Map Reduce inspired loop mapping for coarse-grained reconfigurable architecture

Our work investigates how to map loops efficiently onto Coarse-Grained Reconfigurable Architecture （CGRA）. This paper examines the properties of CGRA and builds MapReduce inspired models for the loop parallelization problem. The proposed model has a more detailed performance metric and a more flexible unrolling scheme that can unroll different loop levels with different factors. A Geometric Programming based approach is proposed to resolve the optimization problem of loop parallelization problem. The proposed approach can find the optimal unrolling factor for each level loop, resulting in better parallelization of loops. Experimental results show that the proposed approach achieved up to 44% performance gain compared to the state-of-the-art loop mapping scheme.     

Investigation of Flow Patterns in Continuous‐flow Stirred Vessels by Laser Doppler Velocimetry

The flow structure of a continuous‐flow reactor stirred by a Rushton turbine was investigated by laser Doppler velocimetry for two different mean residence time‐mixing time ratios. Velocity measurements were obtained for two inlet locations, corresponding to the incoming liquid stream being fed co‐currently or counter‐currently to the flow discharged by the turbine. In all investigated configurations and for all operating conditions, it was found that the flow disruption caused by the incoming liquid stream was observable mainly in the first vessel quarter, which followed the feed‐tube plane. From comparison of the velocities encountered in the various planes in the continuous‐flow reactor to the velocities of the batch reactor, it was also concluded that it may be possible to intensify the usage of the turbine‐stirred vessel by decreasing the characteristic times ratio, without considerable flow by‐pass and/or short‐circuiting problems.     

An homogeneous space geometry for simultaneous localisation and mapping

Simultaneous Localisation and Mapping (SLAM) is the archetypal chicken and egg problem: Localisation of a robot with respect to a map requires an estimate of the map, while mapping an environment from data acquired by a robot requires an estimate of the robot localisation. The nonlinearity and co-dependence of the SLAM problem has made it an ongoing research problem for more than thirty years. The present paper details recent advances in understanding the SLAM problem, specifically the existence of an underlying geometry and symmetry structure that provides significant insight into the difficulties that have plagued many SLAM algorithms. To demonstrate the power of the geometric insight we derive a constant gain observer for the SLAM problem that; that does not depend on linearisation, has globally asymptotically stable error dynamics, is very robust, and operates in dynamic environments (estimating the landmark velocities as states in the observer).     

基于IMU与激光雷达紧耦合的混合匹配算法

针对线、面特征匹配的激光雷达测距与地图构建算法(Lightweight and Ground-Optimized Lidar Odometry And Mapping,LeGO-LOAM)在自动导引运输车(Automated Guided Vehicle,AGV)室内室外实时建图与定位时,易出现激光里程计累积误差大和旋转估计不准确等问题,本工作采用惯性测量单元(Inertial Measurement Unit,IMU)与激光雷达紧耦合的LeGO-LOAM算法,通过IMU为激光雷达提供的初始位姿信息,构建IMU与激光雷达联合误差函数,实现位姿共同迭代优化.其中,对于室外结构化信息较少时,在点对点的迭代最近点算法(Iterative Closest Point,ICP)较高定位精度的基础上,结合LeGO-LOAM算法和ICP算法互补性,进一步提出基于IMU与激光雷达紧耦合的混合匹配算法:当环境中结构信息较多时,激光里程计采用LeGO-LOAM算法,而当环境中结构化信息较少时采用ICP算法.实验结果表明,基于IMU与激光雷达紧耦合的混合匹配算法可有效降低激光里程计相对位姿误差和累积误差,提高AGV小车定位精度以消除部分地图重影.     

What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

Robust lane recognition for structured road based on monocular vision

A robust lane detection and tracking system based on monocular vision is presented in this paper.First,the lane detection algorithm can transform raw images into top view images by inverse perspective mapping(IPM),and detect both inner sides of the lane accurately from the top view images.Then the system will turn to lane tracking procedures to extract the lane according to the information of last frame.If it fails to track the lane,lane detection will be triggered again until the true lane is found.In this system,θ-oriented Hough transform is applied to extract candidate lane markers,and a geometrical analysis of the lane candidates is proposed to remove the outliers.Additionally,vanishing point and region of interest(ROI)dynamically planning are used to enhance the accuracy and efficiency.The system was tested under various road conditions,and the result turned out to be robust and reliable.     

棒线材连轧中的微张力闭环控制

介绍了棒线材连轧中微张力闭环控制的基本思想及方法，并分析了微张控制技术的应用条件。     

多孔薄壁扁管连续挤压模的研制

介绍了连续挤压模的生产工艺过程 ,模具主要结构及设计参数 ,分析了生产中存在的问题以及采取的措施 ,充分发挥了连续挤压设备的潜力 ,扩大了产品品种     

Effects of γ/γ interfacial structures on continuous coarsening of lamellar microstructure in TiAl alloy during aging

The effects of γ/γ interfacial structures on continuous coarsening of the fully lamellar microstructure in Ti-48Al alloy aged at 1 150 ℃ were investigated by using transmission electron microscopy(TEM). Continuous lamellar coarsening can be achieved not only by migration of interface faults(such as ledges, edges and curved interfaces) but also by migration and decomposition of perfect γ/γ lamellar interfaces. Thermal grooves, initiative positions of interfacial dissociation, can frequently form at the triple point junctions between the 120°-rotational ordered γ domain boundaries within γ lamellae and the lamellar interfaces. During the early stage of aging at 1 150 ℃, the interface migration and dissociation took place preferentially at the 120°-rotational ordered lamellar interfaces. Comparing the relative thermal stability of the true-twin, pseudo-twin and 120°-rotational ordered γ/γ lamellar interfaces shows that the 120°-rotational ordered lamellar interface is the most unstable. The reason of this phenomenon was analyzed through the comparisons of the interfacial energies and atomic arrangements of the three types of γ/γ lamellar interfaces.     

Filtering Multi‐Layer Shadow Maps for Accurate Soft Shadows

In this paper, we introduce a novel technique for pre‐filtering multi‐layer shadow maps. The occluders in the scene are stored as variable‐length lists of fragments for each texel. We show how this representation can be filtered by progressively merging these lists. In contrast to previous pre‐filtering techniques, our method better captures the distribution of depth values, resulting in a much higher shadow quality for overlapping occluders and occluders with different depths. The pre‐filtered maps are generated and evaluated directly on the GPU, and provide efficient queries for shadow tests with arbitrary filter sizes. Accurate soft shadows are rendered in real‐time even for complex scenes and difficult setups. Our results demonstrate that our pre‐filtered maps are general and particularly scalable.