188 results about "Data acquisition software" patented technology

The invention provides a data collection method, device and terminal and a memory medium. A data collection software development kit SDK is integrated into an application. The method comprises the steps that the data collection SDK automatically obtains operation data of the application; the data collection SDK converts obtained operation data of the application into a data file; and the data collection SDK uploads the data file to a server.

The related multifunction container-pipe gas blast experiment system comprises: an experiment device with two ball containers and pipe all arranged with sensor hole, gas in-out hole, vacuum-pressure gauge interface, discharging blast hole and an ignition hole; a gas distributing device with a steel bottle, a distribution meter, a tank and delivery pipe,; an ignition device with an electric spark generator, a spark plug and wire; a test device with a vacuum-pressure gauge, a pressure transmitter, a flame sensor and sensor wire; and a data acquisition and process part with multichannel data collector and software.

The invention relates to a detection system for simulating inner leak of a valve and a method thereof. The state of inner leak of a valve is simulated by controlling different openings of the valve, signals are transmitted through a differential pressure transmitter, a flow sensor and an acoustic emission probe, and corresponding data of each group is acquired by the data acquisition software at the rear end. Moreover, a set of judgment software is formed based on a great quantity of data, which can judge whether inner leak of the valve happens and judge the magnitude of leak by calling the corresponding information in a database when in field offline detection. The simulation system provided by the invention comprises medium storage tanks 1 in sequential connection and a two-level pressure reducing valve 2, a stop valve 3, a filter 6, a second valve 9, a to-be-detected valve 8, a third valve 10, a visual window 13, a flow meter group 14 and a collection tank 17.

The invention belongs to the technical field of mine geological monitoring, and discloses a non-fixed wing unmanned aerial vehicle airborne radar mine mining land change monitoring system and method.The system comprises a non-fixed wing unmanned aerial vehicle for loading a lidar, a lidar GPS receiver, an inertial navigation system, a laser transceiver, a static GPS receiver and a control and a post-processing system, and comprises inertial navigation control software, LIDAR data acquisition software, trajectory calculation software, point cloud data calculation post-processing software and point cloud post-processing software. Through acquisition of two or more periods of point cloud data of the non-fixed wing unmanned aerial vehicle airborne radar, changes of mine surface geomorphological height differences in different time periods are formed, a new mine mining land area and elevation change monitoring technology is provided, surface elevation changes such as a mine open mining pit, a slag disposing area and mining subsidence are grasped, and scientific basis is provided for mine geological environment control, land reclamation and development, use and planning.

This invention provides an innovative method for analyzing sports statistics and phenomenon by using quantized event data classes. Computerized algorithms can sift through the quantized event data structures resolving all recorded event attributes and also calculate innumerable statistical results based on those particular attributes.

A system for text categorization based on ontologies comprising data collector software modules; a categorizer software module; and a database comprising an indexed database of documents and their categorizations, and further comprising a plurality of ontologies, each ontology comprising a plurality of hierarchical taxonomies and each hierarchical taxonomy comprising a plurality of taxons. The data collector software modules receive a document to be classified and submit them to the categorizer software module; and the categorizer performs the following steps to categorize each document: splitting the document into sentences; selecting words or phrases that are present in ontologies stored in the database server; selecting a plurality of subtrees from the ontologies based on the presence of specific subcategories in the document; determining a weight for each subcategory; pruning subcategories having a weight below a threshold; and for each of the plurality of modified subtrees, computing a conditionality coefficient.

A data acquisition system for use in conducting functional magnetic resonance imaging studies. fMRI studies can provide clues to the neurobiological basis of CNS disorders and reliable and quantifiable data relating to their symptoms. The data acquisition system includes a control station, a patient stimulus and response system and fMRI data acquisition software for controlling the operation of the system in response to operator input and acquiring fMRI data comprising MR images and associated behavioral response data. The stimulus and response system presents visual or auditory or other stimuli to the patient under direction of the control station while functional MRI scanning takes place. The MRI image data is collected from the MRI scanner and combined with the behavioral data generated as the patient responds to the stimuli and archived for later analysis and use. The system includes quality control measures for properly setting up the equipment and preparing and training the patient and for verifying data quality during the different steps in the process.

