基于IMU与激光雷达紧耦合的混合匹配算法

针对线、面特征匹配的激光雷达测距与地图构建算法(Lightweight and Ground-Optimized Lidar Odometry And Mapping,LeGO-LOAM)在自动导引运输车(Automated Guided Vehicle,AGV)室内室外实时建图与定位时,易出现激光里程计累积误差大和旋转估计不准确等问题,本工作采用惯性测量单元(Inertial Measurement Unit,IMU)与激光雷达紧耦合的LeGO-LOAM算法,通过IMU为激光雷达提供的初始位姿信息,构建IMU与激光雷达联合误差函数,实现位姿共同迭代优化.其中,对于室外结构化信息较少时,在点对点的迭代最近点算法(Iterative Closest Point,ICP)较高定位精度的基础上,结合LeGO-LOAM算法和ICP算法互补性,进一步提出基于IMU与激光雷达紧耦合的混合匹配算法:当环境中结构信息较多时,激光里程计采用LeGO-LOAM算法,而当环境中结构化信息较少时采用ICP算法.实验结果表明,基于IMU与激光雷达紧耦合的混合匹配算法可有效降低激光里程计相对位姿误差和累积误差,提高AGV小车定位精度以消除部分地图重影.     

从文化视角看英汉饮食隐喻差异

隐喻不仅是一种修辞手法,而且是一种思维方式和文化反映。英、汉语中存在大量饮食隐喻,英汉饮食隐喻虽有共性,但更多的是存在差异。探讨英汉饮食隐喻存在的差异以及引起这些差异的文化原因,对加深认识隐喻、了解中西文化差异以及成功进行跨文化交际具有积极的意义。     

装甲车车身自动调平系统原理及算法设计

为了提高6点装甲车辆调平的快速性和稳定性,根据装甲车结构,考虑响应时间、速度和可靠性等综合因素,将车身系统由6点调平系统等效为4点调平系统。利用相应的角度和压力传感器检测车架的水平状态,以确定油气簧的动作量。采用双速调整的方法计算比例阀门的开启大小及时间,运用西门子控制器实现对调平系统的控制。试验结果表明,该系统具有较高的快速性和稳定性。     

Robust weighted fusion Kalman filters under linearly correlated noise and mixed uncertainties of noise variances,multiplicative noises,and multiple networked inducements

The paper solves the robust weighted fusion Kalman filtering problem for systems with linearly correlated noise and mixed uncertainties of noise variances, multiplicative noises, and multiple networked inducements including missing measurements, packets dropouts, and two-step random measurement delays. It is assumed that system noise variances are uncertain but bounded above, and the other four uncertainties are compensated to fictitious white noise by the proposed model-transformation method. For the transformed local multimodel system with correlated fictitious noise, the robust local time-varying recursive Kalman filters are presented by decorrelation technique and minimax robust filtering principle. Then the six weighted fusion robust Kalman filters are presented in a unified form. The robustness of local and fused robust Kalman filters is proved by the extended Lyapunov equation approach, matrix factorization, and elementary transformation. Further, the local and fused steady-state robust Kalman filters are designed. Finally, a simulation study applied to F404 aircraft engine system is provided to examine effectiveness and applicability of the proposed algorithm.     

自适应迁移鲁棒特征的个性化联邦医学图像分类

目的 针对联邦学习中多中心医学数据的异质性特征导致全局模型性能不佳的问题,提出一种基于特征迁移的自适应个性化联邦学习算法（adaptive personalized federated learning via feature transfer, APFFT）。方法 首先,为降低全局模型中异质性特征信息影响,提出鲁棒特征选择网络（robust feature selection network, RFS-Net）构建个性化本地模型。RFS-Net通过学习两个迁移权重分别确定全局模型向本地模型迁移时的有效特征以及特征迁移的目的地,并构建基于迁移权重的迁移损失函数以加强本地模型对全局模型中有效特征的注意力,从而构建个性化本地模型。然后,为过滤各本地模型中异质性特征信息,利用自适应聚合网络（adaptive aggregation network, AANet）聚合全局模型。AA-Net基于全局模型交叉熵变化更新迁移权重并构建聚合损失,使各本地模型向全局模型迁移鲁棒特征,提高全局模型的特征表达能力。结果 在3种医学图像分类任务上与4种现有方法进行比较实验,在肺结核肺腺癌分类任务中,各中心曲线...     

Measurement of the neutral plane of an internal fire whirl using the background-oriented Schlieren technique for a vertical shaft model of a high-rise building

Since the height of the neutral plane is related to the direction of the high-temperature smoke and airflow diffusion of fires in high-rise buildings, the identification of the neutral plane is important for both the evacuation of residents and the safety of fire fighters. As yet, there are no effective methods for directly measuring the constantly changing neutral plane position. There are complex internal fire whirl phenomena in the inner space in particular cases. In this study, the background-oriented Schlieren (BOS) technique was used to visualize the neutral plane when a fire whirl occurs in a vertical shaft with a single corner gap. With n-propanol used as the fuel, the scale modeling experiments of fuel trays 5.8 cm and 7 cm in diameter were tested in a 34 cm (W) × 35 cm (L) × 145 cm (H) model for open and covered roof types. It is observed in the experimental process that the height of the neutral plane changes dynamically as the fire whirl is formed. The thermocouples were used to measure the temperature variation at different heights of openings to validate the measurement accuracy of the BOS technique. It is found that once a fire whirl occurs in the inner space of a high-rise building, the height of the neutral plane increases instantly. The experimental results demonstrate that the BOS technique can measure the neutral plane position of a large-scale model of a high-rise building fire scene directly, immediately and accurately.     

