A Lane-Level Road Marking Map Using a Monocular Camera

The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings (RMs). Obviously, we can build the lane-level map by running a mobile mapping system (MMS) which is equipped with a high-end 3D LiDAR and a number of high-cost sensors. This approach, however, is highly expensive and ineffective since a single high-end MMS must visit every place for mapping. In this paper, a lane-level RM mapping system using a monocular camera is developed. The developed system can be considered as an alternative to expensive high-end MMS. The developed RM map includes the information of road lanes (RLs) and symbolic road markings (SRMs). First, to build a lane-level RM map, the RMs are segmented at pixel level through the deep learning network. The network is named RMNet. The segmented RMs are then gathered to build a lane-level RM map. Second, the lane-level map is improved through loop-closure detection and graph optimization. To train the RMNet and build a lane-level RM map, a new dataset named SeRM set is developed. The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images. Finally, the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation.      

Robust optical flow estimation via edge preserving filtering

It is known that optical flow estimation techniques suffer from the issues of ill-defined edges and boundaries of the moving objects. Traditional variational methods for optical flow estimation are not robust to handle these issues since the local filters in these methods do not hold the robustness near the edges. In this paper, we propose a non-local total variation NLTV-$L^1$ optical flow estimation method based on robust weighted guided filtering. Specifically, first, the robust weighted guided filtering objective function is proposed to preserve motion edges. The proposed objective function is based on the linear model which is computationally efficient and edge-preserving in complex natural scenarios. Second, the proposed weighted guided filtering objective function is incorporated into the non-local total variation NLTV-$L^1$ energy function. Finally, the novel NLTV-$L^1$ optical flow method is performed using the coarse-to-fine process. Additionally, we modify some state-of-the-art variational optical flow estimation methods by the robust weighted guided filtering objective function to verify the performance on Middlebury, MPI-Sintel, and Foggy Zurich sequences. Experimental results show that the proposed method can preserve edges and improve the accuracy of optical flow estimation compared with several state-of-the-art methods.     

机翼极限环颤振的CFD/CSD全隐式紧耦合方法

针对轴承振动实时状态监控的需要，从符号动力学角度提出了符号聚合近似与Lempel-ziv复杂度（SAX-LZC）融合的振动监控参数。首先，以Logistic映射和Duffing方程为对象，从理论角度验证了SAX-LZC对动力学结构表征的准确性，并验证了该指标的抗噪能力和计算效率；其次，将SAX-LZC指标与信息熵、样本熵、多分段Lempel-ziv复杂度等动力学参数性能进行了综合对比；最后，从实验角度对轴承早期微弱异常进行了监测，并对轴承典型故障进行了特征提取。理论研究结果表明，SAX-LZC具有动力学结构表征准确、抗噪能力好、计算高效简洁等优点，克服了常规动力学参数工程应用能力弱的问题。实验研究结果表明，SAX-LZC对早期微弱异常有准确的监测，对不同种类故障具有较好的区分度，弥补了时域和频域对轴承微弱故障表征能力不足的缺陷，是一种轴承振动实时状态监控与故障特征提取的有效参数。     

Die Baugesellschaft Gebrüder Rank und ihre spanischen Ziegelgewölbe in München

The Rank construction company and the introduction of brick vaults in Munich after 1945 The construction of vaults without scaffolding with thin bricks has a centuries‐old tradition, particularly in Spain and Italy. Since the beginning of the 19^th century, it has been successfully spread mainly on the American double continent. The Rank Brothers construction company in Munich is known to date as one of those construction companies that began building with concrete in its home city very early on. New investigations, which were made possible above all by the provision of archive material by Paul Basiner, now point to an additional focus of this company's work. The architects and engineers of the company had been also able to familiarise themselves with this traditional Spanish brick‐vaulted construction method via the branch office in Spain, which was established from 1911 on. This knowledge was particularly in demand in the years following World War II, when the destroyed vaults had to be rebuilt with simple means and low material consumption. Together with Carl Sattler, who had become acquainted with similar construction methods in Italy, brick vaults were initially used to complete the construction of the Landeszentralbank in Munich. In the following years, Rank was able to provide many buildings in and around Munich with brick vaults. It was not until the 1960s that this construction technique went out of fashion and was thus somewhat forgotten.     

