Hierarchical sampling optimization of particle filter for global robot localization in pervasive network environment

This paper presents a hierarchical framework for managing the sampling distribution of a particle filter (PF) that estimates the global positions of mobile robots in a large‐scale area. The key concept is to gradually improve the accuracy of the global localization by fusing sensor information with different characteristics. The sensor observations are the received signal strength indications (RSSIs) of Wi‐Fi devices as network facilities and the range of a laser scanner. First, the RSSI data used for determining certain global areas within which the robot is located are represented as RSSI bins. In addition, the results of the RSSI bins contain the uncertainty of localization, which is utilized for calculating the optimal sampling size of the PF to cover the regions of the RSSI bins. The range data are then used to estimate the precise position of the robot in the regions of the RSSI bins using the core process of the PF. The experimental results demonstrate superior performance compared with other approaches in terms of the success rate of the global localization and the amount of computation for managing the optimal sampling size.     

基于近场均匀照明的纸病检测系统光源优化方案

针对纸病检测系统中采集到的图像存在横向灰度不均匀现象,基于几何光学辐射照度理论,围绕纸病检测系统光源模块照射到被检测纸张上的照度均匀分布问题开展了应用技术研究。依据斯派罗法则,确定了光源模块中LED灯珠间的最优距离函数;从机器视觉的角度出发,利用实验法确定了光源阵列中不同位置灯珠的功率优化函数;采用图像灰度均匀度指标,对光源的改进效果进行了验证。结果表明,本优化方案可以将获取到的图像灰度均匀度由优化前的57. 8%提高到98. 6%,有效地提高了纸张的成像质量,可降低后期的图像处理难度,有望提高应用程序的执行效率。     

煤粉锅炉脱硫系统中除尘器压差过高原因及解决方案

高倍率灰钙循环烟气脱硫技术在神东矿区的煤粉锅炉环保改造项目中已投入建设并成功运行,脱硫率可达95%以上。在NGD系统的运行调试期,布袋除尘器压差的数值及其上升速度均较改造前有大幅提高,影响了锅炉系统的正常运行并降低了布袋除尘器的运行效率。为了解决此问题,先分析滤料透气性降低而导致布袋除尘器压差上升的根本原因,再结合现场调研情况对NGD系统工况下的烟气含湿量、烟气温度、烟气灰浓度、除尘器本体的问题以及上游锅炉系统问题逐一进行对比和分析,并找出问题产生的各主要因素。NGD系统中布袋除尘器差压升高的原因包括多方面,为了使NGD系统的运行更加稳定,需要使除尘器适应NGD系统的工况并对系统中部分设备进行改造。在未来NGD系统的设计中,布袋除尘器需按高浓度烟气设计,且针对煤粉工业锅炉的运行、维护特性应加入对烟气中含水量的监测及对布袋除尘器的相应保护措施。     

Arabic sign language intelligent translator

ABSTRACT

Arabic sign language (ArSL) is method of communication between deaf communities in Arab countries; therefore, the development of systemsthat can recognize the gestures provides a means for the Deaf to easily integrate into society. In this research we implemented a computational structurefor an intelligent interpreter that automatically recognizes the isolated dynamic gestures. The proposed system recognizes and translates gesturesperformed with one or both hands. It comprises five subsystems, building dataset, video processing, feature extraction, mapping between ArSL and Arabictext, and text generation. To apply the system, 100-signs of ArSL was used, which was applied on 1500 video files. It's were divided into five classes:alphabet, numbers, "prepositions, pronouns and question words", Arabic life expressions, and "nouns and verbs". The evaluation indicated that thesystem automatically recognizes and translates isolated dynamic ArSL gestures by highly accurate manner. The results showed that the system accuracy is 95.8%.     

一种灰度化混合法在集装箱箱号识别中的运用

研究一种基于机器视觉的集装箱箱号识别方法。对于集装箱彩色图像预处理过程中的灰度化方法，传统的灰度化算法不能有效弥补图像中污损或其他信息缺失的部分，因此，本文提出使用主成分分析法（PCA）结合贝叶斯阈值估计灰度变化率的混合法对图像的灰度化进行优化，可以在判断图像中某一点灰度值与周围相邻像素点的灰度值的变化率后，弥补缺失信息，有效确定边缘特征，从而使后续的字符识别准确率大大提高。最后使用该算法模型设计实现一套用于港口集装箱的智能检测系统。经过Matlab实验验证，在对50幅港口集装箱箱号图像的识别中，通过使用本文提出的混合灰度化方法，与普通的均值法和加权平均法的灰度化方法相比，准确率更高，其中单一字符准确率可达96%，箱号准确率可达92%。     

