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.     

连续输出20WAlGaAs／GaAs量子阱激光二极管线列阵

采用ＭＯＣＶＤ实现了ＡｌＧａＡｓ／ＧａＡｓ量子阱结构，获得了连续输出２０Ｗ激光二极管线列阵，线列阵长度１．０ｃｍ，激射波长８０８±４ｎｍ。     

氟挥发对氟化物乳白玻璃瓶罐生产的影响

氟挥发对氟化物乳白玻璃瓶罐生产的影响陆德明，周俊梅，付希英（山东轻工业学院２５０１００）（山东德州玻璃厂２５３０１９）ＴｈｅＩｎｆｌｕｅｎｃｅｏｆＦｌｕｏｒｉｎｅＶｏｌａｔｉｌｉｚａｔｉｏｎｏｎＰｒｏｄｕｃｔｉｏｎｏｆＦｌｕｏｒｉｄｅｏｐａｌＧｌａｓ...     

A three-dimensional non-epitaxial atomistic growth model for thin-film deposition: effect of surface mobility

The effect of the atomic mobility on a film surface has been studied by using a three-dimensional atomistic thin-film deposition model which simulates three-dimensional thin-film images, surface profiles and cross-sectional area pictures. In addition, quantitative results of surface RMS roughness, average film thickness, atomic coordination number and its distribution, and solid fraction of the deposited thin films, were obtained from the simulations. When the film surface mobility increased from 0.3 to 3.0, RMS roughness decreased from 6.5 to 1.1, solid fraction increased from 0.27 to 0.56 and average film thickness decreased from 40 to 28, due to the reduction of the voids within the film. The full-width half magnitude of the atomic coordination distribution became narrower indicating the increased degree of crystallization. With increase in surface mobility crossing the boundary to 1.5, the film evolved from a porous or loose columnar structure with voids, to a densely packed fibrous grain structure which can be categorized by the zone structure models.     

GaN的MOVPE生长和m－i－n型蓝光LED的试制

利用自行研制的常压ＭＯＶＰＥ设备和全部国产ＭＯ源，采用低温生长缓冲层技术，在蓝宝石（α－Ａｌ２Ｏ３）衬底上获得了高质量的ＧａＮ外延层。未掺杂的ＧａＮ外延层的室温电子迁移率已达１１４ｃｍ２／Ｖ．ｓ，载流于浓度为２×１０１８。７７Ｋ光致发光谱近带边发射峰波长为３６５ｎｍ，其线宽为４ＤｍｅＶ。Ｘ射线双晶衍射回摆曲线的线宽为３６０ａｒｃｓｅｃ。用Ｚｎ掺杂生长了绝缘的ｉ－ＧａＮ层。在此基础上研制了ｍ－ｉ－ｎ型ＧａＮ的ＬＥＤ，并在室温正向偏压下发出波长为４５５ｎｍ的蓝光。     

用硫磺盖帽电探针测定工业炸药爆轰压力

文中介绍了利用硫磺盖帽电探针测定工业炸药爆轰压力的方法，并对煤炭工业常的４类１１个品种炸药的爆轰压力进行了实际测量。     

排列互比法用于超精测角的研究

作者分析了我互比法现行的两种数据处理方法的缺点，提出了应用最小二乘法原理推导出合理的数据处理方法。本文还首次从理论上阐明了排列互比法测量结果中出现一次谐波系统误差的原因，提出了减少和消除这一些系统误差的方法，并给实验验证。     

Fe－Cu包埋团簇的制备及其微观结构的研究

基于溅射－气体－聚集（ＳＧＡ）形成团簇的原理，提出了蒸发－气体－聚集（ＥＧＡ）共沉积方法，并在方华膜载网上成功地制备了Ｆｅ－Ｃｕ纳米磁性包理团簇样品。ＴＥＭ／ＥＤ分析表明，样品中Ｆｅ团簇被Ｃｕ原子所包裹，形成了以Ｆｅ团簇为芯，Ｃｕ膜为壳的良好的芯－壳式包埋结构。当衬底温度由２５℃变化到２００℃时，样品形貌由弥散状过渡到集团状，直至形成大的块状；其结构也相应的由Ｆｅ－Ｃｕ多晶共存变化为一种不规则的单晶形态。     

An experiment study of the guided bone regeneration

BMP is one of important factors in the pathophysiology of bone regeneration. Fifteen New Zealand rabbits were used in this experiment. We studied the distribution and effectiveness of endogenic BMP on a 10 mm bone defect of radius, by utilizing immunohistochemistry of BMP and quantitative computer imaging system. On the 3rd day, death of osteocytes and BMP positive blood clot were observed. The mesenchymal cells from periosteum and endoosteum, and osteoblast were also BMP positive. By quantitative study, we found there was a gradient distribution of BMP in bone defect, i.e, the value of BMP decreased gradually along the distance from the fracture ends. The maximal value of BMP was noted at the 1st week postoperation. In conclusion, two sources of endogenic BMP were found, one was from the absorption of necrotic tissue of fracture ends, the other was from the secretion of osteogenic mesenchymal cells during the process of bone regeneration. Nonunion of bone defect was caused in part by the gradient distribution of BMP. Accordingly, the concept of effective quantity of endogenic BMP was drawn rosen. It might be a new method in the treatment of bone defect by increasing the concentration of endogenic BMP and improving its distribution.     

预应力工程中的OVM锚固体系

ＯＶＭ锚固体系是我国第一种采用二片四开式，锚碇１８６０ＭＰａ级低松弛钢绞线的预应力锚固体系。本文介绍其基本性能，与其他系列锚具的组合以及它在斜拉桥主索上的应用。