排序方式: 共有59条查询结果,搜索用时 15 毫秒
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本文以广州某基坑支护工程为依托,针对倒塌回填后的基坑,在回填地质环境条件差、场地周边环境复杂的情况下重新进行基坑支护施工难度大的特性,通过分析在回填土层(松散土层)中施工人工挖孔桩、在地下室空洞地场地施工冲孔立柱桩及复杂周边环境情况下施工支护桩的施工工艺的优化应用,初步探讨复杂复建基坑支护工程施工工艺的使用及优化效果,以扩大常规施工工艺应用范围。 相似文献
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基于激光测距的移动机器人3-D环境感知系统设计 总被引:1,自引:0,他引:1
采用2-D扫描的激光测距传感器与精密转动云台设计并实现了非结构化环境下的移动机器人感知系统,通过传感器平台俯仰与水平的转动实现了3-D环境感知。针对噪声干扰提出了一种动态自适应滤波器,通过时间与空间上相邻测量值的分析实现了实时动态的滤波。在3-D环境的地形重建过程中,结合中值滤波器与高斯滤波器实现了高度图的平滑与插补。通过地形平坦性分析判断移动机器人的可行区域与障碍区域,从而为移动机器人导航过程中的环境建模与路径规划提供了支持。 相似文献
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Design of dead reckoning system for mobile robot 总被引:2,自引:0,他引:2
A dead reckoning system for a wheeled mobile robot was designed, and the method for robot's pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated. 相似文献
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An adaptive particle filter for mobile robot fault diagnosis 总被引:2,自引:2,他引:2
An adaptive particle filter for fault diagnosis of dead-reckoning system was presented, which applied a general framework to integrate rule-based domain knowledge into particle filter. Domain knowledge was exploited to constrain the state space to certain subset. The state space was adjusted by setting the transition matrix. Firstly, the monitored mobile robot and its kinematics models, measurement models and fault models were given. Then, 5 kinds of planar movement states of the robot were estimated with driving speeds of left and right Side. After that, the possible (or detectable) fault modes were obtained to modify the transitional probability. There are two typical advantages of this method, i.e. particles will never be drawn from hopeless area of the state space, and the particle number is reduced. 相似文献
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针对我国现有硕士研究生培养考核机制存在精英教育弊端、考核方式固化、考核目标单一、考核机制老化等问题,文章提出一种注重过程培养的研究生考核机制,以理论课程学习为基础,以工程实践能力为核心,以实践活动能力为重点,以理论研究能力为目标的过程培养机制。克服现有考核机制的虚化,切实提高研究生的综合素质与实践能力。 相似文献
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基于肤色分割和改进Gabor滤波相结合的人脸检测 总被引:1,自引:0,他引:1
针对人脸检测问题,提出了一种基于肤色分割和改进Gabor滤波相结合的方法;该方法首先基于YCbCr空间对图像中的背景区域和人脸肤色进行分割,以消除大量的背景区域提高运算速度;接着利用改进的Gabor滤波对提取出来的人脸肤色区域进行卷积得到人脸的特征向量,并和通过训练样本获得的特征向量进行比较以验证是否为人脸;最后通过实验分析,验证了所提方法能够在保证检测精度的基础上有效提高运算速度。 相似文献