基于双应力加速寿命试验的关节轴承寿命预测与可靠性分析

自润滑关节轴承寿命主要是由衬垫的磨损性能决定的,但衬垫的磨损一般是非线性的,使得寿命难以预测。采用同时改变载荷和摆频2种应力的方法进行加速寿命试验,建立以pv值、磨损量退化数据为输入参数,寿命值为输出参数的灰色神经网络预测模型。经验证该预测模型对关节轴承寿命预测的最大误差仅为7.33%,平均误差仅为3.892%。对不同加速应力下自润滑关节轴承可靠性进行评估,结果表明,关节轴承的可靠性在L_(10)(可靠度为90%时的寿命)之前下降趋势缓慢,然后迅速下降,pv值越大可靠性下降越迅速;随着pv值的增大,关节轴承寿命近似呈指数下降,经验证可用逆幂率加速模型反映二者关系。     

一种基于深度森林的恶意代码分类方法

针对当前恶意代码静态分析方法精度不足的问题，将恶意代码映射为无压缩的灰度图像，然后根据图像变换方法将图像变换为恒定大小的图像，使用方向梯度直方图提取图像的特征，最后提出一种基于深度森林的恶意代码分类方法.实验中选择不同家族的多个恶意代码样本进行分类，验证了该方法的有效性，并且实验结果优于近期提出的SPAM-GIST方法.     

A century of gray: A genomic locus found in 2 distinct Pseudomonas spp. is associated with historical and contemporary color defects in dairy products worldwide

Some gram-negative bacteria, including Pseudomonas spp., can grow at refrigeration temperatures and cause flavor, odor, and texture defects in fluid milk. Historical and modern cases exist of gray and blue color defects in fluid milk due to Pseudomonas, and several recent reports have detailed fresh cheese spoilage associated with blue-pigment-forming Pseudomonas. Our goal was to investigate the genomes of pigmented Pseudomonas isolates responsible for historical and modern pigmented spoilage of dairy products in the United States to determine the genetic basis of pigment-forming phenotypes. We performed whole genome sequencing of 9 Pseudomonas isolates: 3 from recent incidents of gray-pigmented fluid milk (Pseudomonas fluorescens group), 1 from blue-pigmented cheese (P. fluorescens group), 2 from a historical blue milk spoilage incident (Pseudomonas putida group), and 3 with no evidence for blue or gray pigment formation (2 from P. fluorescens group and 1 from Pseudomonas chlororaphis group). All 6 isolates collected from products with a gray or blue pigment defect were confirmed to produce pigment using potato dextrose agar or pasteurized milk. A subset of 2 isolates was selected for inoculation into milk and onto the surface of a model cheese for subsequent color measurement. These isolates produced different colors on potato dextrose agar, but produced nearly identical color defects in milk and on model cheese. For the same subset of 2 isolates, the gray color defect in milk was produced only in containers with ample headspace and not in full containers, suggesting that oxygen is vital for pigment formation. This work also demonstrated that a Pseudomonas isolate from cheese can produce a pigment defect in milk, and vice versa. Comparative genomics identified an accessory locus encoding tryptophan biosynthesis genes that was present in all isolates that produced gray or blue pigment under laboratory conditions and was only previously reported in 2 P. fluorescens isolates responsible for blue mozzarella in Italy. Because this locus was found in genetically distant isolates belonging to different Pseudomonas species groups, it may have been acquired via horizontal gene transfer. These data suggest that several past and present gray- or blue-pigmented dairy spoilage events share a common genetic etiology that transcends species-level identification and merits further investigation to determine mechanistic details and modes of prevention.     

Adaptive reversible data hiding for JPEG images with multiple two-dimensional histograms

Joint photographic experts group (JPEG) can provide good quality with small file size but also eliminate extensively the redundancies of images. Therefore, hiding data into JPEG images in terms of maintaining high visual quality at small file sizes has been a great challenge for researchers. In this paper, an adaptive reversible data hiding method for JPEG images containing multiple two-dimensional (2D) histograms is proposed. Adaptability is mainly reflected in three aspects. The first one is to preferentially select sharper histograms for data embedding after $K$ histograms are established by constructing the $k$th ($k\in \{1,2,\dots ,K\}$) histogram using the $k$th non-zero alternating current (AC) coefficient of all the quantized discrete cosine transform blocks. On the other hand, to fully exploit the strong correlation between coefficients of one histogram, the smoothness of each coefficient is estimated by a block smoothness estimator so that a sharply-distributed 2D-histogram is constructed by combining two coefficients with similar smoothness into a pair. The pair corresponding to low complexity is selected priorly for data embedding, leading to high embedding performance while maintaining low file size. Besides, we design multiple embedding strategies to adaptively select the embedding strategy for each 2D histogram. Experimental results demonstrate that the proposed method can achieve higher rate–distortion performance which maintaining lower file storage space, compared with previous studies.     

基于熵权和灰色关联分析的评判方法优选油气田增产措施

采用基于熵权和灰关联分析的多因素综合评判方法对油气田增产措施进行优选,以熵权代替灰色关联分析中的权重,克服了人为赋值的主观性。文中首先对油气田增产措施的评价指标进行了分析,然后建立了相应的多因素综合评判理论模型,最后结合具体实例对该评判方法进行了检验。结果表明:该方法是切实可行的,具有很高的应用价值。