视觉导航机器人三维场景重建研究

针对自主导航机器人在室外中的立体视觉,应用了一种基于置信点扩展的三维重建的方法。该方法改进了归一化交叉相关算法,由视差空间图寻找视差空间中的置信点并进行表面跟踪,并用计算亚象素视差和中值滤波的办法得到视差图,最后使用滚球算法对从视差图中得到的点云数据进行三角化从而进行地形重建。实验结果表明,所使用匹配方法优于单一的归一化交叉相关方法,有着较强的鲁棒性,重建的地形效果较为理想。     

非负线性最小二乘问题的一种严格可行内点算法

给出了非负线性最小二乘问题的一个新算法。首先,把非负线性最小二乘转化为线性互补问题,结合牛顿方向和中心路径方向,通过求解一个线性方程组得到搜索方向;进而获得了求解非负线性最小二乘问题的一种严格可行内点算法,并证明该算法经过多项式次迭代之后收敛到原问题的一个最优解,数值实验表明此方法是有效的。     

单峰函数最值定理的推广

单峰函数最值定理广泛应用于最值问题中,但它要求驻点惟一．本文讨论了多驻点情形下的最值问题,给出2个主要结论：（1）若可导函数f在某一区间内的所有驻点组成的集合是孤立点集,且函数f的极大点个数与极小点个数不相等时,则函数f在该区间上存在最值．（2）若可导函数f在某一区间内存在最小驻点和最大驻点,且这两个驻点均为极大（小）点时,则函数f在该区间上存在最大（小）值．     

一类非线性四阶常微分方程边值问题正解的存在性

用一种较简单的方法建立了非线性四阶常微分方程边值问题{u（4）（t）=f（t,u9t）,u″（t）0,t∈（0,1） u（0）=u（1）=u″（0）=u″（1）,正解的存在性结果,对非线性项f只要求其满足一个局部条件．     

7.63m特大型焦炉砌筑施工技术及要点

主要针对7.63m特大型焦炉砌筑施工技术,从工程实践效果分析其施工技术在质量、工期、成本等方面收到良好的经济效益和社会效益,现对7.63m特大型焦炉施工技术作简要介绍。     

一种基于用户感兴趣区域的图像检索算法

针对全局特征的图像检索不能很好地满足用户的意图,提出了一种新的基于用户感兴趣区域的图像检索算法。此算法基于显著判别原则,无需对图像进行复杂的分割就能有效地提取用户感兴趣区域的显著点。实验结果表明,此算法不仅检索过程简单,在检索精度上也明显优于基于全局特征的图像检索方法。     

一种信息点多样性的粒子群优化算法

针对PSO在寻优后期尤其在高维搜索空间中无法得到满意结果,提出了一种信息点多样性的改进粒子群优化算法。粒子个体最优位置及全局粒子最优位置是两个有用的精确的信息点,而PSO的信息交互方式正依赖于这两个信息点,从多样性方面考虑,将该有用的信息点增加为粒子个体最优位置附近随机的一点。实验仿真结果表明,新算法的全局搜索能力、收敛速度、精度和稳定性均有了显著提高。     

功能梯度材料的点插值无网格法

建立了一种新的求解功能梯度材料问题的点插值无网格法,这种无网格方法将径向基函数和多项式基函数耦合构造具有插值特性的近似函数,并将其应用于弹性力学问题Galerkin形式的无网格方法。在计算过程中,取高斯点的材料参数模拟功能梯度材料特性的变化,由于形函数及其导数的构造相对简单,并且满足Delta函数性质,所以该方法具有计算量小、精度高、可以像有限元法一样直接施加边界条件的优点。最后通过数值算例证明了该方法的有效性。     

Set methods of left-turn waiting zone at signalized intersection

To maximize the number of vehicles passing by the stop-line in a cycle and improve the operation efficiency of intersection in China,the settlement of left-turn lane waiting-zone is becoming prevailing. Based on conflicting-point method,the internal mechanism of left-turn flow after stopping line was analyzed through taking postposition left-turn lane waiting-zone intersection for instance. The relationship between the first left-turn vehicle and the last vehicle of previous phase passing the conflicting point was expounded. According to the time of successive arriving of two vehicle flows at conflicting-point,the reasonable layout for waiting area of left-turn vehicles was researched when the clearance index was less than 0. The results suggest that the appropriate layout for waiting area of left-turning vehicles can improve the operation efficiency of intersections.     

Bioleaching of chalcocite by mixed microorganisms subjected to mutation

Mixed microorganisms with elevated activity of chalcocite-leaching were screened by mutation methods. The original microorganisms collected from acid mine drainage of different sites were mixed and then treated with mutagens NO₂⁻, diethyl sulfate (DES), UV and their combinations, respectively. Five groups of mixed microorganisms with much stronger ore-leaching ability were obtained by screening on the leaching media. Among them, group E of mixed microorganisms (treated with 1% DES for 60 min) with the best performance on chalcocite-leaching, increases the content of Cu²⁺ by 101.4% in 20 d of leaching compared with the control culture. In addition, group E is more tolerant to Cu²⁺ in media than the control without mutation treatment. Analysis for the diversity of microbial clones indicates that half of operational taxonomic units (OTUs) in group E are Acidithiobacillus ferrooxidans. These observations suggest that group E might have potentials for industrial application. Foundation item: Project(50321402) supported by the National Natural Science Foundation of China; Project(2004CB619201) supported by the Major State Basic Research and Development Program of China