一种结合区域检测和语义分割的SLAM技术

提出一种结合区域检测和语义分割的即时定位和建图（SLAM）技术，通过引入高精度图像描述子SIFT来实现前端视觉里程计（VO）过程中帧间像素匹配的精度。为了降低引入操作带来的计算复杂度，设计一个实时区域检测算法，在相邻帧间检测大致相似的ROI(Region of Interest)关键区域，使得SIFT描述子的提取和匹配只在ROI区域内完成，其余区域仍旧采用精度略低、效率更高的ORB算子。同时，为了提高后端BA(Bundle Adjustment)的精度，减少累积误差，结合语义图，在原有的基本投影误差函数上添加一个语义误差。该语义图采用实时语义分割算法完成，同时只针对ROI区域进行分割。通过与原SLAM方案对比实验，表明本文提出的方法，在提高一定精度的同时，仍能满足SLAM实时定位和建图的要求。最后，在电力作业场景下验证了该方案的效果。     

Strength,strain capacity and toughness of five dual-phase pipeline steels

The effect of microstructures on strength, strain capacity and low temperature toughness of a micro-alloyed pipeline steel was elucidated. Five various dual-pha...     

点云空间与反射强度融合的非结构化道路可行驶区域检测

可行驶区域检测旨在检测和提取智能车辆在道路上可行进的区域, 目前主流的检测方法主要基于三维激光雷达的空间特征实现, 难以处理路面边缘无清晰空间特征的非结构化道路. 为此, 本文提出了一种基于点云空间和反射强度融合的非结构化道路可行驶区域检测方法. 首先, 通过融合反射强度因子改进了基于空间特征的柱坐标系检测模型; 然后, 使用强度和降维空间检测对检测精度较低的环形检测模型进行优化, 并将其与柱坐标系检测模型联合使用以提高方法检测准确率; 最后, 在自录实际道路数据集上进行对比实验. 实验结果表明本文方法显著提高了非结构化道路可行驶区域检测的成功率与精确率, 在结构化道路上也具有良好效果.     

Acanthopanax senticosus Polysaccharide Enhances the Pathogen Resistance of Radiation-Damaged Caenorhabditis elegans through Intestinal p38 MAPK-SKN-1/ATF-7 Pathway and Stress Response

With the advancement of science and technology, humans are chronically exposed to ionizing radiation. It is crucial to look for efficient and low-toxic anti-radiation agents. Through preliminary screening, we found that Acanthopanax senticosus polysaccharide (ASPS) played a major role in regulating immune damage caused by radiation. The objective of this study was to apply the Caenorhabditis elegans—P. aeruginosa (PA14) infection model to illuminate the mechanism of ASPS increasing the pathogen resistance of radiation-damaged nematodes. Results indicated that ASPS (1 mg/mL) significantly enhanced the pathogen resistance of radiation-damaged nematodes by directly elevating the immune response of nematodes rather than by affecting the bacterial activity. Through further research on the p38 MAPK signaling pathway and related mutants, we found that ASPS functioned by the p38 MAPK pathway in the intestine, and SKN-1, ATF-7 as the downstream targets of PMK-1 participated the regulation of ASPS. In addition, ASPS markedly alleviated the stress status of damaged nematodes by regulating oxidative stress. Collectively, our findings suggest that ASPS enhances the pathogen resistance of radiation-damaged nematodes through the intestinal p38MAPK-SKN-1/ATF-7 pathway and stress response.     

基于熵相关系数的关联性自动判别方法——COCA

数据库自管理、自调优中查询计划的自动优化是目前的关注热点。为保证优化器估值精度,用统计学方法,给出了一种基于熵相关系数的对字段关联性的自动判别的新算法——COCA。该算法有下列特点：（1）限制少,没有卡方检验的频数限制,卡方检验只有在列联表中至少有80%的格子频数大于5的情况下才可信; （2）结果多,卡方检验（CORDS）只判断字段之间是否有关联,新方法可计算字段之间双向的关联程度。实验表明, 新方法更坚固,产生更多的统计信息,可以支持后面更高效、准确地建立直方图。     

Shaping the interdisciplinary knowledge network of China: a network analysis based on citation data from 1981 to 2010

This study builds the interdisciplinary knowledge network of China, which is used to catch the knowledge exchange structure of disciplines, and investigates the evolution process from 1981 to 2010. A network analysis was performed to examine the special structure and we compare state of the networks in different periods to determine how the network has got such properties. The dataset are get from the reference relationship in literature on important Chinese academic journals from 1980 to 2010. The analytical results reveal the hidden network structure of interdisciplinary knowledge flows in China and demonstrate that the network is highly connected and has a homogeneous link structure and heterogeneous weight distribution. Through comparing of the network in three periods, that is 1981–1990, 1991–2000 and 2001–2010, we find that the special evolution process, which is limited by the number of nodes, play an important influence on interdisciplinary knowledge flows.     

温敏型有机-无机杂化纳米微胶囊的渗透性能

将N-异丙基丙烯酰胺引入以正十六烷为模板的苯乙烯与甲基丙烯酸-3-三甲氧基硅丙酯细乳液共聚法制备纳米微胶囊的体系,得到一种温敏型有机-无机杂化纳米微胶囊。采用紫外可见分光光度计研究该种微胶囊在临界温度附近对甲酚红的载入和释放行为。结果表明N-异丙基丙烯酰胺的引入和温度均影响纳米微胶囊对甲酚红的载入与释放。微胶囊在临界温度以上具有一定渗透速率,临界温度以下渗透不明显,能较好地实现开-关式环境温敏型控制吸附和释放。     

一种多相插值滤波器的设计与应用

为了满足某高速卫星通信地球站调制解调器对多相插值滤波器的实际应用设计需要,分析了多相插值滤波器的一般设计原理,给出了一种多相插值滤波器的设计方法。采用VHDL语言TOP—DOWN设计方法,用XILINX VIRTEX-xv600系列FPGA进行了实现,对FPGA设计进行了仿真与测试。给出了部分仿真、实际应用测试结果。证明了设计的多相插值滤波器的正确性与可行性。