基于车载16线激光雷达的障碍物检测方法

针对目前车载16线激光雷达点云数据中障碍物检测算法准确率不高的问题,提出了一种基于自适应网格聚类的障碍物检测方法.首先,结合八叉树与随机抽样一致性算法(RANSAC)去除地面点;其次,投影点云至二维网格,依据各网格高程信息快速提取高结构物;然后,建立两级网格模型,按照粗网格聚类结果的分布信息自适应地确定子网格分辨率,对...     

Psychological constructs in driving automation: a consensus model and critical comment on construct proliferation

As automation in vehicles becomes more prevalent, the call for understanding the behaviour of the driver while driving an automated vehicle becomes more salient. Although a variety of driver behaviour models exist, and various psychological constructs have been said to be influenced by automation, an empirically testable psychological model of automated driving has yet to be developed. Building upon Stanton and Young's model of driving automation, this article presents an updated model of interrelated psychological constructs. The proposed model was created based upon a systematic literature search of driving automation papers and a subsequent quantification of the number of reported links between a selected set of psychological constructs. A secondary aim of this article is to reach consensus in the use of psychological constructs regarding driving automation. Henceforth special attention is paid to resolving the issue of construct proliferation.     

The role of mechanical forces in the planar-to-bulk transition in growing Escherichia coli microcolonies

Mechanical forces are obviously important in the assembly of three-dimensional multicellular structures, but their detailed role is often unclear. We have used growing microcolonies of the bacterium Escherichia coli to investigate the role of mechanical forces in the transition from two-dimensional growth (on the interface between a hard surface and a soft agarose pad) to three-dimensional growth (invasion of the agarose). We measure the position within the colony where the invasion transition happens, the cell density within the colony and the colony size at the transition as functions of the concentration of the agarose. We use a phenomenological theory, combined with individual-based computer simulations, to show how mechanical forces acting between the bacterial cells, and between the bacteria and the surrounding matrix, lead to the complex phenomena observed in our experiments—in particular the observation that agarose concentration non-trivially affects the colony size at transition. Matching these approaches leads to a prediction for how the friction between the bacteria and the agarose should vary with agarose concentration. Our experimental conditions mimic numerous clinical and environmental scenarios in which bacteria invade soft matrices, as well as shedding more general light on the transition between two- and three-dimensional growth in multicellular assemblies.     

A Multiphase Pore Scale Network Model of Gas Exchange in Apple Fruit

A multiphase pore scale network model was developed to describe mass transfer in apple fruit. The 3D microscale geometry of the tissue was reconstructed from synchrotron radiation tomography images. Individual cells and pores were identified using a watershed segmentation procedure on a Euclidean distance map of the tissue microstructure. Further morphological characteristics of each individual pore, including its volume, connections to the neighbors and the connected area between the pore and its neighbors, were determined. The tissue was represented by a network of nodes (simplified individual pores and cells) that were interconnected by tubes. The transport of the respiratory gases O₂ and CO₂ between two nodes was modelled using diffusion laws and irreversible thermodynamics, while respiration was taken into account in the individual cellular nodes. A numerical procedure was applied to simulate the gas transport within the discrete network and to compute the local diffusivities of the links in the network. The predicted overall gas diffusivities compared well to experimental data and results computed from a microscale continuum model, thereby validating the pore scale network model. This approach is a computationally attractive alternative to a continuum multiphase approach for modelling gas transport in fruit.     

3D Virtual Pome Fruit Tissue Generation Based on Cell Growth Modeling

A 3D virtual fruit tissue generator is presented that can distinctly define the microstructural components of a fruit tissue and that can be used to model important physical processes such as gas transport during controlled atmosphere storage. The model is based on the biomechanics of plant cells in tissues. The main merit of this algorithm is that it can account for typical differences in intercellular air space networks and in cell size and shape found between different fruit species and tissues. The cell is considered as a closed thin walled structure, maintained in tension by turgor pressure. The cell walls of adjacent cells are modeled as parallel, linear elastic elements which obey Hooke's law. A 3D Voronoi tessellation is used to generate the initial topology of the cells. Intercellular air spaces of schizogenous origin are generated by separating the Voronoi cells along the edges where three Voronoi cells are in contact; while intercellular air spaces of lysigenous origin are generated by deleting (killing) some of the Voronoi cells randomly. Cell expansion then results from turgor pressure acting on the yielding cell wall material. To find the sequence of positions of each vertex and thus the shape of the tissue with time, a system of differential equations for the positions and velocities of each vertex is established and solved using a Matlab ordinary differential equation solver. Statistical comparison with synchrotron tomography images of fruit tissue is excellent. The virtual tissues can be used to study tissue mechanics and exchange processes of important metabolites.     

Quantification of Entrainment Using an Optical Inline Probe

In distillation and absorption processes, entrainment above trays or packings reduces stage and column efficiency. A modified version of the optical multimode online probe enables a seminal insight and, thus, quantification of entrained droplets on various axial and radial positions. A purging mechanism inhibits precipitation of droplets on the front lenses, while telecentric optics and illumination provide distance‐independent and precise imaging of entrained droplets between two valve trays. Experiments were performed in a DN 450 cold flow (air‐water) test rig. The results were compared with noninvasive phase Doppler anemometry data.     

Use of locality sensitive hashing (LSH) algorithm to match Web of Science and Scopus

Scientometrics - A novel hashing algorithm is applied to match two prominent and important bibliographic databases at the paper level. In the literature, such tasks have been studied and conducted...     

Finite-time consensus protocols for multi-dimensional multi-agent systems

A finite-time consensus protocol is proposed for multi-dimensional multi-agent systems, using direction-preserving signum controls. Filippov solutions and nonsmooth analysis techniques are adopted to handle discontinuities. Sufficient and necessary conditions are provided to guarantee infinite-time convergence and boundedness of the solutions. It turns out that the number of agents which have continuous control law plays an essential role in finite-time convergence. In addition, it is shown that the unit balls introduced by ?p norms, where p∈[1,∞], are invariant for the closed loop.