基于机器人运动模型的EKF-SLAM算法改进

针对两轮驱动机器人运动模型定向误差的累积问题,提出改进的三轮驱动机器人运动模型,对EKF-SLAM算法的一致性进行改进;该模型通过对机器人车轮线速度的解耦运算,将机器人运动过程中的旋转角速度提取出来并作为系统的控制输入之一,从而可以直接得到各个控制时间间隔内的机器人姿态角变化,很好地避免了机器人定向误差的累积;最后,基于归一化估计方差的检验标准进行实验,验证了三轮驱动机器人运动模型有效提高了EKF-SLAM算法的一致性。     

高校信息化校园建设的几点思考

教育信息化是我国信息化建设的重要组成部分,推进教育行业的信息化已是大势所趋。如何合理、高效地进行信息化校园建设是目前校园信息化建设过程中迫切需要解决的问题。作者多年来积极参与学校的信息化建设,对信息化校园建设深入的进行了思考,提出了信息化校园建设内容、建设过程中存在的困难与顾虑及建设思路。     

An intrinsic semantic framework for recognizing image objects

The paper proposes a new approach to find semantic meanings in visual object class structure, in line with the Gestalt laws of proximity. Micro level semantic structures are formed by line segments (arcs also approximated into line segments based on pixel deviation threshold) which are in close proximity. These structures are hierarchically combined till a semantic label can be assigned. The algorithm extracts semantic groups, their inter-relations and represents these using a graph. Invariant geometrical properties of the groups and relations are used as vertex and edge labels. A graph model captures the inter class variability by analyzing the repetitiveness of structures and relations and uses it as a weighting factor for classification. The algorithm has been tested on a standard benchmark database and compared with existing approaches.     

Activity of Bromelain with Cationic Surfactants and the Correlation with the Change of 1H NMR Signals

This study observed the activities of bromelain in the presence of various cationic surfactants at different temperatures and the conformational changes in bromelain by ¹H NMR spectroscopy. We found that the bromelain activity was enhanced by tens to hundreds of micromoles per liter of the surfactant. In the presence of the surfactants, bromelain exhibited good tolerance to a range of substrate temperatures and its thermal stability was also increased. The ¹H NMR experiments indicated that when the temperature was increased from 25.0 to 45.0 °C, the protons of bromelain having chemical shifts (δ) between 3.7 and 5.2 ppm moved upfield, while those having δ values between 3.2 and 3.7 ppm moved downfield. In the bromelain/cationic surfactant mixture, the values of δ for the protons in both bromelain and the cationic surfactants decreased, accompanied by the broadening of the half-peak width of the surfactant protons. These results indicated that both increasing temperature and adding a cationic surfactant made the bromelain chain more flexible and hence, increased the bromelain activity. To the best of our knowledge, this was the first time that the relationship between the protein activity and the ¹H NMR data was expounded.     

水工混凝土构件裂缝检测方法及应用

水利工程在长期运行过程中,其混凝土构件会出现磨蚀、裂缝等损伤,如这类问题不能够及时得到处理,将会严重影响水利工程的安全运行。本次研究主要针对水工混凝土构件中的裂缝检测方法进行研究,提出从“定性”到“定量”的一体化检测思路,具体实施过程分为四部分,即“普探—详查—判定—验证”,其中,普探阶段采用探地雷达法,确定裂缝的总体分布;详查阶段采用超声横波反射三维成像的方法,确定裂缝的纵深向分布;判定阶段分别采用裂缝测宽法和表面声波法,用来确定裂缝的表面宽度和贯穿深度;验证采用钻孔电视,确定探测结果的正确性和准确性。上述技术路线突破了单一方法的限制,可有效地运用于水工混凝土构件裂缝检测,经实践证实,具有良好的检测效果。     

基于SIP的网络视频监控系统*

介绍了初始会话协议SIP.在SIP和一般视频监控系统模型的基础上,提出了一种基于SIP的网络视频监控系统,给出了分层网络模型,并对其各功能模块的作用进行了重点阐述.该分层网络模型的建立使得构建数字化、网络化、智能化、多媒体化视频监控系统成为可能.     

基于Web services的WebGISVisA体系结构研究与实现*

针对目前网络地理信息系统体系结构难以实现Internet环境下的异构空间信息的互操作问题,深入分析其主要原因,在对现有网络地理信息系统的三层体系结构进行深入分析的基础上,提出一种基于Web services的网络地理信息系统体系结构(Web-based geographical information services visualization architecture,WebGISVisA).WebGISVisA体系结构通过Web services对各个地理信息系统组件进行包装,实现各个组件的跨平台操作,从技术上使得客户端和服务端达到了负载平衡,完成了WebGIS三维的虚拟现实,实现了在Internet下空间数据互操作和跨平台的功能,最大限度地达到数据共享.     

回转窑中心线偏差动态测量新法

针对现有回转窑动态测量方法存在测量基准不可靠,测量误差大等问题,提出建立横梁实体水平基准,动态测量水泥回转窑筒体中心线偏差的新方法。采用新方法设计的测量系统由全站仪、在线直径测量组件、托架组件、标定过的水平标尺和数据采集器等软硬件组成。通过架设水平基准横梁,由左、右托轮中心和轮带中心建立三角形模型,用全站仪间接测得回转窑中心线的水平和竖直偏差。经现场实地测量调试:新方法研制的测量系统稳定可靠,精度达到0.5 mm以内,测量数据与现场窑体运转状态反映一致。