基于双目强约束的直接稀疏视觉里程计

为了提高双目直接稀疏里程计(Stereo Direct Sparse Odometry, Stereo DSO)的定位速度和精度, 使得移动机器人可以更有效地执行任务, 提出了一种基于双目强约束的直接稀疏视觉里程计系统。基于直接法的即时定位与地图构建(Simultaneous Localization and Mapping, SLAM)系统直接对图像像素构建光度误差优化函数, 无需提取特征点, 克服了基于特征点法的SLAM系统在弱纹理场景下不鲁棒的缺陷, 并且在前端跟踪阶段效率更高。提出一种快速、准确的双目初始化方法, 结合三角化不确定性为不同类型的点赋予不同的深度范围, 加速深度滤波器的收敛。同时, 在运动估计阶段引入双目约束, 使得该系统在绝对尺度上的定位更加准确。通过在公开的KITTI数据集11个序列上进行实验, 实验结果表明所提出的算法在定位精度上明显优于同样采用直接法的Stereo Large Scale Direct SLAM(LSD-SLAM2)和Stereo DSO, 并达到与基于特征点法的ORB-SLAM3相近的水平, 为直接法SLAM提供一种更优的定位方案。     

图像中的文本定位技术研究综述

介绍了图像中文本定位技术的研究现状,依据定位所利用的特征进行分类,分析了其中几种典型算法,并对文本定位算法的性能评价标准进行了深入讨论。     

中国沿海城市全球化与地方化博弈逻辑与研究架构

中国沿海城市深受全球化与地方化双重影响,城市演化动力发生了巨变。学界有关全球化或地方化视域城市、产业、企业发展研究表明:(1)全球/地方化视域城市发展研究视角趋向于微观化,研究切入主线是城市体系、产业与企业,研究存在全球化转向地方化视角,区域经济宏观分析转向城市个体产业微观剖析,单一经济关系转向多重属性。(2)形成了全球化进程城市体系-产业生产网络-跨国公司网络驱动中国沿海城市竞争格局与演化机制,以及地方化抗争全球化所催化的城镇密集区成长-产业集群根植性-中小企业网络发展机制。(3)重视以全球-地方化视角研究跨国公司的组织、行为与网络,尤其关注全球化跨国企业、地方化企业与产业集群的角色与效用发挥机制;全球化视角认为嵌入世界生产网络重构城市体系,推动城市趋向新形态是全球化主线;地方化视角认为构建区域城市集合体、产业集群、中小企业根植区域发展,可通过区域管理多样化提升地方的国际竞争力与生产网络话语权,进而谋取世界城市体系中更高能级。(4)城市全球化与地方化发展具有不同的研究路径,两者在"自由市场化"以及"市场+政府主导"原则下选取不同博弈行动策略,导致了两者之间存在互为博弈过程,博弈模式呈现动态博弈,帕累托上策均衡策略选取遵循市场经济主导、行政管理辅助、微观要素依赖原则。     

堆石坝面板声发射源组合定位方法

堆石坝上游侧的混凝土面板是关乎大坝安全的重要防渗结构。针对现有声发射源定位方法在大尺度、时变性结构中定位效率与精度的不足,提出了一种兼顾大尺度与波速扰动影响的声发射源组合定位方法。首先,为减少声发射源定位计算中的无关搜索域,发展了一种分布式声发射传感器阵列,并基于各声发射传感器到时权重,建立了关于子监测阵列快速识别与声发射源区域二次细分的控制方程。其次,为进一步提高声发射源定位精度,改进了传统灰狼算法,并以细分的声发射源区域作为搜索域,以波速作为未知量,发展了一种基于改进灰狼算法的未知波速下声发射源定位方法。混凝土面板上的断铅试验结果表明：本文定位方法有效减少了至少75%的无关搜索域,且定位精度优于已知波速的声发射源定位方法,为水工结构健康监测提供了有益参考。     

Elucidation of the Clustered Nano-Architecture of Radiation-Induced DNA Damage Sites and Surrounding Chromatin in Cancer Cells: A Single Molecule Localization Microscopy Approach

