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。      

内侧减薄拉深法加工光洁表面薄壁铝管的实验研究

对采用内侧减薄拉深法加工表面光洁薄壁铝管进行了实验研究 .实验结果表明 ,光洁效果决定于凹模内表面形貌在加工件上的复制作用 ,采用适当的减薄率、拉深速度和润滑油 ,可获得表面粗糙度低的表面光洁的薄壁铝管 ,实验装置合理 ,方法可行 .     

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.     

脉冲宽度对偏转电场法内表面等离子体浸没离子注入的影响

近年来 ,采用等离子体浸没离子注入 (PIII)对零部件内表面进行改性处理引起了各国研究工作者的广泛关注 .研究表明 ,提出的偏转电场法是进行内表面注入处理的有效方法 ,可以极大提高内表面注入的注入剂量和注入能量 .研究了采用偏转电场法注入时注入电压脉冲宽度对注入效果的影响 .结果表明 ,长注入脉宽可以提高内表面注入能量 ,但对注入剂量影响不大 ;脉冲宽度对注入峰值深度和注入剂量的分布有很大影响 ,长注入脉宽使注入峰值深度和注入剂量的最大值向筒内部移动 ;采用适当的不同宽度脉冲进行注入 ,可以改善注入均匀性 .     

一种基于光三角法的激光测振仪

介绍了一种基于光三角法的激光非接触测振仪,对激光测振仪的结构参数的优化设计进行了分析。研制的激光测振仪的主要技术参数为工作距离 ４０ｍ ｍ ～２ｍ ,测量范围 ２～５０ｍ ｍ ,测量分辨力 ２～２０μｍ ,频率响应 ０～３ｋ Ｈｚ。     

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Delphi7.0和FX2N PLC的自动控制液压试验系统研制

自动控制液压试验系统用于对相关试件进行液压爆破试验;针对该试验需求研制了一套试验系统,采用液压系统回路增压和阀控调压的方式,实现系统压力按照设定曲线自动输出;系统实现的关键在于对调压阀的控制和对增压液路的选择;围绕该液压回路,在上位机Delphi 7.0环境下对控制系统和交互软件进行了开发,实现了上位机对调压阀的控制;研究了Delphi 7.0与三菱FX-2N PLC的串口通信方法,通过PLC实现了对液压执行机构控制进行液路切换;试验表明,该液压自动控制系统满足250MPa下压力高精度控制要求;该系统操作简便、控制稳定、压力可调,具有较强的工程应用意义.