A Stochastic Map Building Method for Mobile Robot using 2-D Laser Range Finder

This paper presents a stochastic map building method for mobile robot using a 2-D laser range finder. Unlike other methods that are based on a set of geometric primitives, the presented method builds a map with a set of obstacle regions. In building a map of the environment, the presented algorithm represents the obstacles with a number of stochastic obstacle regions, each of which is characterized by its own stochastic parameters such as mean and covariance. Whereas the geometric primitives based map sometimes does not fit well to sensor data, the presented method reliably represents various types of obstacles including those of irregular walls and sets of tiny objects. Their shapes and features are easily extracted from the stochastic parameters of their obstacle regions, and are used to develop reliable navigation and obstacle avoidance algorithms. The algorithm updates the world map in real time by detecting the changes of each obstacle region. Consequently, it is adequate for modeling the quasi-static environment, which includes occasional changes in positions of the obstacles rather than constant dynamic moves of the obstacles. The presented map building method has successfully been implemented and tested on the ARES-II mobile robot system equipped with a LADAR 2D-laser range finder.     

一种带有增益提高技术的高速CMOS运算放大器设计

设计了一种用于高速ADC中的高速高增益的全差分CMOS运算放大器。主运放采用带开关电容共模反馈的折叠式共源共栅结构,利用增益提高和三支路电流基准技术实现一个可用于12~14 bit精度,100 MS/s采样频率的高速流水线（Pipelined）ADC的运放。设计基于SMIC 0.25μm CMOS工艺,在Cadence环境下对电路进行Spectre仿真。仿真结果表明,在2.5 V单电源电压下驱动2 pF负载时,运放的直流增益可达到124 dB,单位增益带宽720 MHz,转换速率高达885 V/μs,达到0.1%的稳定精度的建立时间只需4 ns,共模抑制比153 dB。     

基于Internet的地图符号库编辑管理系统

文章通过对地图符号基本结构、编辑模型和存储模型的分析,建立了一套在网络上实施符号库系统的模式。     

Gamma radiation levels in the ambient environment of the QNPP Base

Monitoring results of gamma dose rate level in 1992～2004 in the ambient environment of the Qinshan Nuclear Power Plants(QNPP)Base,the northeast of Zhejiang Province,are reported in this paper.It is shown that the gamma dose rate of five monitoring sites of 2.5 km to QNPP Base is 84～113 nGy/h,with an average of 96 nGy/h in the 13 years.The average value is close to the background level of 93 nGy/h prior to operation of the QNPP Base,and is lower than the monitoring result of 101 nGy/h at the reference site in Hangzhou City.Within 50 km from the QNPP Base,the cumulative dose rate of the thermoluminescent dosimeter(TLD)is 90 nGy/h,which is lower than the back- ground level of 111 nGy/h.     

角色扮演游戏引擎的设计原理

角色扮演游戏（RPG）是深受广大游戏迷们喜爱的一种游戏,它向人们提供了超出现实生活的广阔的虚拟世界,使人们能够尝试扮演不同的角色,去经历和体验各种不同的人生旅程或奇幻经历,而这些体验都是在现实生活中无法实现的。本文主要论述角色扮演游戏引擎的原理、开发工具、开发技术以及游戏制作。     

基于深度数据的空间人脸旋转角度估计

提出一种基于三维人脸深度数据的人脸姿态计算方法。利用人脸的深度数据以及与其一一对应的灰度图像,根据微分几何原理和相应的曲率算法与人脸数据中的灰度特征对人脸面部关键特征点定位,进而计算出人脸姿态在三维空间中的3个姿态角。实验证明该方法能在姿态变化情况下实现对人脸旋转角的准确估计,为进一步的人脸识别和表情分析提供基础。     

快速星图匹配算法的研究

将态敏感和姿态稳定是卫星的重要技术之一。星体敏感器是目前最高精度的姿态测量技术。对于这种技术，很多文献都进行了讨论，并涌现了许多关于星图匹配行之有效的算法。     

Comparative analysis on homogeneity of Pb and Cd in epoxy molding compounds

Reference materials for quantitative determination of regulated heavy metals, such as Pb and Cd in electronic components, were designed and investigated in terms of stability and homogeneity. Reference materials with two concentration levels of heavy metals were prepared by spiking Pb and Cd compounds to epoxy molding compounds made by mixing silica powders and epoxy resin. The concentration changes of the reference materials during stability test for 1 a were not observed. In the homogeneity assessment, the as-prepared reference materials were studied by using three different analytical tools, inductively coupled plasma atomic emission spectrometry (ICP-AES), X-ray fluoroescence spectrometry (XRF) and laser ablation ICP mass. The results show different homogeneities by the characteristics of analytical tools and the materials.     

加强烟用香精香料质量控制的探讨

该文对烟用香精香料这一特殊产品进行介绍,就烟用香精香料在烟草行业中的质量控制以具体的检测实验进行对比,通过常规物理实验和气相色谱-质谱分析方法的比较,说明各方法在香精香料质量控制中优劣,并就烟用香精香料检测室在实验室管理和统计技术等方面的提高提出建议。     

猫映射周期性与Fibonacci模数列周期性的内在联系

介绍了Fibonacci数列的模数列周期性定理,并推广至Fibonacci_Q变换矩阵的模周期。通过探讨Fibonacci_Q矩阵的周期与猫映射的周期的关系,揭示了猫映射的模周期与Fibonacci数列的模周期的内在联系;定义了矩阵变换的最佳周期概念,给出了猫映射的最佳周期性定理。通过图像置乱的仿真实验,验证了相关理论的正确性,从而为图像置乱提供了数学理论依据。