Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

二元光栅照明研究

采用部分相干成象理论对二元光机照明进行了较为详细的研究。分析了二元光栅照明对分辨力，焦，照明能量和照明均匀性的影响，并通过实验研究验证了二元光栅对分辨力和焦深有较大程度的提高，同时能量损失不大。     

含氨烷基聚硅氧烷的研究进展

对含氨烷基聚硅氧烷的研究进行综述，着重介绍含氨烷基聚硅氧烷的种类，性能特点，制备方法及应用等。     

表面稳定模式铁电液晶的电光特性测试

采用一种改进的高分子膜摩擦定向法成功地实现了表面稳定模式铁电液晶的光学双稳态，对比度大于１４０，响应时间达１００微秒。     

利用垂直阵列构作Cartesian认证码

利用垂直阵列构作了一类Cartesian认证码,计算了它们的参数,并且在编码规则按等概率分布选取时,成功的模仿攻击和成功的替换攻击概率也被算出。     

聚电解质溶液分子热力学模型

<正>链状聚电解质由于是长链大分子又有很高的电荷密度,其溶液即使在极低的浓度下仍具有很强的负偏差,与Debye-Huckel理论预测的结果相去甚远。工程上使用的Manning模型认为聚离子的电荷密度有一临界值,当超过临界值时,反离子即凝聚在聚离子表面使其实际电荷密度降至临界值。Nagvekar等在该模型的基础上引入NRTL方程,以计及短程相互作用的贡献。Manning等的方法虽然有一定的物理意义,但临界值的确定缺乏可靠的根据。     

Temperature dependence study of two-dimensional electron gas effecton the noise performance of high frequency field effect transistors

We present experimental evidence that the noise figure (NF) and associated gain equal to those achieved with GaAs pseudomorphic high electron mobility transistors (GaAs p-HEMT's) can also be accomplished by ion implanted GaAs metal-semiconductor field-effect transistors (GaAs MESFET's). These measured noise figure results as a function of low temperature for GaAs MESFET's and p-HEMT's clearly suggest that the transport properties of the two-dimensional electron gas in HEMT's and p-HEMT's do not make a significant contribution to the noise reduction at high frequency operation of these devices     

Multilevel barrel shifter for CORDIC design

The coordinate rotation digital computer (CORDIC) algorithm is used in numerous special purpose systems for real-time signal processing applications. It uses barrel shifters to complete shift operations. However, the barrel shifter occupies most of the area of the CORDIC chip. A new structure of multilevel barrel shifters is presented. With this structure the shifter size is reduced by 68%. The novel structure can also slightly reduce the latency time of shift operations     

用于X光激光实验的反射式线聚焦光学系统的设计和分析

基于三维光线追迹的象差计算,对卢瑟福实验室用离轴球面反射线聚焦系统作了分析。然后,首次提出了用于X光激光实验的两类新的反射式线聚焦构型,即反射式光楔列阵和光锥列阵系统,并作了计算。最后,对所得结果作了比较和讨论。