The invention relates to a spacecraft and aims at providing a satellite data acquisition and transmission method which is adaptive to various monitoring requirements, has various formats and is flexible and convenient to change. The method specifically comprises data acquisition software implementation, data local framing and overall framing and data multimodal transmission and format reconfiguration technique. The method solves the problems of telemetering acquisition and transmission of the small satellite based on a distributed data processing system, can change the data acquisition cycle and data transmission content according to the ground control and greatly improves the adaptability of the satellite to the ground maintenance and user monitoring change in requirement; in addition, due to the reconfigurable function of the telemetering transmission format, the telemetering channel resources can be optimized for distribution and use, the utilization rate of limited telemetering channel resources is improved, and the system practicability is improved.

The invention provides an integrated system of test detection, management and monitoring and method, which is applicable to the fields of test detection mechanisms and quality monitoring departments. The system is divided into three layers according to the structure, wherein, the first layer is a test data acquisition layer, the second layer is a test business management layer, the third layer is a superior monitoring management layer, and the layers are connected through the network. The system is composes of a video device, a sampling detection instrument, a business management computer, a business database server, a central database server, a monitoring management computer, a printer, data acquisition software, transmission instrument software, business management software and monitoring management software. The invention comprises the following steps: acquiring test data and images; uploading data and image information, receiving, storing and managing test information, generating detection record and report; uploading detection record and report; receiving uploaded information from the laboratory and monitoring and managing. The invention is safe and reliable, simple in installation, easy in operation, and has strong practicability and good development future.

The invention provides an integrated managing and controlling system and a method of mass production enterprises in transportation construction industry; the system comprises two parts, namely, hardware and software; the hardware includes a plurality of production devices, a plurality of production device terminal computers, a plurality of data collectors, a plurality of controllers, a plurality of video devices, a plurality of dippers or GPS satellite positioning devices, a plurality of service management terminal computers, a plurality of monitoring management terminal machines, a service management server and a monitoring mechanism server; the software includes data collecting software, service management software, monitoring management software, service management database software andmonitoring management database software; the integrated managing and controlling system of mass production enterprises is divided into three layers based on structure; the first layer is a data collecting layer, the second layer is a service management layer and the third layer is a monitoring management layer. The system and the method are scientifically and rationally designed, and creative, not only improve the production automation level and production continuity, but also guarantee the systematicness, visibility and reliability of intelligent operation of the whole production; meanwhile,the system and the method can prevent resource loss, reduce production cost and improve economic benefits.

The invention relates to a configurable data acquisition software system, which comprises a parameter configuration module, a data acquisition module and an acquisition program control module, wherein the parameter configuration module comprises an equipment adding unit, an equipment deleting unit, an equipment inquiring unit and an equipment modifying unit; and the data acquisition module comprises a description information transmission unit, a computer interface initialization unit, a data acquisition unit, a description information reading-writing unit and a master control unit. Furthermore, the invention relates to a configurable data acquisition software designing method. By employing the configurable data acquisition software system and designing method, the development cycle of the data acquisition software can be evidently shortened, the development cost of the software is lowered, the expandability, the maintainability and the operability of the software are increased, and the development of a technique for design and development of the data acquisition software system is promoted.

The invention discloses a quick measuring method of BOD in hyperhaline industrial waste water. The method comprises the following steps: taking 10g sludge from a hyperhaline waste water sewage outfall; adding 90mL sterilized normal saline into the sludge; carrying out streaking on a beef extract peptone culture medium plate for 2d at a temperature of 37 DEG C till obtaining pure salt-tolerant bacterial strain; inoculating the bacterial strain in beef extract peptone culture medium to carry out shaking culture inside a constant temperature shaking box for 24h, centrifugation for 5min at a rotating speed of 4,500r / min and washing by means of 0.9 percent NaCl solution, thereby obtaining salt-tolerant bacteria; dispersing 5mg carbon nano tube in water to form 5mg.mL carbon nano tube suspension; preparing the salt-tolerant bacteria into 0.2 g.mL bacterial suspension by phosphate buffer solution; mixing the bacterial suspension with the carbon nano tube suspension according to the volume ratio of 1:2, and evenly coating 30 mu L mixed suspension on cellulose film with the aperture equal to 0.2 mu; cooling the cellulose film semidry and fixing the film on a dissolved oxygen electrode to form a BOD electrode; and setting a dissolved oxygen analyzer as automatic measuring and recording output current in time by magnetic data acquisition software. The quick measuring method has the advantages of simplicity and quickness, high accuracy and ideal stability.