In cancer therapy, the application of (fractionated) harsh radiation treatment is state of the art for many types of tumors. However, ionizing radiation is a “double-edged sword”—it can kill the tumor but can also promote the selection of radioresistant tumor cell clones or even initiate carcinogenesis in the normal irradiated tissue. Individualized radiotherapy would reduce these risks and boost the treatment, but its development requires a deep understanding of DNA damage and repair processes and the corresponding control mechanisms. DNA double strand breaks (DSBs) and their repair play a critical role in the cellular response to radiation. In previous years, it has become apparent that, beyond genetic and epigenetic determinants, the structural aspects of damaged chromatin (i.e., not only of DSBs themselves but also of the whole damage-surrounding chromatin domains) form another layer of complex DSB regulation. In the present article, we summarize the application of super-resolution single molecule localization microscopy (SMLM) for investigations of these structural aspects with emphasis on the relationship between the nano-architecture of radiation-induced repair foci (IRIFs), represented here by γH2AX foci, and their chromatin environment. Using irradiated HeLa cell cultures as an example, we show repair-dependent rearrangements of damaged chromatin and analyze the architecture of γH2AX repair clusters according to topological similarities. Although HeLa cells are known to have highly aberrant genomes, the topological similarity of γH2AX was high, indicating a functional, presumptively genome type-independent relevance of structural aspects in DSB repair. Remarkably, nano-scaled chromatin rearrangements during repair depended both on the chromatin domain type and the treatment. Based on these results, we demonstrate how the nano-architecture and topology of IRIFs and chromatin can be determined, point to the methodological relevance of SMLM, and discuss the consequences of the observed phenomena for the DSB repair network regulation or, for instance, radiation treatment outcomes.     

Analysis of damage localization for ductile metal in process of shear band propagation

1 Introduction Shear localization is an important and often dominating deformation and failure mechanism for Ti and Ti alloy in dynamic loadings[1—10]. The eventual outcome of localized deformation is ductile rupture and material separation. Shear locali…     

基于并查集和边缘检测模板的非理想虹膜定位

非理想虹膜图像往往存在虹膜边缘模糊、灰度变化不均匀、位置偏移及光斑干扰等问题, 这些问题的存在会在一定程度上影响虹膜内、外边界定位的准确率. 针对这个问题, 本文提出采用并查集和边缘检测模板的方法来对非理想虹膜进行内、外边界定位. 内边界定位是首先采用并查集方法完成瞳孔区域粗定位, 然后采用Hough变换对瞳孔进行精确定位; 外边界定位是先利用一系列边缘检测模板大致确定外圆的位置, 然后再依据外边界附近圆环内边缘点的密度来最终完成外边界的精确定位. 实验结果表明, 对于非理想虹膜图像, 本文方法的定位正确率和定位速度均高于其他同类方法.     

Chemical properties of femoral gland secretions in the desert iguana,Dipsosaurus dorsalis

This study investigates the chemistry of femoral gland secretions in the desert iguana,Dipsosaurus dorsalis (Lacertilia: Iguanidae), and discusses their possible functional significance. Electrophoretic and proton NMR studies indicated that the secretions are composed of approximately 80 % protein and 20% lipid material. Individual differences in polyacrylamide gel banding patterns of femoral gland proteins were found. Reflectance spectroscopy revealed that the secretions strongly absorb longwave ultraviolet light, a feature that may be important in the localization of secretion deposits in the environment.     

基于二元多跳WSN的信道容错的目标定位方法

针对信道退化的多跳无线传感器网络下的定位问题,基于最大似然估计提出一种新的信道容错的定位算法.传感器节点接收到的源信号强度数据被压缩量化为二元信号,经Rayleigh退化信道多跳中继到达融合中心.利用信道退化统计量和译码策略,推导出二元观测数据的似然函数,基于最大似然估计获得目标定位,进一步给出目标位置估计的克拉美-罗下界.仿真结果表明了所提出算法的有效性.     

一种基于SBL和APIT的混合定位算法

由于子区域分割粒度的限制,基于阶次序列的定位算法(Sequence-based localization,SBL)存在边缘区域节点定位误差较大和不能保证平均定位误差性能的问题。针对这些问题,提出了一种基于SBL和APIT的混合定位算法,利用APIT信标三角形切割SBL算法子区域,减小子区域面积,实现了分割粒度的细化。通过预先进行系统训练,优化了混合算法的加权系数,进一步提升了算法的定位精度。仿真结果表明,相比于原算法,所提出的混合算法有效地提升了边界区域节点的定位精度,其平均定位误差降低了17.9%,使基于阶次序列的定位算法的定位精度得到了有效改善。