基于先验知识的月球车视觉系统特征提取方法

为了满足月面巡视探测器的自主导航要求。提出一种新的基于先验知识的特征点提取算法。首先,根据先验知识对原始图像进行预分割成危险区域和安全区域,然后在危险区域里面进行特征点的选取工作,对特征点用于以后的匹配和目标定位,进而用于视觉系统的导航工作。与传统算法相比,提取方法可以有效减少计算量,使选取特征点更加准确,提高后续匹配阶段的处理速度和匹配精度。在模拟试验场的双目视觉照片中,通过实验取得较好的效果。     

城市街区空间引导系统的设计思考

城市街区空间引导系统与人们的日常生活息息相关,为人们的出行提供了便捷的标识引导,同时它也是城市形象的重要组成部分之一。本文分析总结了该系统的设计原则,并从视觉传达学科入手分析其视觉元素的设计。为了设计无语言障碍和有个性、地域化的城市街区空间引导系统,从符号、文字、色彩三方面对其进行设计思考。     

电-热-氢综合能源系统鲁棒区间优化调度

该文采用鲁棒区间法挖掘电-热综合能源系统协调运行的潜力,以缓解风电功率的不确定性对电力系统的运行稳定性的影响,并构建风力发电与氢储能系统相结合的风-氢混合系统,考虑氢储能系统的热平衡需求,以充分发挥氢储能系统的储能效率,平抑风电的波动性。首先,介绍了考虑氢储能系统接入的电-热综合能源系统结构,并构建其数学模型;然后,以区间形式考虑风电的不确定性,构建含风电的鲁棒区间优化调度模型,使系统在所有风电出力允许区间内,均满足允许约束条件;再次,建立一种含风-氢混合系统的电-热综合能源系统鲁棒区间优化调度模型,采用对偶理论将原模型转化为单层模型进行求解,最坏情况下的风电不平衡功率由可调机组根据时变参与因子进行调整;最后,以PJM-5节点电力系统与6节点热力系统和辽宁省北部太和综合能源系统为例对所提模型进行分析,验证了模型的有效性。     

Guiding students to the right questions: adaptive navigation support in an E‐Learning system for Java programming

Rapid growth of the volume of interactive questions available to the students of modern E‐Learning courses placed the problem of personalized guidance on the agenda of E‐Learning researchers. Without proper guidance, students frequently select too simple or too complicated problems and ended either bored or discouraged. This paper explores a specific personalized guidance technology known as adaptive navigation support. We developed JavaGuide, a system, which guides students to appropriate questions in a Java programming course, and investigated the effect of personalized guidance a three‐semester long classroom study. The results of this study confirm the educational and motivational effects of adaptive navigation support.     

PIRF-Nav 2.0: Fast and online incremental appearance-based loop-closure detection in an indoor environment

This paper presents a fast and online incremental solution for an appearance-based loop-closure detection problem in a dynamic indoor environment. Closing the loop in a dynamic environment has been an important topic in robotics for decades. Recently, PIRF-Nav has been reported as being successful in achieving high recall rate at precision 1. However, PIRF-Nav has three main disadvantages: (i) the computational expense of PIRF-Nav is beyond real-time, (ii) it utilizes a large amount of memory in the redundant process of keeping signatures of places, and (iii) it is ill-suited to an indoor environment. These factors hinder the use of PIRF-Nav in a general environment for long-term, high-speed mobile robotic applications. Therefore, this paper proposes two techniques: (i) new modified PIRF extraction that makes the system more suitable for an indoor environment and (ii) new dictionary management that can eliminate redundant searching and conserve memory consumption. The results show that our proposed method can complete tasks up to 12 times faster than PIRF-Nav with only a slight percentage decline in recall. In addition, we collected additional data from a university canteen crowded during lunch time. Even in this crowded indoor environment, our proposed method has better real-time processing performance compared with other methods.     

SIFT在行星表面探测器视觉导航系统中的应用

介绍了行星探测器自主导航系统的相关背景,讨论了行星探测器自主视觉导航系统算法的主要目的和传感器信息融合的必要性,并就此引入了尺度不变特征变换(SIFT)的相关理论分析.对SIFT方法提出了改进,从而改善了算法的效果.最后给出了三维重建和目标追踪的实验结果.     

A DSS for integrated distribution of empty and full containers

A DSS integrating empty and full containers transshipment operations is presented, addressing the typically unbalanced export/import containers trading problem. The problem is modeled as a network, where nodes represent customers, leasing companies, harbors and warehouses, while arcs represent transportation routes. The underlying mathematical model operates in stages, first prioritizing and adjusting full containers demands considering available empty containers supplies, and then statically optimizing costs. Transportation routes are registered and dynamically controlled, cyclically, for a given time horizon. The DSS is flexible, allowing several parameters to be configured. Experimental examples using randomly generated parameters were conducted to evaluate the effectiveness of the system.     

基于校准靶的C形臂相机模型自动校准方法

根据校准靶标志点影像的特点,提出一种自动的离线C形臂相机模型校准方法。应用聚类算法实现标志点信息的自动识别,通过行列索引表简化标志点网格姿态的识别,自动建立标志点在影像坐标系和空间坐标系下坐标的对应关系,经几何变形校正后,实现C形臂相机的校准。实验数据证明,该方法具有良好的鲁棒性,误差小于1 mm,可应用于基于术中C形臂X线影像的手术导航系统。