperature of 35 °C, shaking speed of 250 rpm, and reaction time of 24 h achieved >97% conversion to FAFE. Further, FAFE obtained from reacting a fusel alcohol mixture with corn oil were evaluated for use as a fuel for diesel engines. FAFE mixtures showed superior combustion and cold-flow properties, with the derived cetane numbers up to 4.8 points higher, cloud points up to -6 °C lower, and the heat of combustion up to 2.1% higher than the corresponding FAME samples, depending on the fusel mixture used. This represents a significant improvement for all three metrics, which are typically anti-correlated. Finally, FAFE provides a new opportunity for expanded usage of biodiesel by addressing feedstock limitations, fuel performance, and low temperature tolerance.
In this study, homopolymerization of fluoroacrylate monomers containing a segment with eight fluorinated carbons, (CH 2 CHCOO(CH 2 ) 2 (CF 2 ) 7 CF 3 ), yield poly(fluoroacrylate) (PFA) with remarkably high solubility in CO 2 , but the corresponding ultimate PFA degradation product perfluorooctanoic acid (PFOA) is bio-accumulative. Based on cloud point loci in the 1–4 wt% PFA in CO 2 concentration range at temperatures of 25, 50, 75, 100 and 125°C, it is shown that C 6 F 13 -based and C 4 F 9 -based PFA, with relatively benign degradation products perfluorohexanoic acid (PFHxA) and perfluorobutanoic acid (PFBA), respectively, retain the same level of CO 2 -solubility as that of C 8 F 17 -based PFA. Further, both C 6 F 13 -based and C 4 F 9 -based PFA can increase the viscosity of single-phase CO 2 -PFA solutions (i.e. thicken CO 2 ) as much as C 8 F 17 -based PFA in the 25–125°C range. Therefore, the design of CO 2 -soluble PFA need not be constrained to monomers containing the C 8 F 17 moiety; fluoroacrylate monomers containing shorter fluoroalkyl segments with only four or six fluorocarbons can be utilized.
Low clouds and precipitation representation remain a major source of uncertainty in Earth System Models (ESMs), particularly due to challenges in representing their sub-grid variability and scale-dependent sampling. This study evaluates the performance of preliminary simulations from the Large-Eddy Simulation (LES) ARM Symbiotic Simulation and Observation (LASSO) project over the Eastern North Atlantic (ENA), with a focus on liquid water path (LWP), ice water path (IWP), cloud fraction (CF), and surface precipitation simulated across closed-cell, open-cell, and transitional cloud regimes. Using LES (100 m horizontal grid spacing) driven by ERA5 and MERRA-2 reanalyses, we assess the representativeness of ground-based point observations by analyzing their correspondence to model-resolved spatial and temporal means. Results suggest that observational sampling of at least 6 hours is required to achieve consistency with domain-scale averages, in particular for observations that exhibit pronounced sub-grid heterogeneity, such as precipitation. ERA5-forced simulations exhibit improved spatial coherence and agreement with domain-averaged quantities when compared to MERRA-2 runs, with performance discrepancies largest for convective cloud conditions due to differences in forcing fidelity and temporal resolution. These findings highlight the importance of regime-aware model evaluation strategies and potentially demonstrate how LES can inform observation-model comparison practices and the development of cloud and precipitation parameterizations in ESMs.
ABSTRACT The geometric characteristics of dust clouds provide important information on the physical processes that structure such clouds. One of such characteristics is the 2D fractal dimension D of a cloud projected on to the sky plane. In previous studies, which were mostly based on infrared (IR) data, the fractal dimension of individual clouds was found to be in a range from 1.1 to 1.7 with a preferred value of 1.2–1.4. In this work, we use data from Stripe82 of the Sloan Digital Sky Survey to measure the fractal dimension of the cirrus clouds. This is done here for the first time for optical data with significantly better resolution as compared to IR data. To determine the fractal dimension, the perimeter-area method is employed. We also consider IR (IRAS and Herschel) counterparts of the corresponding optical fields to compare the results between the optical and IR. We find that the averaged fractal dimension across all clouds in the optical is $\langle D \rangle =1.69^{+0.05}_{-0.05}$ which is significantly larger than the fractal dimension of its IR counterparts $\langle D\rangle =1.38^{+0.07}_{-0.06}$. We examine several reasons for this discrepancy (choice of masking and minimal contour level, image and angular resolution, etc.) and find that for approximately half of our fields the different angular resolution (point spread function) of the optical and IR data can explain the difference between the corresponding fractal dimensions. For the other half of the fields, the fractal dimensions of the IR and visual data remain inconsistent, which can be associated with physical properties of the clouds, but further physical simulations are required to prove it.
