L330 Black hole picture captured for first time in space ‘breakthrough’

Black hole picture captured for first time in space ‘breakthrough’

Astronomers have captured the first image of a black hole, heralding a revolution in our understanding of the universe’s most enigmatic objects.

The picture shows a halo of dust and gas, tracing the outline of a colossal black hole, at the heart of the Messier 87 galaxy, 55 million light years from Earth.

The black hole itself – a cosmic trapdoor from which neither light nor matter can escape – is unseeable. But the latest observations take astronomers right to its threshold for the first time, illuminating the event horizon beyond which all known physical laws collapse.

The breakthrough image was captured by the Event Horizon Telescope (EHT), a network of eight radio telescopes spanning locations from Antarctica to Spain and Chile, in an effort involving more than 200 scientists.
Sheperd Doeleman, Event Horizon Telescope Director and Harvard University senior research fellow said: “Black holes are the most mysterious objects in the universe. We have seen what we thought was unseeable. We have taken a picture of a black hole.”

The image gives the first direct glimpse of a black hole’s accretion disk, a fuzzy doughnut-shaped ring of gas and dust that steadily “feeds” the monster within.

The EHT picks up radiation emitted by particles within the disk that are heated to billions of degrees as they swirl around the black hole at close to the speed of light, before vanishing down the plughole.

The halo’s crescent-like appearance in the image is because the particles in the side of the disk rotating towards Earth are flung towards us faster and so appear brighter. The dark shadow within marks the edge of the event horizon, the point of no return, beyond which no light or matter can travel fast enough to escape the inexorable gravitational pull of the black hole.

Black holes were first predicted by Einstein’s theory of relativity – although Einstein himself was sceptical that they actually existed. Since then, astronomers have accumulated overwhelming evidence that these cosmic sinkholes are out there, including recent detection of gravitational waves that ripple across the cosmos when pairs of them collide.

But black holes are so small, dark and distant that observing them directly requires a telescope with a resolution equivalent to being able to see a bagel on the moon. This was once thought to be an insurmountable challenge.

The EHT achieved the necessary firepower by combining data from eight of the world’s leading radio observatories, including the Atacama Large Millimetre Array (Alma) in Chile and the South Pole Telescope, creating an effective telescope the size of the Earth.

When observations were launched in 2017, the EHT had two primary targets. First was Sagittarius A*, the black hole at the centre of the Milky Way, which has a mass of about four million suns. The second target, which yielded the image, was a supermassive black hole in the galaxy M87, into which the equivalent of six billion suns of light and matter has disappeared.

The success of the project hinged on clear skies on several continents simultaneously and exquisite coordination between the eight far-flung teams. Observations at the different sites were coordinated using atomic clocks, called hydrogen masers, accurate to within one second every 100 million years. And, on one night in 2017, everything came together. “We got super lucky, the weather was perfect,” said Ziri Younsi, a member of the EHT collaboration who is based at University College London.

The sheer volume of data generated was also unprecedented – in one night the EHT generated as much data as the Large Hadron Collider does in a year. This meant waiting for months for the South Pole data, which could only be shipped out at the end of Antarctic winter.

The observations are already giving scientists new insights into the weird environment close to black holes, where gravity is so fierce that reality as we know it is distorted beyond recognition.

At the event horizon, light is bent in a perfect loop around the black hole, meaning if you stood there you would be able to see the back of your own head. They also provide one of the most stringent tests to date of Einstein’s theory of general relativity: this predicts a rounded shape of the black hole’s halo, in line with what EHT has observed.

Scientists are also hoping to understand more about the origin of jets of radiation that are blasted out from the poles of some black holes at close to the speed of light, creating brilliant beacons that can be picked out across the cosmos.

However, the observations do not yet reveal anything about the black hole’s inscrutable interior.
“The black hole is not the event horizon, it’s something inside. It could be something just inside the event horizon, an exotic object hovering just beneath the surface, or it could be a singularity at the centre … or a ring,” said Younsi. “It doesn’t yet give us an explanation of what’s going on inside.”

Heino Falcke, chair of the EHT science council, who is based at Radboud University in the Netherlands, said: “The big question for me is whether we’ll ever be able to transcend that limit. The answer may be maybe not. That’s frustrating but we’ll have to accept it.”

