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"Boulders"
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Improving YOLOv5 with Attention Mechanism for Detecting Boulders from Planetary Images
It is of great significance to apply the object detection methods to automatically detect boulders from planetary images and analyze their distribution. This contributes to the selection of candidate landing sites and the understanding of the geological processes. This paper improves the state-of-the-art object detection method of YOLOv5 with attention mechanism and designs a pyramid based approach to detect boulders from planetary images. A new feature fusion layer has been designed to capture more shallow features of the small boulders. The attention modules implemented by combining the convolutional block attention module (CBAM) and efficient channel attention network (ECA-Net) are also added into YOLOv5 to highlight the information that contribute to boulder detection. Based on the Pascal Visual Object Classes 2007 (VOC2007) dataset which is widely used for object detection evaluations and the boulder dataset that we constructed from the images of Bennu asteroid, the evaluation results have shown that the improvements have increased the performance of YOLOv5 by 3.4% in precision. With the improved YOLOv5 detection method, the pyramid based approach extracts several layers of images with different resolutions from the large planetary images and detects boulders of different scales from different layers. We have also applied the proposed approach to detect the boulders on Bennu asteroid. The distribution of the boulders on Bennu asteroid has been analyzed and presented.
Journal Article
Evaluation of Boulder Characteristics for Improved Boulder Detection Based on Machine Learning Techniques
Detailed maps of the seabed and knowledge of its habitats are critical for a wide range of tasks, such as sustainable development, and environmental protection. Boulders on the seabed form an important environment for ecosystems, but the detection of them is challenging. In this study, we aim to improve the understanding of boulder predictors and to determine connections between predictors and boulder environments on different spatial scales. The Relief-F filter feature selection algorithm was used on four 30 m × 30 m areas in Rødsand lagoon, containing one boulder each, to determine the most relevant predictors. The predictors could be divided into four groups detecting different boulder characteristics: colour contrast, height, boulder boundaries, and spherical geometry. Twelve different types of boulder environments were evaluated. Bare, spherical boulders on sandy seabeds can be predicted from all four predictor groups. It is not possible to detect non-spherical boulders on seabed covered by vegetation. The best predictors for boulder detection depend on the shape and size of the boulder and the surrounding sediment and vegetation. The predictors were evaluated on a larger 400 × 2500 m area. When up-scaling the boulder detection area, larger seabed structures may affect the results. Therefore, knowledge about these structures can be used to remove errors and uncertainties from machine learning input data.
Journal Article
Disturbance-mediated facilitation by an intertidal ecosystem engineer
Ecosystem engineers facilitate communities by providing a structural habitat that reduces abiotic stress or predation pressure for associated species. However, disturbance may damage or move the engineer to a more stressful environment, possibly increasing the importance of facilitation for associated communities. In this study, we determined how disturbance to intertidal boulders (i.e., flipping) and the subsequent movement of a structural ecosystem engineer, the tube-forming serpulid worm Galeolaria caespitosa, from the bottom (natural state, low abiotic stress) to the top (disturbed state, high abiotic stress) surface of boulders influenced the importance of facilitation for intertidal communities across two intertidal zones. Theory predicts stronger relative facilitation should occur in the harsher environments of the top of boulders and the high intertidal zone. To test this prediction, we experimentally positioned boulders with the serpulids either face up or face down for 12 months in low and high zones in an intertidal boulder field. There were very different communities associated with the different boulders and serpulids had the strongest facilitative effects on the more stressful top surface of boulders with approximately double the species richness compared to boulders lacking serpulids. Moreover, within the serpulid matrix itself there was also approximately double the species richness (both zones) and abundance (high zone only) of small invertebrates on the top of boulders compared to the bottom. The high relative facilitation on the top of boulders reflected a large reduction in temperature by the serpulid matrix on that surface (up to 10°C) highlighting a key role for modification of the abiotic environment in determining the community-wide facilitation. This study has demonstrated that disturbance and subsequent movement of an ecosystem engineer to a more stressful environment increased the importance of facilitation and allowed species to persist that would otherwise be unable to survive in that environment.
Journal Article
Publisher Correction: Craters, boulders and regolith of (101955) Bennu indicative of an old and dynamic surface
An amendment to this paper has been published and can be accessed via a link at the top of the paper.
Journal Article
Craters, Boulders and Regolith of (101955) Bennu Indicative of an Old and Dynamic Surface
Small, kilometre-sized near-Earth asteroids are expected to have young and frequently refreshed surfaces for two reasons: collisional disruptions are frequent in the main asteroid belt where they originate, and thermal or tidal processes act on them once they become near-Earth asteroids. Here we present early measurements of numerous large candidate impact craters on near-Earth asteroid (101955) Bennu by the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security- Regolith Explorer) mission, which indicate a surface that is between 100 million and 1 billion years old, predating Bennu's expected duration as a near-Earth asteroid. We also observe many fractured boulders, the morphology of which suggests an influence of impact or thermal processes over a considerable amount of time since the boulders were exposed at the surface. However, the surface also shows signs of more recent mass movement: clusters of boulders at topographic lows, a deficiency of small craters and infill of large craters. The oldest features likely record events from Bennu's time in the main asteroid belt.
