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.     

输气管道音波泄漏检测技术的研究

输气管道泄漏的检测与定位，是管道维护及管道安全运行的重要研究课题.将音波检测方法应用于输气管道的泄漏检测，介绍了音波泄漏检测与定位的基本原理.阐述了采用相关分析法进行泄漏定位的数据处理方法.设计完成了传感器信号提取、模拟信号滤波和A/D数据转换等硬件电路.在单片机上移植Small Rtos51嵌入式实时操作系统，有效管理检测任务，实现信号采集、数据传输和异常情况处理，从而提高了系统的实时性和可靠性.通过搭建输气管道试验平台，对试验数据采集、处理及仿真，论证了音波检测方法应用于输气管道泄漏检测的可行性.     

短消息指标新定义及在事务信道限制中的应用

短消息指标可以度量隐蔽信道的短消息传输能力,是信道容量的必要补充.但指标现有定义中还存在着以下问题:消息长度参数在普通信息系统中不能定量分析;信道限制机制难以同时满足传输时间和保真度两个约束;没有包含消息的敏感度信息.针对这些问题,首先通过引入短消息传输价值的概念,给出了短消息指标的新定义.在该定义中,利用价值阈值统一表示系统对信道短消息传输能力的容忍程度,并且在所采用的价值函数中引入了消息的敏感度因素.其后,基于安全实时数据库应用场景给出了结合短消息指标和信道容量的事务隐蔽信道度量和限制机制.理论分析和模拟结果表明,基于短消息指标的新定义,系统可以对隐蔽信道威胁实施全面的度量和可调节的限制.     

e-Automation,an architecture for distributed industrial automation systems

Due to the complexity of modern industrial systems, a conventional automation system is not capable of providing sufficient information management and high-level intelligent approaches, as achieving these functionalities requires the support of comprehensive data management and coordination between system devices and heterogenous information. This paper proposes the concept of e-Automation, in which computer networking and distributed intelligence agent technologies are applied to industrial automation systems, and presents a hardware and software architecture that implements this concept. An open infrastructure based on multi-agent systems is employed in the proposed architecture of e-Automation, which aims to allow the implementation of diverse tasks and to permit greater configurability than can be obtained from a traditional system. To evaluate our proposed e-Automation concept, this paper presents a case study of substation information management which adopts the proposed e-Automation architecture in power system domain.     

集群系统中实现软实时服务机制的研究与评估

研究了集群架构服务器的三种实时调度策略,即集中式策略、分布式策略和主动型全分布策略。与调度功能主要集中在前端机的集中式策略比较,分布式策略将调度功能部分离散至后端节点,改善了系统的可扩展性。而主动型全分布式调度则进一步实现了调度分派功能的完全离散化,通过后端机的主动拉取事件和频率调控实现了负载平衡的自调节,极大地改善了系统的扩展性和服务效率。通过试验研究和试验表明,这三种都有效地降低了集群的响应服务请求的时间,还保证了系统的输出最大化。     

非精确计算中的实时数据库服务质量管理

传统的数据库已经不能满足仿真数据库对性能优化的要求。因此,提出了非精确计算中由反馈环节控制的实时调度算法。在这些研究的基础上对该方法提出了改进,提出了使其在各种负载条件下,通过在反馈控制中设定遗忘因子以及引入最大限度数据错误的平均值来减少系统的突变,增强了系统的稳定性,提高了实时系统服务质量。     

Development and Use of a Kinetical and Real-Time Monitoring System to Analyze the Replication of Hepatitis C Virus

In microbiological research, it is important to understand the time course of each step in a pathogen’s lifecycle and changes in the host cell environment induced by infection. This study is the first to develop a real-time monitoring system that kinetically detects luminescence reporter activity over time without sampling cells or culture supernatants for analyzing the virus replication. Subgenomic replicon experiments with hepatitis C virus (HCV) showed that transient translation and genome replication can be detected separately, with the first peak of translation observed at 3–4 h and replication beginning around 20 h after viral RNA introduction into cells. From the bioluminescence data set measured every 30 min (48 measurements per day), the initial rates of translation and replication were calculated, and their capacity levels were expressed as the sums of the measured signals in each process, which correspond to the areas on the kinetics graphs. The comparison of various HuH-7-derived cell lines showed that the bioluminescence profile differs among cell lines, suggesting that both translation and replication capacities potentially influence differences in HCV susceptibility. The effects of RNA mutations within the 5′ UTR of the replicon on viral translation and replication were further analyzed in the system developed, confirming that mutations to the miR-122 binding sites primarily reduce replication activity rather than translation. The newly developed real-time monitoring system should be applied to the studies of various viruses and contribute to the analysis of transitions and progression of each process of their life cycle.     

移动融冰装置在RTDS上的仿真试验研究

西安整流器公司"KYAF-1200/14000直流移动融冰电源"进行了不同运行工况的RTDS实时仿真试验,对融冰线路耦合感应、投低压补偿电容、融冰装置正常启动过程的谐波等进行了试验分析,根据仿真试验.提出了有效的融冰运行方式的建议,以提高融冰装置运行的安全性和稳定性.     

基于uppaal的飞机着陆控制系统模型验证

为了避免飞机在着陆过程中出现事故,同时又能充分利用机场的跑道资源,对飞机数量多于跑道的情况进行了研究,采用了模型验证的方法.介绍了时间自动机的相关理论,以及基于该理论的验证工具uppaal,在此基础上使用uppaal工具对飞机着陆过程构造了模型,然后对模型的需求规范进行了验证,验证结果表明该模型不存在死锁问题,最终可以保证飞机安全和及时地着陆.     

基于增强现实与异型屏实时互动系统的研究*

提出并实现了一种基于增强现实的多人实时互动的平台和系统。首次提出了在展览展示领域融合应用AR技术与多异型屏技术,研究并实现了AR系统多人实时互动相关技术,设计了AR交互系统的渲染平台、交互平台和网络通信平台。提出利用人工免疫算法解决AR系统实时碰撞检测的问题。系统将在世博会进行展示应用,具有良好的技术与经济效益前景。