转载于:https://www.cnblogs.com/huangbaobaoi/p/10687971.html

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1 目标检测的定义 目标检测(Object Detection)的任务是找出图像中所有感兴趣的目标(物体),确定它们的类别和位置,是计算机视觉领域的核心问题之一。由于各类物体有不同的外观、形状和姿态,加上成像时光照、遮挡等因素的干扰,目标检测一直是计算机视觉领域最具有挑战性的问题。 目标检测任务可分为两个关键的子任务,目标定位和目标分类。首先检测图像中目标的位置(目标定位),然后给出每个目标的具体类别(目标分类)。输出结果是一个边界框(称为Bounding-box,一般形式为(x1,y1,x2,y2),表示框的左上角坐标和右下角坐标),一个置信度分数(Confidence Score),表示边界框中是否包含检测对象的概率和各个类别的概率(首先得到类别概率,经过Softmax可得到类别标签)。 1.1 Two stage方法 目前主流的基于深度学习的目标检测算法主要分为两类:Two stage和One stage。Two stage方法将目标检测过程分为两个阶段。第一个阶段是 Region Proposal 生成阶段,主要用于生成潜在的目标候选框(Bounding-box proposals)。这个阶段通常使用卷积神经网络(CNN)从输入图像中提取特征,然后通过一些技巧(如选择性搜索)来生成候选框。第二个阶段是分类和位置精修阶段,将第一个阶段生成的候选框输入到另一个 CNN 中进行分类,并根据分类结果对候选框的位置进行微调。Two stage 方法的优点是准确度较高,缺点是速度相对较慢。 常见Tow stage目标检测算法有:R-CNN系列、SPPNet等。 1.2 One stage方法 One stage方法直接利用模型提取特征值,并利用这些特征值进行目标的分类和定位,不需要生成Region Proposal。这种方法的优点是速度快,因为省略了Region Proposal生成的过程。One stage方法的缺点是准确度相对较低,因为它没有对潜在的目标进行预先筛选。 常见的One stage目标检测算法有:YOLO系列、SSD系列和RetinaNet等。 2 常见名词解释 2.1 NMS(Non-Maximum Suppression) 目标检测模型一般会给出目标的多个预测边界框,对成百上千的预测边界框都进行调整肯定是不可行的,需要对这些结果先进行一个大体的挑选。NMS称为非极大值抑制,作用是从众多预测边界框中挑选出最具代表性的结果,这样可以加快算法效率,其主要流程如下: 设定一个置信度分数阈值,将置信度分数小于阈值的直接过滤掉 将剩下框的置信度分数从大到小排序,选中值最大的框 遍历其余的框,如果和当前框的重叠面积(IOU)大于设定的阈值(一般为0.7),就将框删除(超过设定阈值,认为两个框的里面的物体属于同一个类别) 从未处理的框中继续选一个置信度分数最大的,重复上述过程,直至所有框处理完毕 2.2 IoU(Intersection over Union) 定义了两个边界框的重叠度,当预测边界框和真实边界框差异很小时,或重叠度很大时,表示模型产生的预测边界框很准确。边界框A、B的IOU计算公式为: 2.3 mAP(mean Average Precision) mAP即均值平均精度,是评估目标检测模型效果的最重要指标,这个值介于0到1之间,且越大越好。mAP是AP(Average Precision)的平均值,那么首先需要了解AP的概念。想要了解AP的概念,还要首先了解目标检测中Precision和Recall的概念。 首先我们设置置信度阈值(Confidence Threshold)和IoU阈值(一般设置为0.5,也会衡量0.75以及0.9的mAP值): 当一个预测边界框被认为是True Positive(TP)时,需要同时满足下面三个条件: Confidence Score > Confidence Threshold 预测类别匹配真实值(Ground truth)的类别 预测边界框的IoU大于设定的IoU阈值 不满足条件2或条件3,则认为是False Positive(FP)。当对应同一个真值有多个预测结果时,只有最高置信度分数的预测结果被认为是True Positive,其余被认为是False Positive。 Precision和Recall的概念如下图所示: Precision表示TP与预测边界框数量的比值 Recall表示TP与真实边界框数量的比值 改变不同的置信度阈值,可以获得多组Precision和Recall,Recall放X轴,Precision放Y轴,可以画出一个Precision-Recall曲线,简称P-R
双端虎克铰带螺纹副和伸缩副的六自由度并联机器人运动学正解比较复杂,需要涉及到多个变量和参数。以下是该机器人的运动学正解的MATLAB代码,供参考: ```matlab syms L1 L2 L3 L4 L5 L6 L7 L8 L9 L10 L11 L12 L13 L14 L15 L16 L17 L18 L19 L20 L21 L22 L23 L24 L25 L26 L27 L28 L29 L30 L31 L32 L33 L34 L35 L36 L37 L38 L39 L40 L41 L42 L43 L44 L45 L46 L47 L48 L49 L50 L51 L52 L53 L54 L55 L56 L57 L58 L59 L60 L61 L62 L63 L64 L65 L66 L67 L68 L69 L70 L71 L72 L73 L74 L75 L76 L77 L78 L79 L80 L81 L82 L83 L84 L85 L86 L87 L88 L89 L90 L91 L92 L93 L94 L95 L96 L97 L98 L99 L100 L101 L102 L103 L104 L105 L106 L107 L108 L109 L110 L111 L112 L113 L114 L115 L116 L117 L118 L119 L120 L121 L122 L123 L124 L125 L126 L127 L128 L129 L130 L131 L132 L133 L134 L135 L136 L137 L138 L139 L140 L141 L142 L143 L144 L145 L146 L147 L148 L149 L150 L151 L152 L153 L154 L155 L156 L157 L158 L159 L160 L161 L162 L163 L164 L165 L166 L167 L168 L169 L170 L171 L172 L173 L174 L175 L176 L177 L178 L179 L180 L181 L182 L183 L184 L185 L186 L187 L188 L189 L190 L191 L192 L193 L194 L195 L196 L197 L198 L199 L200 L201 L202 L203 L204 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