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Three-dimensional (3D) reconstruction technology is the key technology to establish and express the objective world by using computer, and it is widely used in real 3D, automatic driving, aerospace, navigation and industrial robot applications. According to different principles, it is mainly divided into methods based on traditional multi-view geometry and methods based on deep learning. This paper introduces the above methods from the perspective of three-dimensional space representation. The feature extraction and stereo matching theory of traditional 3D reconstruction methods are the theoretical basis of 3D reconstruction methods based on deep learning, so the paper focuses on them. With the development of traditional 3D reconstruction methods and the development of deep learning related theories, the explicit deep learning 3D reconstruction method represented by MVSNet and the implicit 3D reconstruction method represented by NeRF have been gradually developed. At the same time, the dataset and evaluation indicators for 3D reconstruction were introduced. Finally, a summary of image based 3D reconstruction was provided.

The helical-coiled once-through steam generator (H-OTSG) is widely used in small modular reactors due to its compactness and higher heat transfer efficiency. In this study, an experimental and numerical simulation study of the thermalhydraulics characteristics of HOTSG under different thermal power conditions was carried out, and the experimental results were used to verify the onedimensional system code SGTH1D. The configuration consists of 85 helically coiled tubes divided into ten layers according to the coil diameter. Both steadystate experiments and flow instability experiments were conducted under thermal power condition ranging from 06 MW to 23 MW. Firstly, the steadystate experimental results show the difference between the shellside inlet temperature and the tubeside outlet temperature increases with thermal power, which is due to the decreasing of the heat transfer capacity of the HOTSG. Sensitivity analysis of the system parameters shows that the shellside pressure has little effect on the average heat transfer coefficient. And the average heat transfer coefficient also is insensitive to tubeside pressure and shellside inlet temperature under low thermal power conditions. However, under low thermal power conditions, the average heat transfer coefficient increases with the decrease of the tubeside pressure and the increases of the shellside inlet temperature. Secondly, the flow instability experimental results show that the increase of the thermal power can stabilize the HOTSG and decrease the inlet throttling of the flow instability thresholds because the length of the subcooled singlephase region increases with the thermal power. The sensitivity analysis of the system parameters shows that the increase of the tubeside pressure and the decrease of the shellside inlet temperature are beneficial to the stability of the system. The influence of the shellside parameters on the flow instability threshold is weaker than that of the tubeside parameters. Finally, a numerical study on the thermal-hydraulics characteristics of the configuration was carried out in the present study. By comparing the experimental data with the numerical simulation results of the SGTH1D code, the accuracy of the SGTH1D code in predicting the steadystate heat transfer characteristics and flow instability of configuration was verified. The SGTH1D code can accurately predict the heat transfer rate of the HOTSG under various thermal power conditions, and the prediction errors of shellside and tubeside outlet temperatures are within ±1 ℃. The numerical results of flow instability characteristics of the SGTH1D code are conservative at low thermal power condition, and the error of numerical results is within ±20% when the thermal power is larger than 12 MW.

Helically coiled tube (HCT) is widely used in nuclear engineering and other fields due to its effective compactness, excellent structure robustness, heat transfer efficiency and flow stability. As one of the most important gasliquid twophase flow patterns in HCT, the characteristic of annular flow has a great influence on the heat transfer performance of helical oncethrough steam generator. Especially, the circumferential distribution of liquid film thickness in annular flow directly determines the dryout onset location. Although the liquid film flow in straight tubes has been extensively studied, due to the limitation of measurement technology, the precise measurement data of liquid film thickness in HCT are still very rare. In this paper, based on the selfdeveloped noninvasive contact ringisland array sensor (RIAS), airwater twophase flow experiments were carried out to study the threedimensional spatialtemporal distribution of liquid film thickness in vertical HCT with different structures. According to the results, four typical liquid film flow regimes were defined based on the circumferential position of the thicker liquid film appearing in the tube wall. That is, the bottom distribution (BD) dominated by gravity force, the outside distribution (OD) dominated by liquid centrifugal force, the inside distribution (ID) dominated by gas centrifugal force and the insideoutside distribution (IOD) dominated by secondary flow. The effects of coil diameter and coil pitch of HCT as well as gas and liquid velocities on the distribution of liquid film flow regimes were detailed analyzed. It is implied that the coil diameter determines the intensity of centrifugal force and secondary flow. Generally, the smaller the coil diameter, the easier the circumferential distribution forms of OD, ID and IOD are to appear. Also, increasing the coil pitch weakens the effect of centrifugal force on the liquid film. Then a small coil pitch normally results in the circumferential distribution form of OD while it is ID for large coil pitch. It is also found that the IOD occurs only when both gas and liquid velocities are large enough. By taking the influence of HCT geometry and fluid parameters into account, a general submap of liquid film flow in HCT was proposed using the modified Dean number De* and the modified LockhartMartinelli parameter X*. The transition criteria between different liquid film flow regimes were also established and verified with experimental data in present work and previous references. From this work, the mechanism of curvatureinduced centrifugal force and secondary flow on the spatiotemporal evolution of liquid film in HCT is revealed.

