Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

优化双圆弧拟合

本文提出一种优化双圆弧拟合的新算法，它采用的方法是用改变双圆弧联结点的切线使双圆弧与样条曲线间的法向误差达到最小（或小于允许误差），与其他双圆弧拟合方法相比较，该算法计算简单，线性，并可消除拟合曲线的不稳定性，拟合效果快速，良好。可直接应用于雕塑曲面的ＣＮＣ加工中。     

Probabilistic linear models for multiresolution estimation in gray-level images

A multiresolution analysis of digital gray-level images is presented. A gray-level multi-scale framework is determined from two main assumptions: the gray scale is binary at the finest spatial resolution, and the gray levels of composed regions are obtained additively. In order to interrelate the gray-level histograms of the same image at different resolutions, probabilistic linear models are developed, which are then applied for estimation. Linear-optimization theory is used as a way of constructing such models. A general procedure for image processing is sketched, based on gray-level estimation. A versatile algorithm for nonlinear filtering is derived. Some examples of prospective applications are given.This work was partially supported by grant TIC91-646 from the DGYCIT of the Spanish Government.     

用基团贡献法预测纯物质蒸气压

对应状态原理与基团贡献法结合，提出一个新的蒸气压估算方程（ＲＬＹＭ）。通过对烷烃、烯烃、炔烃、环烷烃、环烯烃、醇、环醇、酮、醚、芳烃、酚、萘在内的１７４种有机物质蒸气压实验数据的关联，获得了３０种基团的贡献参数值。新模型的预测精度优于现有的对应状态法，并且对高碳分子仍有较好的估算精度。总的关联误差小于１．１７％。     

Remarks on the mean square tracking error

The purpose of this paper is to extend recent results of Ljung and Priouret to a more general class of regressors.     

Control of the quality of polymer products in continuous reactors: comparison of performance of state estimators with and without updating of parameters

In the paper the control of the product quality in polymerization reactors is analysed in the presence of persistent perturbations (unmodeled disturbances, modeling errors), as met in industrial reactors. The free radical polymerization of methyl-methacrylate in a continuous stirred tank reactor is studied. It is shown that state estimators (Extended Kalman Filters) with constant parameters cannot give offset free performance. Criteria for the selection of a set of parameters to be updated as additional states in the filter and to evaluate their effectiveness in opposing the action of realistic perturbations are given by an analysis of the linearized model of the system. Performance of different types of estimators, including one and two-time scale filters, with and without updating of parameters, is analysed by simulation on the full order process and the predictions made by previous analysis are confirmed. In the most common case of presence of perturbations affecting the energy balance and the concentration of initiator in the reactor, offset free control of the molecular weight of the product can be achieved by means of a filter which is based only on measurements of temperature and conversion and makes an update of two parameters. In the case that also the kinetic model of the polymerization reaction is affected by errors, a two-time scale filter, which makes use also of Molecular Weight values and updates three parameters, becomes necessary to obtain offset free performance.     

视频编码中的块运动估计算法

在视频压缩的一些国际标准，如Ｈ．２６１，Ｈ．２６３，ＭＰＥＧ０－１，ＭＰＥＧ－２，ＨＤＴＶ中，视频系统编码器的复杂性最主要取决于运动估计。下文以ＭＰＥＧ－２编码器为例，通过计算机模拟实验，得出了一些常用运动估计算法的对比实验结果，以及采用常用的几种匹配函数的对比实验结果。     

MIKEII 软件系统在穆棱河流域面源污染估算中的应用

穆棱河流域面源污染入河量调查和估算采用了MIKEII软件系统，根据水质、水量实测数据，在参数率定和模型验证的基础上．对穆棱河部分河段的水质进行模拟，拟合出面源入河量和年内分布。经验证计算结果较其他方法更合理可靠。     

计及PMU的混合非线性状态估计新方法

提出一种将同步相量测量单元（PMU）的直接电压相量量测变换为间接支路电流量测，并与监控与数据采集（SCADA）量测量一起进行混合迭代的非线性状态估计方法。对构造等效电流修正量而带来的间接量测误差进行了详细和定量的分析，并对该混合估计算法的精度进行了定性分析和定量计算。理论分析和算例表明，该方法可以获得较高的估计精度，在收敛次数和滤波效果上也有所改进。     

机载雷达成像中的两种改进多普勒质心估计算法

多普勒质心估计是机载脉冲多普勒雷达DBS成像技术中最为关键的步骤之一.本文针对载机惯导参数误差较大的实际情况,提出了改进的频域和时域多普勒质心估计算法.新的算法克服了传统算法受地面场景非均匀性和回波信号起伏的影响,大大提高了估计的精度.最后将这些算法用于某型脉冲多普勒雷达的实测数据,成像结果证明了算法的有效性.