制导炸弹半实物仿真系统误差对仿真结果的影响

在制导炸弹半实物仿真试验中经常发现,同一发制导炸弹多次仿真的俯仰角差别较大,同一批次制导炸弹投弹试验的遥测俯仰角与仿真俯仰角差别也较大,但是俯仰角的收敛趋势均一致,实测脱靶量与仿真脱靶量都合格,且具有一致性。为了分析出现上述现象的原因,基于协方差分析描述函数法(CADFT),建立了制导炸弹半实物仿真系统的误差传播理论,计算了仿真姿态角和姿态角速度的误差。分析了仿真姿态角和姿态角速度的误差对仿真结果的影响。结果表明,在仿真系统各种误差中,气动力和气动力矩误差是主要误差,是引起仿真俯仰角差别的重要原因; 姿态角的动态验模方法不适用于制导炸弹仿真模型,而脱靶量的静态验模方法适用于制导炸弹仿真模型。     

面源红外诱饵对抗红外制导导弹干扰策略研究

面源红外诱饵使用的过程中,合理有效的干扰策略是干扰红外制导导弹的关键,针对这一问题,通过理论分析与仿真模拟相结合得到面源红外诱饵对抗红外制导导弹的干扰策略。首先以红外成像制导导弹为例,介绍红外制导导弹的仿真模型,然后将攻击过程分为锁定前与锁定后,以命中率为评价指标,得到两个阶段下的最佳干扰策略,包括诱饵的最佳释放时机、释放间隔以及载机应采取的机动动作等。     

Quantitative UPLC‐MS/MS analysis of chlorogenic acid derivatives in antioxidant fractionates from dandelion (Taraxacum officinale) root

While qualitative studies have identified chlorogenic acids in antioxidant extracts, particularly ethyl acetate‐derived extracts, of Taraxacum officinale, quantitative analysis of these phenolic compounds remains largely unreported for this species. In this study, bioactivity‐guided fractionation of an antioxidant crude ethyl acetate extract (DPPH = 295.481 ± 0.955 mg TE g^?1 extract) from T. officinale root resulted in a number of reverse‐phase fractions that demonstrated high antioxidant activity (DPPH = 1058.733–1312.136 mg TE g^?1 extract), stronger than that of the synthetic antioxidant Trolox^®. UPLC‐MS/MS screening of these fractions for the presence of selected mono‐ and di‐caffeoylquinic acids revealed large quantities of 1,5‐dicaffeoylquinic acid present in several fractions (853.052–907.324 μg mg^?1), respectively. Due to the antioxidant potency and high levels of 1,5‐dicaffeoylquinic acid observed in these fractions, it was concluded that specifically this chlorogenic acid derivative is a major contributor to the antioxidant efficacy of dandelion root.     

A route and speed optimization model to find conflict-free routes for automated guided vehicles in large warehouses based on quick response code technology

This paper focuses on exploring conflict-free routes for automated guided vehicles (AGVs) based on quick response (QR) code technology. Intelligent warehousing has become an industrial development trend, with an increasing number of enterprises deploying AGVs based on QR code technology for transportation tasks, especially in large warehouses. Unlike the early single lane path following navigation systems, AGVs using QR code technology can freely switch tracks at any position. And two AGVs can be accommodated side by side. The conditions of conflict-free routes are analyzed firstly when AGVs use QR code navigation system. After that, a route and speed optimization model (RSOM) that aims at minimizing energy consumption and taking conflict-free routes with time windows as the constraint condition is established. Then a branch-and-bound (B&B) algorithm scheme is proposed by altering AGV routes or speed to arrive at schemes with conflict-free routes to complete transportation tasks. Lastly, the effectiveness and validity of our proposed model and algorithm are verified by numerical examples and a case study. The results show that resolving conflicts during route planning for AGVs guided through QR code have advantages over avoiding collision in the running phase by technology and path following techniques in both aspects of solution time and energy. In addition, the established B&B algorithm has better performance than the rapid-exploring random tree (RRT) algorithm in numerical examples. The gaps between them widen as the size of AGVs increases. The research work has potential for application to meet the requirements of AGV development.     

基于符号模型检测的Web服务组合形式化验证

随着经济的发展和市场竞争的加剧,企业必须能够快速且准确地满足市场和用户的各种需求。Web服务组合正是由于单个Web服务不能满足企业及用户的需求而产生的一种技术,而如何确保组合的正确性来实现服务增值是一个尚未完全解决的问题。针对此问题,提出了一种基于符号模型检测器NuSMV对Web服务组合进行验证的方法,并提出了基于消息会话的Web服务有限状态自动机的形式化定义。最后实例验证了Web服务组合交互的正确性和有无死锁状态现象,进一步证明了方法的可行性。