GNSS/SINS/视觉导航鲁棒算法

全球导航卫星系统(Global Navigation Satellite System,GNSS)、捷联惯性导航系统(Strapdown Inertial Navigation System,SINS)和视觉传感器优势互补,3者信息融合可获得高精度、无漂移的导航定位信息.针对GNSS／SINS／视觉融合导航易受运动速度、光照变化、遮挡等影响导致定位精度和鲁棒性降低问题,本文在图优化框架的代价函数中加入SoftLOne鲁棒核函数,设置量测值粗差检验程序,降低离群点带来的负面影响.进一步,对量测值计算残差进行卡方检验,对超限残差降权处理,提高系统精度和鲁棒性.实验结果表明,本文算法较不施加鲁棒核函数、不采用异常值剔除策略和卡方检验的传统算法,以及加入其他鲁棒核函数的算法精度更高、鲁棒性更好,能够较大程度提升GNSS／SINS／视觉导航定位精度和鲁棒性,在大尺度环境下,未出现较大漂移误差,绝对位姿均方根误差0.735 m,绝对位姿误差标准差0.336 m.     

涡流灶使宝鸡市民乐在其中

翻看 2000年 10月份的宝鸡日报《西部周末》,“宝鸡供电局优质服务全面提速”的服务承诺和措施跃然纸上。“一切始于客户需要,一切终于客户满意”的宣传语格外醒目。在整版的服务公示内容中,“涡流灶试用一月”的条款特别吸引人：凡已实行一户一表供电的客户（家庭）,可在华通商厦宝鸡供电局电热电器演示厅借用涡流灶一台,试用一个月,满意者可交钱购买,不满意者原物退回。百闻不如一见,记者趁中午时分,立即驱车赶往华通商厦。 华通商厦位于宝鸡火车站附近,是该市大型百货商场之一。虽在 12月初的隆冬季节,其周围仍车水马龙,行…     

汽车制造企业生产成本管理研究

介绍了制造业生产成本管理的一种基本模型,它由3个相互制约、相互影响的体系组成,即生产成本的控制体系、现场管理体系和质量保证体系.通过对国内某汽车制造企业的生产成本和生产现场的研究,总结了一套生产成本管理的模式,并且探讨了生产成本管理在汽车制造业中的应用.     

铁（Ⅲ）－1，10－二氮杂菲－甲基橙三元络合物光度法测定铁的研究

提出了铁（Ⅲ）－１,１０－二氮杂菲（Ｐｈｅｎ）－甲基橙（ＭＯ）三元络合物体系光度法测定Ｆｅ（Ⅲ）的新方法。该方法的灵敏度高（ε＝８．１×１０４）,选择性好,准确可靠,用于测定金属和化学试剂中痕量铁,结果满意。     

换热器积灰问题的分析及治理

对工业窑炉尾部换热器积灰机理进行分析 ,提出防止积灰的措施及对策。简述了吹灰介质及吹灰器的使用     

RS(255,223)译码器的设计与FPGA实现

RS码是一种多进制分组循环码。检错和纠错能力强．尤其适合纠正突发错误，在通信系统中有着广泛的应用。本文所研究的RS(255，223)译码器采用修正的Euclid译码算法(MEA)，介绍了一种基于FPGA的RS译码器的设计和硬件电路实现方案。按照自顶向下的设计流程．划分模块．详细论述了各子模块的设计过程。     

A general stochastic clustering method for automatic cluster discovery

Finding clusters in data is a challenging problem. Given a dataset, we usually do not know the number of natural clusters hidden in the dataset. The problem is exacerbated when there is little or no additional information except the data itself. This paper proposes a general stochastic clustering method that is a simplification of nature-inspired ant-based clustering approach. It begins with a basic solution and then performs stochastic search to incrementally improve the solution until the underlying clusters emerge, resulting in automatic cluster discovery in datasets. This method differs from several recent methods in that it does not require users to input the number of clusters and it makes no explicit assumption about the underlying distribution of a dataset. Our experimental results show that the proposed method performs better than several existing methods in terms of clustering accuracy and efficiency in majority of the datasets used in this study. Our theoretical analysis shows that the proposed method has linear time and space complexities, and our empirical study shows that it can accurately and efficiently discover clusters in large datasets in which many existing methods fail to run.     

矿井提升机下坠现象的解决措施

提出了矿井提升机下坠现象的解决措施,就此作了理论分析,并用计算机仿真出了速度跟随曲线。     

Architecture engineering of hierarchically porous chitosan/vacuum-stripped graphene scaffold as bioanode for high performance microbial fuel cell

The bioanode is the defining feature of microbial fuel cell (MFC) technology and often limits its performance. In the current work, we report the engineering of a novel hierarchically porous architecture as an efficient bioanode, consisting of biocompatible chitosan and vacuum-stripped graphene (CHI/VSG). With the hierarchical pores and unique VSG, an optimized bioanode delivered a remarkable maximum power density of 1530 mW m(-2) in a mediator-less MFC, 78 times higher than a carbon cloth anode.     

硅离子注入引入纳米晶对SIMOX材料进行总剂量辐射加固

本研究工作采用硅离子注入和高温退火工艺对SIMOX材料的BOX层进行总剂量辐射加固.辐射实验结果证明了该加固方法的有效性.PL谱和HRTEM图像显示了硅离子注入及退火工艺在材料的BOX层中引入了Si纳米晶,形成电子陷阱能级,有效俘获电子,从而提高了材料BOX层的抗总剂量辐射能力.