The invention relates to a method for measuring interstage coupling factors of the filter of a microwave cavity in a manner of one-port measurement, which comprises the steps that: a measuring instrument is connected with a computer provided with a data acquisition software program and a testing platform with a piece to be measured is established; the reflectance S11 of the piece to be measured is measured at one port of the measuring instrument and is transmitted to a personal computer by a GPIB interface; coupling factors are calculated in the computer, the frequency marker of a network analyzer is moved and the transmission zero of the S11 is found at a measuring curve; the coupling factor M12 of a first cavity and a second cavity and the coupling factor M23 of the second cavity and a third cavity or the coupling factor M34 of the third cavity and a fourth cavity are calculated according to a formula. The method of the invention adopts the one-port measurement, needs no independent processing measurement of nearby components and can measure directly at the filter needing debugging, thereby avoiding the complexity and inconvenience of interstage coupling factors during processing and testing of accessories for subsidiary in the prior art, reducing cost and having high measuring precision.

The invention discloses a ship-borne magnetic force detection device which is installed on the ship body of a measuring ship without a stern drag part. The ship-borne magnetic force detection device comprises a vector magnetic force sensor, a heading attitude reference system, a GPS, a peripheral sensor, a data acquisition fusion unit and a data recording computer. The ship-borne magnetic force detection method comprises the following steps that (1) when a research voyage number starts and ends, a magnetic field calm sea area is selected and a ship magnetic calibration test is performed by a research ship; (2) the data acquisition fusion unit synchronously acquires magnetic force data and attitude data in the ship magnetic calibration test; (3) after the ship magnetic calibration test, a ship induced magnetic field coefficient, a permanent magnetic field coefficient value and an eddy current magnetic field coefficient are obtained by data acquisition software via calculation according to the following resolving process; and (4) after the ship magnetic calibration test, ship-borne magnetic force measurement is performed. Advantages of the ship-borne magnetic force detection method and device are that defects that a conventional drag type magnetometer is liable to be lost and damaged can be overcome, all-weather and all-voyage-number unattended magnetic force observation can be realized, and earth magnetic field vector measurement can also be provided.

A measure apparatus of machining deformation and dynamic response for thin-wall parts of aircraft comprises a pressure signal digital display meter, a power amplifier, a vibration exciter, a function generator, a charge amplifier, a signal collection card, a thin-wall part to be measured, a non-contact eddy current displacement sensor, a dial indicator, a dynamic piezoelectric force sensor, a static pressure sensor, a cross flat-nose pliers assembly, a data acquisition software, a computer system, a magnetic base and an experiment platform. In the measure apparatus, the cross flat-nose pliersand the vibration exciter generate static and dynamic load force; the dial indicator and the dynamic piezoelectric force sensor measure the deformation and dynamic response of the part; the exciting force with required frequency is obtained through the function generator and the power amplifier to simulate the cutting force. The measure apparatus provides a simulation environment and an experiment platform for the parameters selection and optimization during machining process of thin-wall parts. The invention has a good practical value and broad application prospects in fields of high precisemilling study and detection technology.

The invention relates to a management and control integrated system and a method for detecting the strength of cement concretes, which are applied to the detection industry. The system comprises a hardware part and a software part and is characterized in that the hardware part comprises a video device, a concrete test mold, a disposable tag or an RFID electronic tag, a tag information reading device, a health-preserving box or a health-preserving room, a strength testing instrument, a service management computer, a database server and a printer; and the software part comprises data acquisition software, transmission tool software and service management software. The system and the method improve the detection management level, achieve electronization of the detecting process and informatization of the history traceability, electronic record, process, count and analyze the detection information, greatly lighten the workload for archiving information, define the record content and the format of the detection information, facilitate different mechanisms to share the detection information so as to achieve the summarizing counting and analysis of the detection information of the different mechanisms, add information on a detection contract, a detection scheme, a test piece flow, a detection device and the like into the system for management, achieve the systematicness and the integrality of the detection information, and prevent information omissions.

