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.      

SRS: Spatial-tagged radio-mapping system combining LiDAR and mobile-phone data for indoor location-based services

One of the most challenging issues in radio received signal strength (RSS)-based localization systems is the generation and distribution of a radio map with a coordinate system linked with spatial information in a large indoor space. This study proposes a novel spatial-tagged radio-mapping system (SRS) that effectively combines the heterogeneous properties of LiDAR and mobile phones to simultaneously perform both spatial and radio mappings. The SRS consists of synchronization, localization, and map building processes, and enables real-time spatial and radio mapping. In the synchronization process, the distance range, motion data, and radio signals obtained through the LiDAR and mobile phone are collected in nodal units according to the sensing time. In the localization process, a feature variance filter is used to control the number of features generated from LiDAR and estimate the positions at which the nodes are generated in real time according to the motion data and radio signals. In map building, the estimated positions of the nodes are used to extract spatial and radio maps by using a unified location coordinate system. To ensure mobility, the SRS is manufactured in the form of a backpack supporting LiDAR and a mobile phone; the usefulness of the system is experimentally verified. The experiments are performed in a large indoor shopping mall with a complex structure. The experimental results demonstrated that a common coordinate system could be used to build spatial and radio maps with high accuracy and efficiency in real time. In addition, the field applicability of the SRS to location-based services is experimentally verified by applying the constructed radio map to well-known fingerprinting algorithms using the heterogeneous mobile phones.     

Modeling unaccounted-for gas among residential natural gas consumers using a comprehensive fuzzy cognitive map

Residential natural gas consumption depends on several factors. Available tools and methods to identify, categorize, and validate effective factors have some limitations, making consumption modeling more complex. Once a comprehensive model of effective consumption factors is developed for residential gas consumers, it can predict consumption. In addition, such a model could be used to verify the accuracy of measuring devices in order to reduce unaccounted for gas (UFG). The key factors affecting residential gas consumption were identified based on previous studies and their mutual effects were analyzed using a fuzzy cognitive mapping (FCM) method. The most significant factors and their effects on natural gas consumption in the residential sector were determined. In this study, for the first time, the expected consumption for each consumer was estimated using a consumption index. Generally, if the estimated consumption is significantly different from the amount recorded by the meter, it could suggest a potential source of UFG. The proposed method was applied to the data collected from the residential gas consumers of a small region in Iran (Dasht-e Arjan region, Fars province), and the results demonstrate the effectiveness of the proposed method.     

利用平面约束的月球车立体匹配方法

为了满足月球车视觉系统对检测障碍物检测的时效性和可靠性的需求，提出了一种基于平面约束和自适应惩罚参数的半全局立体匹配算法。首先，对极线校正后的两幅图像进行SIFT特征点提取与匹配，同时提取边缘特征；然后，利用匹配的SIFT特征点拟合空间平面，并根据平面估计左右图像所有像素点的视差搜索范围；最后，基于传统的半全局匹配算法，采用自适应惩罚参数的策略对左右图像进行立体匹配。实验结果表明：所提出的算法有效地降低了计算复杂度，其计算复杂度只有传统方法的19.9%，对于视差不连续区域以及遮挡区域都能够获得正确的匹配结果。较传统半全局匹配方法无论在速度还是匹配精度上都得到明显提高，为对立体匹配的实际应用奠定了基础。     

[Zr0.73(Cu0.59Ni0.41)0.27]87Al13合金过冷液相区热塑性成形研究

为探究[Zr_(0.73)(Cu_(0.59)Ni_(0.41))_(0.27)]_(87)Al_(13)非晶合金的热塑性成形性能以及绘制其对应的热加工图谱,用Gleeble3500型热模拟压缩实验机对该非晶合金进行不同参数下的热模拟压缩实验。结果表明,合金在压缩过程中变形行为由牛顿流变演变为非牛顿流变;同时,过高或过低的热加工温度均能导致合金晶化;进一步对数据分析得到该合金在不同热塑性成形参数下的功率耗散图与流变失稳图,并绘制出相应的热加工谱图,谱图分析结果表明,该合金在温度为420与430℃、应变速率为10~(-3) s~(-1)时具有较高功率耗散系数且没有失稳区域,因此,合金可选的热塑性加工参数为温度420～430℃,应变速率10~(-3) s~(-1)。     

