Localization of an unmanned ground vehicle based on hybrid 3D registration of 360 degree range data and DSM

A computer vision technique to identify the location of an outdoor unmanned ground vehicle (UGV) is presented. The proposed technique is based on hybrid 3D registration of 360 degree laser range data to a digital surface model (DSM). Range frames obtained from 48 laser detectors are aligned with the reference coordinate system of the DSM. Three novel approaches are proposed for accurate and fast 3D registration of range data and the DSM. First, a two-step hybrid 3D registration technique is proposed. A pair-wise registration step of two consecutive range frames is followed by a refinement step using a layered DSM. Second, a fast projection-based pair-wise registration is proposed by employing rasterized 360 degree range frames. Third, a high elevation DSM is divided into several elevation layers and correspondence search is done near the vehicle’s current elevation. This reduces the number of matching outliers and facilitates fast localization. Experimental results show that the proposed approaches yield better performance in 3D localization compared to conventional 3D registration techniques. Error analysis on five outdoor paths is presented with respect to ground truth.     

数据中心安全管理的创新构想

与运动员都渴望追求好成绩一样,人们都期待数据中心能够实现高性能运转。然而,无论在什么时候,实现成功都需要遵循一个既有的过程：目标设定、设计、规划、培训、执行和维护,这些都是必要的步骤。勾画成功的蓝图是实现预期结果的重要部分,但如果没有有效的措施加以支持,     

钢铁企业能源中心系统设计

在钢铁企业生产过程中,能源的稳定供给是保证正常生产的必备条件之一.如何高效、合理利用能源,已成为当今钢铁企业必须面对和亟待解决的战略问题.为了加强对钢铁企业复杂多样的能源介质和能源设施的综合管理,以国内某大型钢铁联合企业为背景,针对该企业能源管理分散和调度系统独立等问题,从系统总体结构和系统主要功能等方面介绍了能源中心...     

Piecewise output feedback control for affine systems with disturbances based on linear temporal logic specifications

In the paper,we investigate the problem of finding a piecewise output feedback control law for an uncertain affine system such that the resulting closed-loop output satisfies a desired linear temporal logic (LTL) specification.A two-level hierarchical approach is proposed to solve the problem in a triangularized output space.In the lower level,we explore whether there exists a robust output feedback control law to make the output starting in a simplex either remains in it or leaves via a specific facet.In the higher level,for the triangularization,we construct the transition system according to the reachability relationship obtained in the lower level and search for feasible paths that meet the LTL specification.The control approach is then applied to solve a motion planning problem.     

CDIO模式在Access程序设计课程中的实践

针对高校在Access程序设计课程教学中存在的问题,将CDIO教育理念引入到该课程的教学过程,提出"教、学、做"一体的新型教学模式,实践证明,该模式有利于培养学生的实际应用、自主学习和团队协作能力,并获得了良好的教学效果。     

多源信息融合在故障诊断技术中的应用研究

从数据源的空间表示和信息源的可计算性两个方面阐述了信息融合应用于故障诊断的数学基础,然后引入信息论中有关“熵”、“条件熵”、“平均条件熵”和“互信息”等概念,从信息论的角度证明了信息融合在故障诊断中的有效性和实用性。最后结合信息融合技术与装备故障诊断实践,给出了具有通用性的信息融合故障诊断的模型框架。     

基于小波降噪预处理的组合导航系统研究

根据离散小波变换可降噪的特点,对捷联惯性导航系统（SINS）中惯性测量元件（IMU）的输出精度进行了研究,再与卫星定位系统（GPS）的输出进行卡尔曼滤波组合,进而达到降噪的目的,最后分别由静态时的实际量测数据以及动态时的理论仿真试验给予结果验证。试验结果表明,采用小波降噪预处理后的组合导航系统各项导航参数的精度都有了明显提高,从而提高了组合导航系统的可靠性。     

基于Lucene的个性化搜索引擎研究与实现

越来越多的用户在使用搜索引擎时希望能提供快速有效的个性化的查询结果.根据搜索引擎的工作原理,在研究分析开源的搜索引擎工具Lucene的系统架构、模型和索引器的基础上,设计了武警部队网站个性化搜索引擎.通过二阶段数据处理流程实现信息的增量采集,通过采用逆向词典结构实现自动分词以及利用双向分词器进行倒排索引的功能,最后利用Tomcat服务器进行了部署实现.文中所设计的个性化搜索引擎提高了原Lucene搜索引擎的速度和准确率.     

Profibus-DP在连铸辊道控制系统上的应用

介绍攀钢1#方坯连铸后区辊道控制的基本原理,概述西门子S7-400PLC与M440变频器通过现场总线Profibus-DP怎样连接起来,阐述PLC硬件组态如何进行、变频器相应参数如何设置,并提出PLC和变频器之间进行数据交换的方法。