What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

SiO_2/Al_2O_3 RATIO OF HYDRATED SODIUM ALUMINOSILICATE IN ALUMINA PRODUCTION

ＳｉＯ２／Ａｌ２Ｏ３ＲＡＴＩＯＯＦＨＹＤＲＡＴＥＤＳＯＤＩＵＭＡＬＵＭＩＮＯＳＩＬＩＣＡＴＥＩＮＡＬＵＭＩＮＡＰＲＯＤＵＣＴＩＯＮ①ＤｅｎｇＨｏｎｇｍｅｉ，ＺｅｎｇＷｅｎｍｉｎｇ，ＣｈｅｎＮｉａｎｙｉＳｈａｎｇｈａｉＩｎｓｔｉｔｕｔｅｏｆＭｅｔａｌｕ...     

一种基于元数据静动态数据联合查询方法的研究与实现

研究和实现一种结合股票静、动态数据进行实时行情信息联合查询的方法。描述运用元数据定义和管理各数据源关键信息的虚拟表,通过复制、移动和分割虚拟SQL查询语法树分支,实现对数据表的查询分割和根据查询返回合成查询结果集的技术思路与做法。研究的方法屏蔽了异构数据源查询的复杂细节,能够为用户提供一个统一、简便的SQL查询接口,使静、动态数据之间的联合查询更加便捷,有效地提高了联合查询的执行效率。     

基于因子分析的动态负载均衡算法

随着互联网的不断发展、用户数量的急剧增长,互联网中出现了网络拥塞、服务器负载过重、响应时间过长等严重问题,其中负载均衡算法是影响服务器集群整体性能的一个关键因素。运用统计学中的因子分析理论,提出了一种基于因子分析的负载均衡算法。该算法利用因子分析法计算出综合负载,并用这个指标帮助负载均衡器选择合适的服务器,均匀地将用户的请求进行分发,从而达到整体上较好的负载均衡。     

改进混合蛙跳算法在蔬菜总黄酮软测量中的应用

针对蔬菜总黄酮化学物提取过程复杂、非线性和生物参数难以在线测量等特点,提出了基于改进混合蛙跳算法优化最小二乘支持向量机的蔬菜总黄酮软测量模型。该模型对标准混合蛙跳算法进行改进,采用反向学习的种群初始化策略,确保个体分布的均匀性;并根据群体适应度方差大小,动态调整变异概率,使算法避免陷入局部最优;最后采用改进的混合蛙跳算法对最小二乘支持向量机的参数进行寻优,实现蔬菜总黄酮软测量。仿真结果表明,基于改进混合蛙跳算法的最小二乘支持向量机软测量模型具有测量精度高,稳定性好的优点,有利于蔬菜总黄酮化学物测量工程的实际应用。     

催化柴油管式液相加氢脱硫数值模拟

采用计算流体力学(CFD)软件FLUENT,以用户自定义函数(UDF)添加化学反应和反应热,对实验室带有陶瓷膜管分散器的催化柴油管式液相加氢脱硫反应器进行模拟计算,得出反应床层不同部位的硫化物含量分布和温度分布状况。从反应床层的入口到出口,催化柴油的硫化物含量逐渐下降,且下降速度趋缓。在压力6.5 MPa、混氢量0.84%(m)、空速2 h~(-1)、进口温度633 K的条件下,位于床层高度0.15 m处出现最高温度点643.8 K,径向温差最大2.1 K,表明催化柴油管式液相加氢脱硫反应器催化剂装填合适的高径比为4~6。工艺条件的模拟结果表明:随着进口温度上升、混氢量增加、空速减小脱硫率提高,与实验数据吻合程度较好,说明模拟研究过程中采用的模型和控制方程准确性较高。     

Cryptanalyzing an image encryption algorithm based on scrambling and Veginère cipher

Recently, an image encryption algorithm based on scrambling and Veginère cipher has been proposed. However, it was soon cryptanalyzed by Zhang et al. using a method composed of both chosen-plaintext attack and differential attacks. This paper briefly reviews the two attack approaches proposed by Zhang et al. and outlines their mathematical interpretations. Based on these approaches, we present an improved chosen-plaintext attack to further reduce the number of chosen-plaintexts required, which is proved to be optimal. Moreover, it is found that an elaborately designed known-plaintext attack can efficiently compromise the image cipher under study. This finding is confirmed by both mathematical analysis and numerical simulations. The cryptanalyzing techniques developed in this paper provide some insights for designing secure and efficient multimedia ciphers.     

Similarity of binary relations based on <Emphasis Type="Italic">L</Emphasis>-fuzzy topologies

Binary relations play an important role in rough set theory. This paper investigates the similarity of binary relations based on L-fuzzy topologies, where L is a boolean algebra. First, rough approximations based on a boolean algebra are proposed through successor neighborhoods on binary relations. Next, L-fuzzy topologies induced by binary relations are investigated. Finally, similarity of binary relations is introduced by using the L-fuzzy topologies and the fact that every binary relation is solely similar to some preorder relation is proved. It is worth mentioning that similarity of binary relations are both originated in the L-fuzzy topology and independent of the L-fuzzy topology.     

Android系统的蓝牙远程控制研究

Android操作系统以开源、界面友好等特点在智能手机、智能手表等可穿戴设备中广泛应用.设备之间通过蓝牙通信进行信息的交互,为了实现远程控制功能,需自定义蓝牙数据结构,实现对普通数据信息和控制信息的区分.在实例中实现了Android手机之间远程控制拍摄照片以及实时预览图像的功能.采用RC4和RSA混合加密方式对蓝牙发送的数据进行加密,来保证发送数据的安全性.     

A yield-enhanced global optimization methodology for analog circuit based on extreme value theory

The challenge in variation-aware circuit optimization with consideration of yield is the trade-off between optimized performance, yield and optimization runtime. This paper presents a practical variationaware circuit global optimization framework named GOYE, which shows the advantages on performance, yield and runtime. It uses an approach called constraint violation elimination (CVE) in global search phase to prune initial starting points and uses the gradient-based method in local search to locate optimum. The worst-case analysis (WCA), which is necessary for variation-aware circuit optimization, is nested in the local optimization process. The efficiency is significantly improved by a novel method based on extreme value theory (EVT). Our EVT-based method is also the first one that allows users to control the target yield such that under-design or over-design can be avoided. A design example in TSMC 65 nm technology is illustrated in the paper where all performance achieves three-sigma yield with consideration of environmental and inter-die/intra-die process variations.