Journal Article
The unexpected surface of asteroid (101955) Bennu
NASA’S Origins, Spectral Interpretation, Resource Identification and Security-Regolith Explorer (OSIRIS-REx) spacecraft recently arrived at the near-Earth asteroid (101955) Bennu, a primitive body that represents the objects that may have brought prebiotic molecules and volatiles such as water to Earth1. Bennu is a low-albedo B-type asteroid2 that has been linked to organic-rich hydrated carbonaceous chondrites3. Such meteorites are altered by ejection from their parent body and contaminated by atmospheric entry and terrestrial microbes. Therefore, the primary mission objective is to return a sample of Bennu to Earth that is pristine—that is, not affected by these processes4. The OSIRIS-REx spacecraft carries a sophisticated suite of instruments to characterize Bennu’s global properties, support the selection of a sampling site and document that site at a sub-centimetre scale5,6,7,8,9,10,11. Here we consider early OSIRIS-REx observations of Bennu to understand how the asteroid’s properties compare to pre-encounter expectations and to assess the prospects for sample return. The bulk composition of Bennu appears to be hydrated and volatile-rich, as expected. However, in contrast to pre-encounter modelling of Bennu’s thermal inertia12 and radar polarization ratios13—which indicated a generally smooth surface covered by centimetre-scale particles—resolved imaging reveals an unexpected surficial diversity. The albedo, texture, particle size and roughness are beyond the spacecraft design specifications. On the basis of our pre-encounter knowledge, we developed a sampling strategy to target 50-metre-diameter patches of loose regolith with grain sizes smaller than two centimetres4. We observe only a small number of apparently hazard-free regions, of the order of 5 to 20 metres in extent, the sampling of which poses a substantial challenge to mission success.
Journal Article
Vertical structure of stratospheric water vapour trends derived from merged satellite data
Stratospheric water vapour is a powerful greenhouse gas. The longest available record from balloon observations over Boulder, Colorado, USA shows increases in stratospheric water vapour concentrations that cannot be fully explained by observed changes in the main drivers, tropical tropopause temperatures and methane. Satellite observations could help resolve the issue, but constructing a reliable long-term data record from individual short satellite records is challenging. Here we present an approach to merge satellite data sets with the help of a chemistry-climate model nudged to observed meteorology. We use the models' water vapour as a transfer function between data sets that overcomes issues arising from instrument drift and short overlap periods. In the lower stratosphere, our water vapour record extends back to 1988 and water vapour concentrations largely follow tropical tropopause temperatures. Lower and mid-stratospheric long-term trends are negative, and the trends from Boulder are shown not to be globally representative. In the upper stratosphere, our record extends back to 1986 and shows positive long-term trends. The altitudinal differences in the trends are explained by methane oxidation together with a strengthened lower-stratospheric and a weakened upper-stratospheric circulation inferred by this analysis. Our results call into question previous estimates of surface radiative forcing based on presumed global long-term increases in water vapour concentrations in the lower stratosphere.
Journal Article
Shape of (101955) Bennu indicative of a rubble pile with internal stiffness
The shapes of asteroids reflect interplay between their interior properties and the processes responsible for their formation and evolution as they journey through the Solar System. Prior to the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) mission, Earth-based radar imaging gave an overview of (101955) Bennu's shape. Here, we construct a high-resolution shape model from OSIRIS-REx images. We find that Bennu's top-like shape, considerable macroporosity, and prominent surface boulders suggest that it is a rubble pile. High-standing, north-south ridges that extend from pole to pole, many long grooves, and surface mass wasting indicate some low levels of internal friction and/or cohesion. Our shape model indicates that, similar to other top-shaped asteroids, Bennu formed by reaccumulation and underwent past periods of fast spin leading to its current shape. Today, Bennu might follow a different evolutionary pathway, with interior stiffness permitting surface cracking and mass wasting.
Journal Article
Coupled numerical simulation of a flexible barrier impacted by debris flow with boulders in front
Flexible barriers have been widely adopted to mitigate the debris flow disasters. However, the research on the coupled interaction analysis between flexible barriers and debris flows with boulders in front is rarely reported. In this paper, a two-stage coupled modeling technique which can account for the debris mobility, the non-linear behavior of a flexible barrier, and the dynamic interaction between flexible barriers and debris flows is developed firstly based on the Arbitrary Lagrangian-Eulerian (ALE) method using LS-DYNA. The proposed coupling model is verified by a large-scale field test, comparing the flow velocity and flow depth of the debris flow, as well as the internal force and deformation of the flexible barrier. Further, the proposed numerical model is adopted to study the performance of flexible barrier impacted by debris flow with boulders in front. Two practical cases that the debris flow contains a single boulder with a diameter of 2 m and 1 m in front, respectively, are investigated. The impact positions are both the bottom center of the middle functional module of the barrier. The numerical results show that the barrier cannot intercept the debris flow with a boulder of 2 m in diameter. When the flexible barrier is subjected to three 1 m boulders in front of the debris flow, plastic hinges are formed at impact positions of the steel posts. It is recommended that additional protection measurements are required to maintain the structural integrity.
Journal Article