Multi-sensor calibration through iterative registration and fusion

In this paper, a new multi-sensor calibration approach, called iterative registration and fusion (IRF), is presented. The key idea of this approach is to use surfaces reconstructed from multiple point clouds to enhance the registration accuracy and robustness. It calibrates the relative position and orientation of the spatial coordinate systems among multiple sensors by iteratively registering the discrete 3D sensor data against an evolving reconstructed B-spline surface, which results from the Kalman filter-based multi-sensor data fusion. Upon each registration, the sensor data gets closer to the surface. Upon fusing the newly registered sensor data with the surface, the updated surface represents the sensor data more accurately. We prove that such an iterative registration and fusion process is guaranteed to converge. We further demonstrate in experiments that the IRF can result in more accurate and more stable calibration than many classical point cloud registration methods.     

Performance-First Control for Discrete-Time LQG Problems

Performance-first control for discrete-time LQG is considered in this paper to minimize the probability that the performance index exceeds a preselected threshold via constructing a closed-loop feedback control law. This problem can be converted into a mean-variance control problem which can be solved by developing a nested form of the variance and using polynomial optimization as a solution scheme.     

基于PIC16F877A的变频恒压供水控制器设计

分析了高层建筑供水控制系统的技术要求,介绍了基于PIC16F877A单片机的变频恒压供水控制器的工作原理,提出了该装置的软硬件设计方法.相比目前的变频恒压控制系统,该装置的精简硬件设计有效地克服了系统可靠性差的问题;同时,基于PSO-PID智能算法的软件设计解决了系统动态响应慢和压力调节不稳定的缺点.该装置成本低、智能化程度高,生产实际中能够确保设备的使用寿命、能源的有效利用和供水质量.因此,具有很高的推广、应用价值.     

Dynamic behaviour of a magnetically actuated floating liquid marble

This paper reports the dynamic behaviour of a magnetically actuated floating liquid marble by analysing the oscillation of the marble. A liquid marble is a liquid droplet coated with hydrophobic powder. Magnetite particles inside the marble make it magnetic. The marble floats on a carrier liquid that contains aqueous glycerol of various concentrations. A permanent magnet located under the carrier liquid drives the floating marble with the initial velocity. Stopping the magnet abruptly causes the marble to oscillate around its final position for a few seconds. The oscillation was recorded and analysed using customised image processing and evaluation software. The damped harmonic motion model was then applied to the data and tested. Subsequently, critical parameters of the system such as the initial displacement, friction correction factor, the apparent frequency and the spring constant were determined and discussed. The simple experimental set-up and convenient theoretical approach allow us to characterise the marble motion under the influence of a magnet with good accuracy.     

Externalizing cognitive maps via map reconstruction and verbal description

Universal Access in the Information Society - Helping blind people to build cognitive maps of an environment is one of the aims of several assistive systems. In order to evaluate such assistive...     

基于矢量模型的语音线性预测研究

研究语音参数线性预测的并行处理问题。通过把语音源序列的相邻样本分组能够构成一个均方差平稳的语音向量自回归序列,在Hilbert空间中运用正交投影原理导出具有高度并行处理能力的一预测编码策略,由此可推出参数线性预测的并行处理自适应算法。同传统格型算法相比,这种算法的计算复杂度及存贮量有明显改善。最后通过仿真运算检测了算法的性能。     

基于PC104的某型测试设备的设计实现

该文介绍了一种基于PC104总线的某型测试设备的硬件设计和软件设计方案,提出了主要问题的解决方案。该系统结构紧凑,可靠性高,已在实际生产中得到应用。     

TD-SCDMA无线网络控制系统——传输信道转换的软件设计与实现

分析了TD-SCDMA无线接入系统的主要特征。介绍了TD-SCDMA系统中资源优化的意义以及无线传输信道转换的方法,设计实现了一套根据不同的Qos的进行无线资源与网络带宽动态配置的软件系统。重点介绍了无线传输信道转换的系统结构和主要关键技术。     

基于ASP．Net技术实现网站新闻系统

本文以网站新闻系统的功能设计为例,详细介绍了ASP．NET技术的先进性,代码更易于编写,结构更清晰,程序的可靠性和稳定性有了很大的改善和提高。降低了系统的开发与维护的复杂度。