The invention provides an integrated detection system and method of management and control, which is applied to the detection field, wherein, the system is composed of hardware and software; the hardware comprises a video device, a test piece preparation instrument, a disposable label, a label information reader, a test piece curing or conservation device or facility, a test piece storage room or instrument, a transportation tool, a test piece detection instrument, a business management computer, a database server and a printer; the software comprises data acquisition software, transmission tool software and business management software; the video device is connected with the database server through networks; the test piece detection instrument is connected with the database server through networks; the database server is connected with the business management computer through networks; and the business management computer is connected with the printer through networks. The invention improves laboratorial integral management level, realizes the electronization of detection process and informationization of history traceability, reduces information filing workload greatly, realizes systematic and complete information detection, and prevents information omission.

The invention discloses an iron and steel enterprise quality information platform, which belongs to the technical field of iron and steel enterprise quality automatic control. The iron and steel enterprise quality information platform comprises a hardware and a software operated on the hardware, wherein the hardware comprises a peripheral data system, a data collection server, a database server, a client computer, a printer which is connected on a client and an anti-virus server, and the peripheral data system is composed of a PCS (Process Control System) which is composed of a PLC (Programmable Logic Controller) and a DCS (Distributed Control System), an MES (Manufacturing Execution System), an ERP (Enterprise Resource Planning) management system and a checking and testing system; and the software comprises a data collection software, a database software and an iron and steel enterprise quality information platform software. The iron and steel enterprise quality information platform disclosed by the invention has the advantages that the situation that an original quality management system is dispersed in self establishing systems of partial procedures and partial factories is broken, a quality information platform is constructed by using the processes as a principal line, deep parallel integration is carried out between the processes, real translucency between the processes can be achieved, an unified analysis optimization tool is provided for analyzing the processes, and the sharing of data and knowledge is achieved.

The invention discloses an optimized automatic transfer method and system for virtual machines, which are characterized in that data collecting software are mounted on each physical machine and virtual machine, and the collected data are stored into a database. The method comprises the steps of step 1, regularly reading the detection data of all the virtual machines from the database in turn; step 2, judging whether a data item exceeding a preset threshold value exists in the detection data of the virtual machines; step 3, if the data item exceeding the preset threshold value exits, reading the detection data of each virtual machine in a cluster from the database according to the type of the data item, finding the optimal physical machine as a receiver of the corresponding virtual machine and then transferring the virtual machine in an online mode. According to the optimized automatic transfer method and system for the virtual machines, the virtual machine with low efficiency can be timely found, and an optimal transfer path can be fast obtained, so the loss of an enterprise caused by the slow operation even crash of the virtual machine can be prevented.

The invention discloses integrated system and method for monitoring mix proportion. The integrated system disclosed by the invention comprises a hardware part and a software part, wherein the hardware part comprises production equipment, a production equipment terminal computer, a data collecting device, a controller, a business management terminal computer, a monitoring management terminal machine, a business management server and a monitoring mechanism server; the software part comprises a data collecting software, a transmission tool software, a business management software, a monitoring management software, a business management database software and a monitoring management database software; the data collecting device is divided into three structures and connected with a converter which is connected with the controller; the software is divided into three layers according to structure, wherein the first layer is a data collecting layer, the second layer is a business management layer, and the third layer is a monitoring management layer.

The invention discloses an offshore wind power operation and maintenance intelligent management platform and method, and the platform comprises hardware equipment and a software application system, and the hardware equipment comprises a data collection module, a data transmission module, a data processing module, and a display module; the software application system comprises platform end software, mobile end software, server software, transmission software and software of each data acquisition device of the data acquisition module. According to the offshore wind power operation and maintenance intelligent management platform and method, a whole set of platform combining hardware equipment and a software application system is adopted, on-site monitoring and data acquisition are conducted through the hardware equipment, statistics, fusion, analysis and processing are conducted on data through the software platform, risk early warning and state evaluation are conducted according to analysis and processing results, a prediction scheme is provided, and a smart operation decision is output; the platform supports multi-terminal cooperation of a computer terminal, a mobile terminal and the like, and intelligent and refined management of operation and maintenance of the offshore wind power plant is achieved.

