一种基于剪枝的横向分块概念格构造算法

概念格是形式概念分析中的核心数据结构,随着数据量的日益剧增,概念格的构造效率始终是关键.本文首先引入横向分块概念格,给出其若干结论;针对横向分块概念格构造过程中存在冗余信息,提出一种基于剪枝的横向分块概念格渐进式构造算法PHCL,从而进一步提高了概念格的构造效率;最后采用恒星天体光谱数据作为形式背景,实验验证了算法PHCL的正确性和有效性.     

改进的BP神经网络算法在航迹匹配中的应用

利用迭代最近等值点(ICCP)算法对重力图上的航迹进行匹配可以减小惯性导航系统误差,但计算量大。针对上述问题,通过修改激励函数并增加假饱和预防函数,提出一种改进的反向传播神经网络学习算法。仿真结果表明,该算法可以加快搜索最近等值点的速度,更好地满足重力辅助导航对匹配精度及匹配速度的要求。     

Video game experience predicts virtual, but not real navigation performance

In recent years, studies have shown that video game experience is related to improvements across a variety of cognitive and visuospatial tasks. This study investigated the relationship between prior video game experience and spatial performance in virtual and real environments. Across two experiments, gaming experience was related to performance in desktop virtual environments; those with more video game experience were more accurate in pointing to nonvisible targets. In contrast, gaming experience was unrelated to three different real environment tasks, suggesting that video games may primarily influence perceptual and cognitive abilities in the visual domain over abilities that also involve kinesthetic or vestibular input. Contrary to expectations, gaming experience was also related to performance in immersive virtual environments, which may be related to the use of a joystick interface during immersive travel. Video game experience was also positively related to performance in a dynamic spatial task and to verbal SAT and math SAT scores. Sex differences in desktop virtual navigation and dynamic spatial ability were eliminated when game experience was included as a covariate.     

On-line road boundary modeling with multiple sensory features, flexible road model, and particle filter

This paper describes a method of robustly modeling road boundaries on-line for autonomous navigation. Since sensory evidence for road boundaries might change from place to place, we cannot depend on a single cue but have to use multiple sensory features. It is also necessary to cope with various road shapes and road type changes. These requirements are naturally met in the proposed particle filter-based method, which makes use of multiple features with the corresponding likelihood functions and keeps multiple road hypotheses as particles. The proposed method has been successfully applied to various road scenes with cameras and a laser range finder. To show that the proposed method is applicable to other sensors, preliminary results of using stereo instead of the laser range finder are also described.     

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.     

基于GPS与全站仪的惯性导航部件安装校准技术

针对惯性导航系统的初始安装误差无法消除,且该误差会严重影响试验机的惯性导航系统导航精度的问题,研究了一项结合测绘型GPS和全站仪测量的惯性导航部件安装校准技术,通过GPS定位和全站仪测量并解算出试验机航向和真北方向之间的夹角,与试验机上惯导系统指示数据进行对比,从而达到快速准确校准惯导系统安装误差的目的.运用该技术进行...     

CAN总线在水下航行器导航与控制系统中的应用

导航和控制系统是水下航行器的重要组成部分,CAN总线是现场总线和分布式实时控制的发展趋势.针对传统采用RS422通信的集中式导航控制系统中控制管理中心任务过重、可靠性差、抗干扰 能力差等缺点,设计了基于CAN总线的分布式导航和控制系统.首先给出了分布式系统的构建方案;再针对基于PC104的控制管理中心、预置器与CAN总...     

分布式航行信号灯灯丝故障监测系统

针对船舶航行信号灯的使用环境及其要求,研制了一种分布式航行信号灯灯丝故障监测系统,采用从站和PC机两层结构监测,监测能力为8～256个点.主站与从站、主站与PC机均采用成熟的MAX485通信电路.故障时从站立即报警,并将故障航行信号灯状态数据发送到主站;主站分析处理后将故障航行信号灯的状态数据传送到PC机;PC机的人机...     

基于SAR辅助的惯导/星光组合导航系统研究

针对高空、长航时无人飞行器在对地观测成像期间对导航自主性和高精度的需求,研究了基于SAR辅助的惯导/星光姿态组合导航系统.针对SAR图像导航输出的间断性和多传感器组合导航系统中量测输出的不同步特性,设计了解决非连续性量测修正的多传感器组合导航滤波器模型.提出了解决多传感器量测不同步问题的异步集中滤波算法.仿真结果表明:...     

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.