面向实际场景SLAM应用的光照适应性研究

为探究环境感知设备在SLAM算法应用过程中的光照适应性问题,在不同光照强度下分别进行激光雷达和深度相机SLAM算法的验证性评估实验.基于四轮差速机器人,搭载16线激光雷达和深度相机,结合LOAM(Lidar Odometry And Mapping)和RTAB-MAP(Real-Time Appearance-Based Mapping)算法,分别在明暗环境中分析验证设备光照适应性.实验结果表明:在明亮环境下,基于视觉SLAM和激光SLAM系统偏差的中误差分别为0.203和0.644 m;在黑暗环境中两者偏差的中误差分别为0.282和0.683 m;深度相机在明、暗环境中的定位建图效果均优于激光雷达,深度相机的光照适应性更强.     

数据拟合技术在变压器交流去磁试验分析中的应用

江苏500 kV泰兴变电所做2号主变交流去磁试验时出现了异常现象,即B相升压至80%额定电压以上时,电流表指针停在58格处不动。如何判断B相升压至90%及100%额定电压下,电流值是递增还是递减呢?运用数据拟合技术给出了所求之值,并对该方法的正确性结合实测值及理论分析给予验证,对解决同类型的试验问题具有一定的借鉴作用。     

High-speed ground moving target detection research using triangular modulation FMCW

The frequency modulated continuous wave (FMCW) radar has the characteristics of low probability of interception, good hidden property and the ability to counter anti-radiation missiles. This paper proposes a new method for high-speed ground moving target detection (GMTD) using triangular modulation FMCW. According to the characteristic of the opposite range shift induced by the upslope and downslope modulation FMCW, the upslope and downslope are imaged, respectively. After compensation of continuous motion of the platform and time difference between upslope and downslope signals for imaging, the moving target can be detected through displaced phase center antenna (DPCA) technology. When the moving target is detected, the moving target image is extracted, and correlation processing is used to obtain the range shift, which can be used to estimate the target radial velocity, and further to find the real position of the target. The effectiveness of this method is verified by the result of computer simulation. __________ Translated from Journal of Xidian University, 2008, 35(4): 586–591 [译自: 西安电子科技大学学报(自然科学版)]     

二维三氧化钨纳米结构的合成及其在光电探测器中的应用

三氧化钨（WO₃）是制造晶体管和光电探测器的理想材料,虽然在WO₃纳米结构的生长方面已经完成了一些工作,但是制造足够长的理想型纳米线仍然是一个挑战。在众多的合成方法中,作者选择了化学气相沉积（CVD）方法合成WO₃纳米线,并对其在光电传感器中的应用进行了研究。影响WO₃纳米线成品率的主要因素是前体材料温度、基片位置、载气流速和生长持续时间。在合适的生长条件下生长的纳米线长度最长约为100 μm。这些WO₃纳米线可用来制造高性能的光电探测器,WO₃光电探测器具有灵敏度高、响应速度快、模块微型化等优良的器件性能,表明二维WO₃纳米线在光电探测器的制造中具有很大的优势。      

Antireflection and band gap extension effects of ZnO nanocrystalline films grown on ITO-coated glasses by low temperature process

Zinc oxide (ZnO) nanocrystalline films coated on indium tin oxides (ITO, 90:10 wt%) glasses were prepared by low temperature process. The thin films were composed of uniform nanoparticles with average diameter around 8.4 nm. All samples exhibited excellent optical antireflective phenomena, and the maximum transmission reached 92.8% for the sample spin coated at 1500 rpm at 453 nm, improved by 21.5%. The antireflective results were explained by the coherence theory. And the antireflective effects were induced by the ITO and ZnO films. The calculated thicknesses of the ZnO films agreed well with the experimental results. The theoretical calculated band gap from the average diameter of ZnO nanoparticles was also well consistent with the experimental ones obtained from the optical transmission spectra. This result was promising for applications in organic solar cells.     

