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.      

Weighted preliminary-summation-based principal component analysis for non-Gaussian processes

For industrial chemical process, preliminary-summation-based principal component analysis (PS-PCA), an amended PCA method was recently provided for coping with both Gaussian and non-Gaussian characteristics. By summing the training and monitoring data respectively, PS-PCA is capable of resolving the issue of non-Gaussian processes and achieves higher fault detection rate than the traditional PCA. However, in the PS-PCA summation operation, all data samples are regarded as the same weight, which results in the fault information of newly-samples may be diluted, leading to significant detection delays. To address this challenge, in this paper, we propose a novel weighted PS-PCA (WPS-PCA) method that employs an exponential weighting scheme to put more emphasis on recent information. Subsequently, a mathematical argument demonstrates that when the number of variables is enough plentiful, the obtained summation combined with the generalized central limit theorem conforms to approximately a Gaussian distribution. The kurtosis relationships indicate this conversion will bring out well-pleasing feasibility for conventional PCA. Ultimately, the proposed technique verifies detection performance using the Tennessee Eastman process, which is compared with the existing PCA and PS-PCA schemes, in terms of the fault detection time and fault detection rate. The simulation studies reveal that the proposed method is efficient and superior.     

黔北桑木场背斜铅锌矿深部找矿实例分析*#br#

黔北桑木场背斜位于上扬子地块黔北隆起区毕节弧形褶皱带与赤水克拉通盆地的交汇部位，属于有利的铅锌成矿区带。区内铅锌矿的赋矿层位主要有震旦系灯影组、寒武系清虚洞组、高台组及石冷水组，矿体多产于背斜核部并受断层或裂隙控制。通过对地层岩性特征、地表矿化特征、控容矿构造特征、化探异常特征、物探异常特征等进行综合研究，选择在成矿有利地段进行了工程验证，为进一步开展桑木场背斜铅锌矿深部找矿工作提供了思路。     

气压仪器检定装置的升级改造

文章针对气压检定装置在使用中存在的一些问题,会同厂家对其进行了升级改造。介绍了改造后的气压检定装置的设计原理、软件和硬件设计以及技术指标等,新装置集成了目前先进的计量设备及技术,编写相应的程序软件升级改造而成。可广泛适用于气象部门空盒气压表、自动站气压传感器以及部分数字压力计的计量检定工作,实现气压检定工作的自动化,提高检定数据的准确性和可靠性,并有效提高检定的工作效率。     

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。     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.     

酒钢焦煤仓储系统能力的效验

酒钢公司焦化工序新建4#焦炉项目即将建成投产。4#焦炉的供料工作也迫在眉睫,为了确保4#焦炉顺利投产,保证公司焦化工序的炼焦煤正常供给,我们对现有焦煤料场的储存能力和现有设备装备的生产能力等性能进行了效验。认为用焦煤系统现有的设备、设施,来保证集团公司逐年上升的焦煤用量是无法满足生产需求的。本文简要核算了其卸供料能力。     

Test sample allocation method for testability verification test

An extended failure mode effect and criticality analysis (FMECA)-based sample allocation method for testability verification is presented in this study to deal with the poor representativeness of test sample sets and the randomness of the testability evaluation results caused by unreasonable selection of failure samples. First, the fault propagation intensity is introduced as part of the extended information of FMECA, and the sample allocation impact factors of component units and failure modes are determined under this framework. Then, the failure mode similarity and impact factor support are defined, and the game decision method for weighing the relationship between similarity and support is proposed to obtain the weight of failure mode impact factor. Finally, a two-step allocation framework of test samples is formulated to realize the sample allocation of component units and failure modes. This method is applied to the testability verification test of a launch control system. Results show that this method can obtain more representative test samples compared with the traditional sample allocation method while effectively reducing randomness of single testability evaluation result.     

嵌入式实时操作系统内核混合代码的自动化验证框架

"如何构造高可信的软件系统"已成为学术界和工业界的研究热点.操作系统内核作为软件系统的基础组件，它的安全可靠是构造高可信软件系统的重要环节.为了确保操作系统内核的安全可靠，将形式化方法引入到操作系统内核验证中，提出了一个自动化验证操作系统内核的框架.该验证框架包括：（1）分别对C语言程序和混合语言程序（C语言和汇编语言）进行验证；（2）在混合语言程序验证中，为汇编程序建立抽象模型，并将C语言程序和抽象模型粘合形成基于C语言验证工具可接收的验证模型；（3）从规范中提取性质，基于该自动验证工具，对性质完成自动验证；（4）该框架不限于特定的硬件架构.成功地运用该验证框架对两种不同硬件平台的嵌入式实时操作系统内核μC/OS-II进行了验证.结果显示：利用该框架在对两个不同的硬件平台上内核验证时，框架的可重复利用率很高，高达到88%，虽然其抽象模型需要根据不同的硬件平台进行重构.在对基于这两种平台的操作系统内核验证中，分别发现了10~12处缺陷.其中，在ARM平台上两处与硬件相关的问题被发现.实验表明，该方法对不同硬件平台的同一个操作系统分析验证具有一定的通用性.