Dual-frequency millimeter-wavelength radar observations in snowfall are analyzed in order to evaluate differences in conventional polarimetric radar variables such as differential reflectivity (ZDR) specific differential phase shift (K DP ) and linear depolarization ratio (LDR) at traditional cloud radar frequencies at Ka and W bands (~35 and ~94 GHz, correspondingly). Low radar beam elevation (~5°) measurements were performed at Oliktok Point, Alaska, with a scanning fully polarimetric radar operating in the horizontal–vertical polarization basis. This radar has the same gate spacing and very close beam widths at both frequencies, which largely alleviates uncertainties associated with spatial and temporal data matching. It is shown that observed Ka- and W-band Z DR differences are, on average, less than about 0.5 dB and do not have a pronounced trend as a function of snowfall reflectivity. The observed Z DR differences agree well with modeling results obtained using integration over nonspherical ice particle size distributions. For higher signal-to-noise ratios, KDP data derived from differential phase measurements are approximately scaled as reciprocals of corresponding radar frequencies indicating that the influence of non-Rayleigh scattering effects on this variable is rather limited. This result is also in satisfactory agreement with data obtained by modeling using realistic particle size distributions. Observed Ka- and W-band LDR differences are strongly affected by the radar hardware system polarization “leak” and are generally less than 4 dB. Smaller differences are observed for higher depolarizations, where the polarization “leak” is less pronounced. Realistic assumptions about particle canting and the system polarization isolation lead to modeling results that satisfactorily agree with observational dual-frequency LDR data.
A point source atom interferometer (PSI) is a device where atoms are split and recombined by applying a temporal sequence of Raman pulses during the expansion of a cloud of cold atoms behaving approximately as a point source. Unlike a conventional light pulse atom interferometer, the PSI can produce a signal that corresponds to multi-axis rotation only, independent of acceleration. In addition, it can be used to measure acceleration along one direction, independent of rotation. Here, we describe a modified PSI that can be used to measure multi-axis rotation and multi-axis acceleration. Specifically, this type of PSI can be used to measure two-axes rotation around the directions perpendicular to the light pulses, as well as the acceleration in all three directions, with only one pair of Raman beams. Using two pairs of Raman beams in orthogonal directions sequentially, such a scheme would enable the realization of a complete atom interferometric inertial measurement unit.
This reports details the analysis of the heating rates, dpa values and He production in the Proton Beam Window (PBW) assembly and the Core Vessel (CV) nozzle for the preliminary design for the Second Target Station (STS). This analysis focuses on the heating rates in the cooled beltline component of the CV. Neutronics calculations use a detailed unstructured mesh (UM) converted from a CAD model in SpaceClaim of the PBW and CV design of February 2024. The rest of the geometry is taken from the STS master model in constructive solid geometry (CSG). Heating is evaluated for four beam profiles, which are chosen as the most likely to produce the highest heating in the beltline component. The maximum energy deposition values in the beltline are 0.02-0.08 J/cc/pulse, depending on the beam profile. Detailed point cloud data of the full UM geometry is made available for mechanical analysis. The maximum dpa rate in the beltline steel is approximately 0.02 dpa/year, which corresponds to a lifetime of 3,000 years. These results are in good agreement with previous results for the CV. For the PBW itself, maximal heating, dpa, and He production rates are very similar to the previous analysis.