The invention discloses a line patrol robot troubleshooting and self-checking data acquisition method, which comprises a conventional line patrol robot, and is characterized in that the conventional line patrol robot is provided with a main control circuit board, various conventional detection sensors, a spraying device, a cleaning device, a warning device and a label device, and the main controlcircuit board and the various conventional detection sensors are connected in a conventional mode; and fault maintenance and self-inspection data acquisition software, wherein the fault maintenance and self-inspection data acquisition software comprises a fault maintenance module and a data acquisition module. According to the invention, sensor abnormity caused by dust, aging, abrasion, deformation or environmental interference and the like can be discovered in time through a fault maintenance and self-inspection method. Wrong data are automatically compensated and corrected, the fault tracingcapability is achieved, when the monitoring data are not reliable, large-range rework can be avoided, operation is easy and visual, interaction with maintenance personnel is facilitated, emergenciesare handled in time, and the line patrol robot is maintained in time.

The invention relates to a calibration system and method for an industrial robot. A computer contains data collection software. An industrial robot is in connection and communication with the computer through an industrial robot cable. A joint arm type measuring machine is in connection and communication with the computer through a joint arm type measuring machine cable. The data collection software is controlled by the computer to collect the tail end position of the industrial robot and the joint rotation angle of the joint arm type measuring machine. A connection plate is connected with a flange plate at the tail end of the sixth joint of the to-be-calibrated industrial robot through a bolt I. A conical hole is connected with the connection plate through a bolt II. The joint arm type measuring machine is adopted for measurement, and the characteristics of flexible movement and large space of the joint arm type measuring machine are brought into play, so that when data are collected, the movement space at the tail end of the robot is large, movement of the joints of the robot are more sufficient, and a data support with higher robustness is provided for structural parameter calculation.

The invention relates to a rapid detection method for the highway roadbed compaction quality. The method comprises the following steps that firstly, in construction fields of roadbeds different in soil texture, a to-be-detected roadbed soil area is selected, a test point is selected at random, the dynamic deformation modulus Evd value of the point is tested, and data are recorded; secondly, another test point is selected, the roadbed compaction degree is detected through a sand filling method, and data are recorded; thirdly, the first step and the second step are repeatedly conducted, and therelation of the dynamic deformation modulus Evd value and the roadbed compaction degree K of each soil texture is established; fourthly, field testing is conducted; fifthly, data collection is clickedfrom a data collection software main interface, a testing instrument starts to conduct testing and transmission, and a background part conducts calculation and conversion according to the Evd and K correlation of the soil texture corresponding to the roadbed, and the compaction degree K is obtained; and sixthly, a detection result is uploaded to a roadbed compaction quality background managementsystem through the network, and the data are checked. The rapid detection method is rapid and convenient to conduct, data are accurate and reliable, the rapid detection method is applicable to the construction site, and the quality information can be reflected in real time.

The invention provides a wind power prediction system, which comprises a data collection server (1), a database server (2), an application workstation (3), a wind power prediction server (4), a data interface server (5) and reverse physical isolation equipment (6), wherein the data collection server (1) is used for operating data collection software, is communicated with the integrated communication management terminal of a wind power plant, and collects data; the database server (2) processes, carries out statistical analysis and stores the data; the wind power prediction server (4) operatesa wind power prediction module, uses a neural network integrated algorithm based on weighted least squares support vector machine and quantum particle swarm prediction on the basis of a numerical value weather forecast collected or provided by a SCADA (Supervisory Control And Data Acquisition) system, and is combined with the real-time operation working condition of a wind power plant fan to carryout short-term and ultra-short term prediction on the output situation of a single fan and the whole wind power plant; the data interface server (5) is used for obtaining the numerical value weatherforecast; and the reverse physical isolation equipment (6) is used for guaranteeing network safety. The invention also discloses a wind power prediction method, which can guarantee that prediction data which is used in field can embody recent power generation power features.

The invention relates to a measuring device for natural frequency of a wind tunnel model and a method utilizing the device to measure, and particularly discloses a device and a method for a conventional balance to measure the natural frequency of a cantilever supported model in the wind tunnel, which aim to solve the problems of the prior art that the operation is complicated, the efficiency is low, the measurement is incorrect and the cost is high. When the cantilever supported model in the wind tunnel is excited by a certain vibration, a damped vibration is produced, at the same time the corresponding component of the balance can sense the vibration signal, the data collecting system and the data collecting software continuously collect the output signals of the conventional balance, and the signal processing software analyzes and processes the component signals of the balance, so as to calculate the natural frequencies of the model and the supporting system. The device and the method sufficiently utilize the wind tunnel conventional testing equipment to calculate the natural frequency of the cantilever supported model, have the characteristics that the operation is convenient, the running is reliable, the efficiency is high, and the value measurement is correct and reliable, and can be applied to all the conventional wind tunnels.

