用于虚拟现实的360度视频编码技术新进展*

随着虚拟现实技术不断发展,360度视频编码开始成为研究热点。应用于虚拟现实的360度视频与传统的视频相比分辨率更高,编码数据量更大,在实际应用中面临传输带宽有限的瓶颈,编码效率问题有待解决。归纳分析了国际标准组织联合视频研究组（joint video exploration team, JVET）正在制定的360度视频编码投影变换技术及其编码优化方法,综合对比了各变换技术的编码性能。根据当前最新研究成果,对下一步研究需要解决的问题进行了探讨总结,给出未来的研究方向和思路。     

Chemistry of hydrogen sulphide under coal liquefaction conditions: 1. Modelling hydrogen transfer catalysis

The work reported here represents initial attempts to develop a complete kinetic and mechanistic understanding of the reaction chemistry of H₂S under coal liquefaction conditions, using both model systems and coal. Hydrogen sulphide was found to promote/catalyse the transfer of hydrogen from tetralin to 2-hydroxyquinoline (2-HOQ). The presence of H₂S can increase the rate of hydrogen transfer from tetralin to 2-HOQ by a factor of 10 compared with the same reaction run in the absence of H₂S. The energy of activation for hydrogen transfer was found to decrease by ≈5 kcal mol⁻¹ in the presence of H₂S. The presence of H₂S was also found to promote loss of oxygen from 2-HOQ to form small amounts of quinoline. No evidence of CC or CN bond cleavage in 2-HOQ was noted under any of the reaction conditions studied. These results suggest that the presence of H₂S reduces the temperatures necessary to promote effective hydrogen transfer from tetralin by 50–75 °C. Moreover, they imply that similar effects occur in H₂S-promoted coal liquefaction.     

间歇反应器中料液脱溶时间的估算

介绍以对间歇反应器的一些基本合理的假设为基础,利用溶剂和传热介质的热力学和物性参数,推导出分别用水蒸汽和传热流体(THF)作为反应器夹套加热介质时,估算将反应器内料液进行脱溶浓缩所需时间的数学表达式,并用示例加以说明。     

Design of a slave arm of a surgical robot system to estimate the contact force at the tip of the employed instruments

Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph.     

Noncertainty equivalent adaptive control of robot manipulators without velocity measurements

This paper presents a noncertainty equivalent adaptive motion control scheme for robot manipulators in the absence of link velocity measurements. A new output feedback adaptation algorithm, based on the attractive manifold design approach, is developed. A proportional-integral adaptation is selected for the adaptive parameter estimator to strengthen the passivity of the system. In order to relieve velocity measurements, an observer is designed to estimate the velocities. The controller guarantees semiglobal asymptotic motion tracking and velocity estimation, as well as L_∞ and L₂ bounded parameter estimation error. The effectiveness of the proposed controller is verified by simulations for a two-link robot manipulator and a four-bar linkage. The results are further compared with the earlier certainty-equivalent adaptive partial and full state feedback controller to highlight potential closed-loop performance improvements.     

PARAMETER ESTIMATION IN EXPONENTIAL MODELS

Abstract. In this paper the problems of parameter estimation and order determination of an exponential (EX) model are studied in the time domain. In order to estimate the parameters, the parameter equations of an EX model are given in terms of the autocorrelation function, which is similar to the Yule-Walker equations of an autoregressive moving-average model. Estimates of parameters are obtained with the aid of the parameter equations and theorems are proved relating the convergence rate and asymptotic distribution of the estimates. We present two kinds of methods for estimating the order and prove that the estimates of the order are consistent.     

SIMULATION AND ESTIMATION OF LONG MEMORY CONTINUOUS TIME MODELS

Abstract. Some general properties of long memory continuous time processes are recalled or proved. Methods of simulation are studied. A comparison with the usual discrete time autoregressive fractionally integrated moving-average filter is made and illustrations are provided. Then, two methods of estimation of the parameters of such a model from a discrete sample are studied, both theoretically and empirically, with Monte Carlo experiments.     

PERIODIC CORRELATION IN STRATOSPHERIC OZONE DATA

Abstract. A 50-year time series of monthly stratospheric ozone readings from Arosa, Switzerland, is analyzed. The time series exhibits the properties of a periodically correlated (PC) random sequence with annual periodicities. Spectral properties of PC random sequences are reviewed and a test to detect periodic correlation is presented. An autoregressive moving-average (ARMA) model with periodically varying coefficients (PARMA) is fitted to the data in two stages. First, a periodic autoregressive model is fitted to the data. This fit yields residuals that are stationary but non-white. Next, a stationary ARMA model is fitted to the residuals and the two models are combined to produce a larger model for the data. The combined model is shown to be a PARMA model and yields residuals that have the correlation properties of white noise.     

自适应混合多目标分布估计进化算法

针对多目标分布估计算法全局收敛性较弱的缺陷,提出了一种自适应混合多目标分布估计进化算法。其基本思想是:在多目标分布估计算法中引入全局收敛性较强的差分进化算法,当函数变化率较大时,用分布估计算法产生新种群;当函数变化率较小即算法可能陷入局部收敛时,用差分进化算法产生新种群。理论分析和数值实验结果表明,这种混合算法不仅具有良好的全局收敛性,而且解的分布性和均匀性较没有考虑目标函数变化率的混合多目标分布估计算法也有了一定程度的提高。     

序贯抗差估计在旋转调制陀螺寻北中的应用

基于序贯抗差估计方法针对简化了的旋转调制陀螺寻北仪输出信号进行了寻北仿真研究.介绍了该型寻北仪的基本原理,在经典充贯平差的基础上,结合抗差M估计的原理,得到了序贯抗差估计的计算流程与公式.将寻北仪输出信号划分为2个阶段,对上述方法进行了仿真应用.仿真结果表明：通过该算法所得寻北结果误差均值与标准差均优于其它算法.