Cooperation in the evolutionary iterated prisoner’s dilemma game with risk attitude adaptation

The Iterated Prisoner’s Dilemma (IPD) game has been commonly used to investigate the cooperation among competitors. However, most previous studies on the IPD focused solely on maximizing players’ average payoffs without considering their risk preferences. By introducing the concept of income stream risk into the IPD game, this paper presents a novel evolutionary IPD model with agents seeking to balance between average payoffs and risks with respect to their own risk attitudes. We build a new IPD model of multiple agents, in which agents interact with one another in the pair-wise IPD game while adapting their risk attitudes according to their received payoffs. Agents become more risk averse after their payoffs exceed their aspirations, or become more risk seeking after their payoffs fall short of their aspirations. The aspiration levels of agents are determined based on their historical self-payoff information or the payoff information of the agent population. Simulations are conducted to investigate the emergence of cooperation under these two comparison methods. Results indicate that agents can sustain a highly cooperative equilibrium when they consider only their own historical payoffs as aspirations (called historical comparison) in adjusting their risk attitudes. This holds true even for the IPD with a short game encounter, for which cooperation was previously demonstrated difficult. However, when agents evaluate their payoffs in comparison with the population average payoff (called social comparison), those agents with payoffs below the population average tend to be dissatisfied with the game outcomes. This dissatisfaction will induce more risk-seeking behavior of agents in the IPD game, which will constitute a strong deterrent to the emergence of mutual cooperation in the population.     

A study on local cooling of garments with ventilation fans and openings placed at different torso sites

The aim of the study was to examine the various design features of ventilated garments on cooling performance. Five jackets with small ventilation units and closable openings were designed. The ventilation units with a flow rate of 12 l/s were placed at five different torso sites. They were examined on a sweating thermal manikin in four clothing opening conditions in a warm environment (T_a = T_manikin = 34 °C, RH = 60%, V_a = 0.4 m/s). Total torso cooling was increased by 137–251%, and clothing total dynamic evaporative resistance was decreased by 43–69%. Neither the ventilation location nor the opening design had a significant difference on total torso cooling. The ventilation location had a significant difference on localized intra-torso cooling, but not the opening design. When the ventilation units were placed at the local zone where it was ventilated, that zone underwent the highest cooling than other local zones. The study indicated that the ventilation units should be placed at the region where it required the most evaporative cooling, e.g. along the spine area and the lower back. The openings could be adjusted (closed or opened) to make comfortable air pressure for the wearers but without making significant difference on the whole torso cooling under this flow rate.Relevance to industryHeat strain is frequently reported in hot environments, especially for those industries, such as construction, mining and steel. Clothing equipped with the small ventilation units could circulate the ambient air around the body and thus decrease heat strain and improve productivity.     

Direct ink writing of cordierite ceramics with low thermal expansion coefficient

Since the application of cordierite ceramics is limited by the disadvantages of traditional preparation techniques, 3D printing technology provides the only choice for the rapid preparation of cordierite ceramics with highly complex structures. In this work, the fabrication of cordierite ceramics with complex structures was achieved by direct ink writing. The near-net-shape of cordierite ceramics was realized by the volume expansion caused by the phase transformation. A cordierite ceramic with an average shrinkage rate of 1.58 % was obtained at 1400 °C. The low shrinkage avoids design and manufacturing procedures carried out for dimensional and alignment errors. In addition, the coefficient of thermal expansion was as low as 1.69 × 10^?6 °C^?1. The effect of configuration on the thermal behavior of cordierite ceramics is understood by analyzing the phase composition and microstructure. The cordierites ink reported in this work offers additional possibilities for the production of novel complex structures.     

Thermoelectric properties and thermal stability of metal-doped cuprous sulfide thermoelectrics

Mn doping and S-evaporation are strategies used to improve the thermoelectric properties and thermal stability of cuprous sulfide thermoelectric materials. Cu_1.8S and Mn-alloyed Cu_1.8S powders were prepared via ball milling, and different samples were obtained via current-assisted sintering at different times. It was found that Mn and S-evaporation optimized the carrier concentration and thus improved the figure of merit (ZT) of the samples. The introduction of pore defects induced by S-evaporation also improved the ZT. The maximum ZT of the optimized sample reached 0.89 at 500 °C. Mn in the samples reacted with oxygen to form an oxide film on the surface of the block, which inhibited the kinetic process of Cu_1.8S decomposition and improved the thermal stability of the samples. However, the reaction between Mn and oxygen led to a continuous loss of metal cations in the material, resulting in changes in the thermoelectric properties.