Disclosed are a system and a method for integrating mobile phone test data. The system comprises a mobile phone test platform and a file server. The mobile phone test platform is connected with the file server through a network. Data acquisition software used for acquiring the mobile phone test data is arranged in the mobile phone test platform. The file server comprises a test data receiving module, a test data analyzing module and a test database. The test data receiving module receives the mobile phone test data acquired by the mobile phone test platform, and the test data analyzing module analyzes mobile phone test detail data according to the mobile phone test data and saves the mobile phone test detail data into the test database. The system and the method for integrating the mobile phone test data can automatically acquire the mobile phone test data of a mobile phone in the process of testing in real time, and automatically extract the mobile phone test detail data from the test data to classify and gather the mobile phone test detail data. Thus, the problems that, in the prior art, manual acquisition and analysis of the mobile phone test data is large in computing amount and low in efficiency and accuracy are solved, and timeliness of mobile phone test data acquisition is ensured.

The invention discloses a wetland data acquisition method and a wetland data acquisition system of a multi-task mode. In the invention, a portable computer is used as a platform, hardware equipment such as a global positioning system (GPS) module, an image acquisition module, an infrared distance measurement module, a wireless communication module and the like and self-developed data acquisition software are combined, and a Bluetooth communication technology, a third generation (3G) network, a GPS technology, a spatial database technology and the like are used for devolvement, so that the method and the system have high capacities of image processing, spatial data acquisition, image acquisition and attribute information entry, wetland outdoor investigation paperless field work can be realized, duplication of labor for indoor office treatment is avoided, and the work efficiency of data acquisition is improved. The conventional data results can be conveniently superposed and called for analysis, and the method and the system are extremely suitable for outdoor field investigation work of a wetland conservation area, such as wetland vegetation distribution investigation, animal resource distribution, water quality detection, hydraulic facilities, wetland data updating, project census and the like. The actual problems of difficulty in acquiring and updating data in wetland protection work are solved.

The invention discloses a device for an accelerated life evaluation test of a miniature Stirling refrigerating machine. The device comprises a main power supply, an electric cabinet, a refrigerating machine, an oscilloscope, a vacuum pump, an electromagnetic valve, a refrigeration load, a heating power supply, a high-low temperature test box, a power meter, a data acquisition device, self-programming data acquisition software and a computer. The main power supply is connected to the electric cabinet and the refrigerating machine, the oscilloscope is connected to the stroke waveform output end of the electric cabinet, the refrigerating machine is positioned in the high-low temperature test box, a cold head vacuum chamber of the refrigerating machine is connected with the vacuum pump and the electromagnetic valve through a metal pipe bellows valve, the refrigeration load is connected with the heating power supply and the refrigerating machine, the power meter is connected with the refrigerating machine and the computer, and the data acquisition device is connected with the refrigeration load, and the refrigerating machine and the computer. With the device, the number of experimental prototypes is saved, the testing time is saved, and the cycles of development and task application are ensured, so that a space remote sensing technology can serve the society more quickly and significant economic and social benefits are provided.

The invention discloses a mountain pipeline ring welding seam non-contact recognizing and positioning method. The method comprises the following steps of firstly, labeling a pipeline axis on the ground; secondly, adopting the non-contact type scanning magnetometer to move along the axis of the pipeline on the ground, wherein two magnetic sensors of the magnetometer are used for measuring three components Bx1, By 1, Bz1 and Bx2, By 2, Bz2 of the magnetic field; and calculating a gradient component and a gradient modulus dQ through data acquisition software; and arranging a DGPS positioning device in the magnetometer, synchronizing the mileage of the detecting points and the detecting data of the magnetometer; and dividing the axes of the pipelines into a plurality of detection intervals atequal interval, wherein each interval is numbered C1, C2 ,......Cn in sequence; collecting and storing the gradient component and the gradient modulus data which are detected after each interval is detected and labeling the numbers C1, C2,......Cn in sequence; carrying out ring welding seam identification through collected data. The method is not limited by the structure and the size of the pipeline, can be applied to complex and diverse terrain environments and is suitable for detecting mountain pipelines.