焦糖色配方的工艺优化

为烹饪中的焦糖色标准化和科学化生产提供科学依据,对焦糖色的最优配方和制作工艺进行了研究。以感官评分为标准,通过单因素试验和响应面试验研究了白砂糖添加量、加热时间、沸水添加量的影响。确定焦糖色最佳制作配方和工艺条件为:白砂糖添加量为153.51 g,加热时间为8.91 min,沸水添加量为99.88 g。经此配方工艺制作的焦糖色感官评分高达98.7,具有焦香味浓郁,色泽呈深黑红棕色且富有光泽等特点。最后,以卤肉为载体,比较焦糖色与常用食品增色剂老抽酱油以及焦糖色和老抽酱油混合物(老抽:焦糖=1:1混合,m/m)对食品色泽参数包括亮度L*值、红度a*值、黄度b*值、彩度c*值的影响。结果表明,三种食品增色剂对卤肉的亮度L*值和黄度b*值和彩度c*值没有显著性差异(p>0.05),对卤肉的红度a*值差异显著(p<0.05),说明焦糖色能够提高卤肉的光泽度和红度,与感官评定结果一致。     

花椒风味油的制取及品质研究

以花椒果皮为原料,采用大豆油热浸法制取花椒风味油。以花椒风味油的酸价、过氧化值和感官评分为考察指标,通过单因素实验和正交实验优化制取工艺条件。采用顶空固相微萃取-气相色谱-质谱联用技术对花椒风味油和大豆油中挥发性风味成分进行测定。结果表明:制取花椒风味油的最佳工艺条件为浸提温度95℃、浸提时间20 min、花椒果皮添加量15%,在此条件下制取的花椒风味油香气浓郁、麻味足、色泽好且感官评分最高,其酸价(KOH)为0. 40 mg/g,过氧化值为5. 07 mmol/kg,感官评分为9. 1。花椒风味油中维生素E总量为1 869. 86 mg/kg,远高于大豆油中的742. 07 mg/kg;甾醇含量相较于大豆油几乎不变;脂肪酸组成与大豆油的基本相同;花椒风味油中共鉴定出9类83种挥发性风味成分,大豆油中共鉴定出8类25种挥发性风味成分,花椒风味油中挥发性风味成分主要是烯烃类和醇类(相对含量86. 99%),大豆油中主要是烯烃类和醛类(相对含量87. 26%);花椒风味油中醇类18种,占总量的40. 97%,大豆油中醇类仅1种,占总量的1. 74%;花椒风味油中醛类物质含量仅为1. 91%,而大豆油中醛类物质含量为12. 69%。     

响应面优化糯米茶酒生产工艺

为提高中低档茶叶的经济附加值，以红茶与糯米为主要原料，进行生料法糯米茶酒的研制。在单因素试验的基础上，采用响应面法优化糯米茶酒的生产工艺条件。结果表明，在糯米中添加2.1%红茶粉、2.0%酒曲及2倍质量的纯净水，30.0 ℃发酵13.8 d，经后续澄清、煎酒后可获得感官评分91.87分、酒精度12.33%vol的糯米茶酒。酒体呈黄褐色、酒香与茶香和谐、酒体丰满，理化指标符合GB/T 13662—2018《黄酒》标准。利用高效液相色谱（HPLC）法检测糯米茶酒中黄酮类物质及其含量，其中，芦丁、槲皮素、杨梅素、山奈酚含量分别为98.23 mg/L、25.45 mg/L、16.71 mg/L、2.72 mg/L；采用液液萃取（LLE）结合气相色谱-质谱联用技术（GC-MS）共检测出糯米茶酒42种香气物质，其中，芳樟醇、香叶醛、β-大马酮等16种香气物质是糯米茶酒所特有。     

Propagation and termination of an internal crack in continuously cast austenitic stainless steel analyzed by ∑ values and the Schmid factor

The formation mechanism of an internal crack was clarified from the viewpoint of the crystallography and thermal expansion. An inverse pole figure map obtained by EBSD pattern showed that the crack propagated along the grain boundaries having high ∑ values within the columnar zone. After the crack initiation, these positions were considered to undergo cracking followed by propagation toward the equiaxed side. Near the termination position, the grains ahead of crack propagation had a Schmid factor higher than 0.45 consuming elastic strain energy. Thermal expansion measurements showed that the grain with (0 0 1) orientation had the largest expansion while that with (0 1 1) the smallest. The grain boundaries neighboring the combination of (0 0 1) and (0 1 1) grains had the largest thermal stress. Therefore, thermal stress contributed to the initiation of cracking. It was thus proposed to enlarge the equiaxed zone to prevent cracking by discontinuing the crack propagation.