移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。     

小波变换在光谱特征提取方面的应用

人们在处理高光谱图像时一般要对一些典型地物进行光谱分析、特征波段的提取,以便提取出最大量的有效信息,剔除无用或冗余的信息,然后再进行分类识别.采用小波变换的分析方法,选用合适的小波进行分解,根据分解后的高频分量中包含的重要信息,利用局部相邻的正负极值点找出对应于原始光谱曲线上每个吸收带的左右边界;利用局部过零点,即可比较精确的提取出各个吸收带的中心波长.该方法比传统的光谱特征提取方法更简洁、有效,实验证明为一种比较理想的光谱特征提取方法.     

JFC磷酸酯的合成和应用

详述了JFC磷酸酯的合成工艺路线，以及它在织物前处理精练工艺中的应用。与其它磷酸酯类精练剂性能对比，证明它可作为一种性能优良的精练剂中的添加剂。     

黄河黑山峡河段大柳树水库比小观音水库原始库容多40亿m3的作用

一级开发大柳树高坝原始库容比二级开发小观音高坝多 4 0亿m3 ,库容大带来的好处体现在 5～ 7月可多向下游增供水量 ,缓解下游河道断流 ;延长泄放清水时间 ;增加发电效益 ;满足宁蒙河段防凌要求 ;增加汛期集中泄水 ,减缓下游河道淤积萎缩 ;满足南水北调西线工程水量调节要求等。为了更好优化配置黄河水资源 ,从全局和长远利益考虑 ,应采用一级开发方案 ,修建大柳树高坝大库     

Bootstrapping the Local Periodogram of Locally Stationary Processes

Abstract. Locally stationary processes are non‐stationary stochastic processes the second‐order structure of which varies smoothly over time. In this paper, we develop a method to bootstrap the local periodogram of a locally stationary process. Our method generates pseudo local periodogram ordinates by combining a parametric time and non‐parametric frequency domain bootstrap approach. We first fit locally a time varying autoregressive model so as to capture the essential characteristics of the underlying process. A locally calculated non‐parametric correction in the frequency domain is then used so as to improve upon the locally parametric autoregressive fit. As an application, we investigate theoretically the asymptotic properties of the bootstrap method proposed applied to the class of local spectral means, local ratio statistics and local spectral density estimators. Some simulations demonstrate the ability of our method to give accurate estimates of the quantities of interest in finite sample situations and an application to a real‐life data‐set is presented.     

3D velocity from 3D Doppler radial velocity

We present local least squares and regularization frameworks for computing 3D velocity (3D optical flow) from 3D radial velocity measured by a Doppler radar. We demonstrate the performance of our algorithms quantitatively on synthetic radial velocity data and qualitatively on real radial velocity data, obtained from the Doppler radar at Kurnell Radar station, Botany Bay, New South Wales, Australia. Radial velocity can be used to predict the future positions of storms in sequences of Doppler radar datasets.© 2005 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 15, 189–198, 2005     

A family of lower- and higher-order transversal linearization techniques in non-linear stochastic engineering dynamics

Sample pathwise numerical integration of noise-driven engineering dynamical systems cannot generally be performed beyond a limited level of accuracy, especially when the noise processes are modelled using (filtered) white noises. Recently, a locally transversal linearization (LTL) strategy has been proposed by the author (Proc Roy Soc London A 2001; 457 :539–566) for direct integration of deterministic and stochastic non-linear dynamical systems. The present effort is focussed on a host of extensions along with detailed theoretical error analyses of the linearization approach, especially as applied to problems in non-linear stochastic engineering dynamics. Thus, to begin with, estimates of local and global error orders in the basic LTL scheme are obtained separately for the displacement and velocity vectors when the system is driven either by a set of additive noises or by an arbitrary combination of (independently evolving) additive and multiplicative noises. Following this, a new family of higher-order LTL schemes is proposed in order to improve upon the basic LTL method and the associated error orders are established. A stepwise implementation of the lower- and higher-order versions of the LTL method, along with certain computational aspects, is also outlined. The proposed schemes are numerically illustrated, to a limited extent, for a single degree-of-freedom (SDOF) and a two degree-of-freedom (TDOF) non-linear engineering systems under additive and/or multiplicative white noise excitations. Copyright © 2004 John Wiley & Sons, Ltd.     

Stability of Circular Cylindrical Shells with a Single Local Dent

The theoretical-and-experimental investigation has been performed on the stability of smooth cylindrical shells of steel with a single local dent. All the shells manufactured using the same process were tested with the fulfillment of identical conditions for observations and measurements. Theoretical calculations were carried out by the mesh method with the use of the nonlinear theory of shells. A comparison of the experimental and theoretical values of the critical loads has been made. The theoretical-and-experimental approach proposed enables one to evaluate the quality of shells by studying local dents and other specific imperfections.     

高温皂碱练与酶制剂练精干绵性能比较

通过测试比较，分析了酶制剂练、高温皂碱练由精练方法不同而造成纤维在微观、外观、机械、吸湿及电学等方面的异同点。提出酶制剂练对提高纤维梳折、提高成纱品质、提高劳动生产率、降低工人劳动强度等方面均优于高温皂碱练，是精练工程改造方向之一。     

基于非线性规划的指数自回归模型的辨识

讨论了指数自回归模型的辨识问题，证明了该模型最小二乘估计的目标函数的非凸性，并给出了使该函数为凸的条件，最后给出了辨识该模型的算法及该算法的收敛性，并以数值例子加以说明。