Genome-Wide Association Study Identifies a Rice Panicle Blast Resistance Gene,Pb2, Encoding NLR Protein

Rice blast is one of the main diseases in rice and can occur in different rice growth stages. Due to the complicated procedure of panicle blast identification and instability of panicle blast infection influenced by the environment, most cloned rice resistance genes are associated with leaf blast. In this study, a rice panicle blast resistance gene, Pb2, was identified by genome-wide association mapping based on the panicle blast resistance phenotypes of 230 Rice Diversity Panel 1 (RDP1) accessions with 700,000 single-nucleotide polymorphism (SNP) markers. A genome-wide association study identified 18 panicle blast resistance loci (PBRL) within two years, including 9 reported loci and 2 repeated loci (PBRL2 and PBRL13, PBRL10 and PBRL18). Among them, the repeated locus (PBRL10 and PBRL18) was located in chromosome 11. By haplotype and expression analysis, one of the Nucleotide-binding domain and Leucine-rich Repeat (NLR) Pb2 genes was highly conserved in multiple resistant rice cultivars, and its expression was significantly upregulated after rice blast infection. Pb2 encodes a typical NBS-LRR protein with NB-ARC domain and LRR domain. Compared with wild type plants, the transgenic rice of Pb2 showed enhanced resistance to panicle and leaf blast with reduced lesion number. Subcellular localization of Pb2 showed that it is located on plasma membrane, and GUS tissue-staining observation found that Pb2 is highly expressed in grains, leaf tips and stem nodes. The Pb2 transgenic plants showed no difference in agronomic traits with wild type plants. It indicated that Pb2 could be useful for breeding of rice blast resistance.     

基于相位过渡过程的WI语音重建方法

通过研究语音残差信号的合成方法,给出了一种改进的波形内插（Waveform Interpolation,WI）编码器语音重建方案,去除了解码器中特征波形（Characteristic waveform,CW）的对齐运算。在该方案中当帧间的基音周期连续变化时,语音残差信号由幅度谱和相位轨迹直接合成,而当基音周期发生跳变时,则利用相位过渡过程合成语音残差信号。该方法大大降低了WI解码器的复杂度,同时保证了合成语音质量没有变化。     

Effect of W on formation and properties of precipitates in Ni-based superalloys

The formation and properties of precipitates in wrought Ni-based superalloys with different W contents during long-term exposure to high temperatures were inves...     

近似最优正则化参数方法在电容成像图像重建中的应用

将基于近似最优正则化参数的Tikhonov方法应用于电容成像(Electrical capacitance tomography，ECT)图像重建以解决其中存在的病态性问题，并利用几种典型分布对该方法进行仿真测试。数值结果表明，在先验知识满足的条件下，近似最优参数法所找到的正则化参数是对最优正则化参数的较合理近似。在重建结果方面，基于近似最优参数的Tikhonov方法在不同的介电常数分布下与目前普遍采用的线性反投影算法(Linear back projection，LBP)各有优势。结果表明，该方法尚不能完全取代LBP算法，但能在一定程度上弥补LBP算法的不足。     

循环流化床锅炉点火系统的数值模拟分析

循环流化床(CFB)锅炉点火系统主要以风道燃烧器为主。风道燃烧器在实际运行时,燃油着火和燃尽性能不是很理想,会出现火焰贴壁、壁面结焦等现象,因此对CFB锅炉点火系统进行数值模拟研究。针对内蒙古某电厂CFB锅炉风道燃烧器实际燃烧工况,选用非结构化有限元体积网格模型进行数值模拟。通过对点火系统的数值模拟和实测结果比较分析,验证了针对内蒙古某电厂CFB锅炉点火系统进行理论模拟所设置的物理模型和边界条件是符合实际的,理论模拟和实测结果的相对误差在10%范围内,结果较为理想。说明利用FLUENT软件对点火系统内温度场及压力场的情况进行模拟分析是可行的,对同类电厂具有一定的参考价值。