Traditional orchard production is facing problems of labor shortage due to the aging, difficulties in the management of agricultural equipment and production materials, and low production efficiency which can be expected to be solved by building a smart orchard that integrates technologies of Internet of Things(IoT), big data, equipment intelligence, et al. In this study, based on the objectives of full mechanization and intelligent management, a smart orchard was built in Pinggu district, an important peaches and pears fruit producing area of Beijing. The orchard covers an aera of more than 30 hm2 in Xiying village, Yukou town. In the orchard, more than 10 kinds of information acquisition sensors for pests, diseases, water, fertilizers and medicines are applied, 28 kinds of agricultural machineries with intelligent technical support are equipped. The key technologies used include: intelligent information acquisition system, integrated water and fertilizer management system and intelligent pest management system. The intelligent operation equipment system includes: unmanned lawn mower, intelligent anti-freeze machine, trenching and fertilizer machine, automatic driving crawler, intelligent profiling variable sprayer, six-rotor branch-to-target drone, multi-functional picking platform and finishing and pruning machine, etc. At the same time, an intelligent management platform has been built in the smart orchard. The comparison results showed that, smart orchard production can reduce labor costs by more than 50%, save pesticide dosage by 30% ~ 40%, fertilizer dosage by 25% ~ 35%, irrigation water consumption by 60% ~ 70%, and comprehensive economic benefits increased by 32.5%. The popularization and application of smart orchards will further promote China's fruit production level and facilitate the development of smart agriculture in China.

To realize the autonomous navigation and automatic target spraying of intelligent plant protect machinery in orchard, in this study, an autonomous navigation and automatic target spraying robot for orchards was developed. Firstly, a single 3D light detection and ranging (LiDAR) was used to collect fruit trees and other information around the robot. The region of interest (ROI) was determined using information on the fruit trees in the orchard (plant spacing, plant height, and row spacing), as well as the fundamental LiDAR parameters. Additionally, it must be ensured that LiDAR was used to detect the canopy information of a whole fruit tree in the ROI. Secondly, the point clouds within the ROI was two-dimension processing to obtain the fruit tree center of mass coordinates. The coordinate was the location of the fruit trees. Based on the location of the fruit trees, the row lines of fruit tree were obtained by random sample consensus (RANSAC) algorithm. The center line (navigation line) of the fruit tree row within ROI was obtained through the fruit tree row lines. The robot was controlled to drive along the center line by the angular velocity signal transmitted from the computer. Next, the ATRS's body speed and position were determined by encoders and the inertial measurement unit (IMU). And the collected fruit tree zoned canopy information was corrected by IMU. The presence or absence of fruit tree zoned canopy was judged by the logical algorithm designed. Finally, the nozzles were controlled to spray or not according to the presence or absence of corresponding zoned canopy. The conclusions were obtained. The maximum lateral deviation of the robot during autonomous navigation was 21.8 cm, and the maximum course deviation angle was 4.02°. Compared with traditional spraying, the automatic target spraying designed in this study reduced pesticide volume, air drift and ground loss by 20.06%, 38.68% and 51.40%, respectively. There was no significant difference between the automatic target spraying and the traditional spraying in terms of the percentage of air drift. In terms of the percentage of ground loss, automatic target spraying had 43% at the bottom of the test fruit trees and 29% and 28% at the middle of the test fruit trees and the left and right neighboring fruit trees. But in traditional spraying, the percentage of ground loss was, in that sequence, 25%, 38%, and 37%. The robot developted can realize autonomous navigation while ensuring the spraying effect, reducing the pesticides volume and loss.