A model-based fault diagnosis scheme for wheeled mobile robots

In this paper, a fault diagnosis scheme for wheeled mobile robots is presented. In the fault detection module, a nonlinear observer is designed based on the mobile robot dynamic model. A fault is detected when at least one of the residuals exceeds its corresponding threshold. After the fault is detected, the fault isolation module is activated to isolate three types of fault: right wheel fault, left wheel fault, and other changing dynamic parameter faults. Three simulation examples are performed to show the effect of each fault to the tracking performance of mobile robot in a real situation. The simulation results demonstrate the effectiveness of our proposed approach for fault detection and isolation in wheeled mobile robots.     

Development of head detection and tracking systems for visual surveillance

This paper proposes a technique for the detection of head nod and shake gestures based on eye tracking and head motion decision. The eye tracking step is divided into face detection and eye location. Here, we apply a motion segmentation algorithm that examines differences in moving people’s faces. This system utilizes a Hidden Markov Model-based head detection module that carries out complete detection in the input images, followed by the eye tracking module that refines the search based on a candidate list provided by the preprocessing module. The novelty of this paper is derived from differences in real-time input images, preprocessing to remove noises (morphological operators and so on), detecting edge lines and restoration, finding the face area, and cutting the head candidate. Moreover, we adopt a K-means algorithm for finding the head region. Real-time eye tracking extracts the location of eyes from the detected face region and is performed at close to a pair of eyes. After eye tracking, the coordinates of the detected eyes are transformed into a normalized vector of x-coordinate and y-coordinate. Head nod and shake detector uses three hidden Markov models (HMMs). HMM representation of the head detection can estimate the underlying HMM states from a sequence of face images. Head nod and shake can be detected by three HMMs that are adapted by a directional vector. The directional vector represents the direction of the head movement. The vector is HMMs for determining neutral as well as head nod and shake. These techniques are implemented on images, and notable success is notified.     

基于资源三号卫星数据的数字正射影像图制作研究

资源三号卫星的成功发射填补了我国立体卫星测绘的空白,可以提供优于5m地面分辨率的遥感影像.论文提出基于资源三号卫星遥感数据的数字正射影像图（DOM）制作流程,重点对影像纠正、影像配准、影像融合、影像镶嵌等关键步骤进行研究,并通过实验验证方法的可行性.实验证明该方法具有较强的实用价值和广泛的应用前景.     

FC-AE-ASM网络的模糊可靠性研究

针对目前FC-AE-ASM(fibre channel avionic environment anonymous subscriber messaging)网络可靠性计算问题, 以网络任务模型为基础, 提出了FC-AE-ASM网络的模糊可靠性模型。该模型主要分析了FC-AE-ASM网络的三种基本拓扑, 得出了这三种结构的模糊可靠性表达式。同时, 结合串并联的推导方法, 推导出了FC-AE-ASM冗余网络的模糊可靠性计算式。对实例的计算结果表明, FC-AE-ASM网络模糊可靠性的改善取决于关键因素, 并且基本路径冗余网络在自身网络可靠性较高时与全网冗余网络性能基本相同。     

The Chemistry of Water Treatment Processes Involving Ozone,Hydrogen Peroxide and Ultraviolet Radiation

Advanced oxidation processes are defined as those which involve the generation of hydroxyl radicals in sufficient quantity to affect water purification. The theoretical and (practical yield of OH from O₃ at high pH, 0₃/H₂0₂, O₃/UV and H₂O₂/UV systems is reviewed. New data is presented which illustrates the importance of direct photolysis in the O₃/UV process, the effect of the H₂0₂:0₃ ratio in the O₃/H₂O₂ process, and the impact of the low extinction coefficient of H₂O₂ in the H₂0₂/UV process.     

Preparation and morphology of electrically conductive and transparent poly(vinylchloride)-polypyrrole composite films

Summary The chemical process of preparing poly(vinylchloride)-polypyrrole composite films with high electrical conductivity and transparency has been studied. Pyrrole has been diffused into the poly(vinylchloride) matrix in the swelling medium of n-hexane and acetone mixture. The oxidative polymerization of the diffused pyrrole in the binary solvent system of acetonitrile and methanol gives high conductivity of the polypyrrole as well as the good penetration of the oxidant into the PVC polymer matrix. The analytical testing of the composite film shows the formation of homogeneous mixture of polypyrrole and poly(vinylchloride) conductive layer within the 1.0m of thickness on the film surface. The transparency of the composite film showed about 50–60% at 500 nm. The electrical conductivity of the composite was about 20 s/cm.     

浅析汉臣在忽必烈即位过程中的作用

蒙元王朝是一个少数民族政权,在对汉人的任用问题上十分敏感,大部分蒙古最高统治者对汉臣的防范多于信任,甚至干脆不用汉臣,而元世祖忽必烈在元朝的统治者中算是比较开明的,特别是他即位之前及中统时期,大量任用汉臣,这些汉臣也给予了忽必烈充分的回报,他们在忽必烈还是亲王时,充当王府幕僚,为忽必烈出谋划策,积蓄力量,后来又为其夺取汗位立下了汗马功劳.     

循环经济在赣州矿产资源开发与管理中的研究

如何利用赣州矿产资源优势发展本地经济,节约资源开采,充分利用现有资源,实现资源的循环利用,保持生态环境的良好发展具有重要意义。本文分析介绍了循环经济、赣州矿产资源及开发利用现状,并提出了实现矿业循环经济的具体措施。     

以客户需求为导向的定制终端潜在客户挖掘模型研究

本文设计了以客户需求为导向的定制终端潜在客户挖掘模型,不仅要有效地挖掘出有换机需求的潜在客户,同时根据各类用户的特征,为其匹配相应价位的终端,并通过市场部门在第一时间向用户开展主动营销,提升终端销量及用户消费能力。     

乳胶制品生产的工序能力分析及质量控制

本文分析了乳胶制品的生产过程，并对工序能力指数进行了分析，从而推断出产品的质量。