地铁站场景下的可行驶区域检测

在室内环境下的机器人视觉导航任务中,可行驶区域检测是不可或缺的一部分,这是保证自动驾驶任务实现的基础.目前较多的解决方法是对数据集中出现过的障碍物进行识别来检测可行驶区域,缺乏灵活性,因此本文提出了一种针对地铁站等室内平坦地面的可行驶区域检测方法,提高实用性.本文采用经典的MobileNetV3网络对采集到的前方图像进行分类,判断是否为地面区域.由于室内地面的地标、箭头等贴纸的影响,因此需要对非地面区域进一步判断,与常规的立体障碍物进行区分.本文利用连续帧之间的特征点匹配获得相机移动距离,并利用直线拟合计算斜率的方法达到区分立体障碍物与平面地标的目的.实验表明,本文提出的方法能较好地检测机器人前方可行驶区域,具有较高的实用价值.     

Reliability analysis on systems with self-healing and self-repairing under different environments and shock models

Inspired by the process of self-healing of biological damage, high technology materials with self-healing and self-repairing mechanisms have been developed for high reliability and long lifetime. Therefore, the reliability modeling on intelligent systems with healing performance has become a research hotspot. Based on the diversity of healing mechanisms, this paper proposes a two-phase reliability model method on self-healing and self-repairing systems. Impacts of environments, shock loads, self-healing, and self-repairing mechanisms are taken into account in this novel model. Besides, system lifetime and some reliability indexes under two shock models are derived, respectively. Moreover, Monte Carlo simulations are conducted to verify the accuracy of reliability under two models. Finally, an engineering case of metallized film capacitor is provided to illustrate the effectiveness and applicability of the proposed models by comparing numerical results and simulation results.     

从测角后交最佳点位规律看规范规定之不足

本文分析了文献[1]所总结的测角后交两类公式在取得最佳点位时的规律,指出当前规范对此问题规定之不足.     

Influence of ions on the critical behavior of a binary mixture near the consolute point

The lower critical point of stratification of a 3-methylpyridine (MP)+heavy water (D₂O) mixture in the presence of Na⁺ and CI^– ions has been studied by the Toepler shadow method. Addition of 0.3% ions lowered the critical temperature and reduced the equilibration time and the gradient of the refractive index (compressibillity). The analysis of the form of the near-critical isotherm demonstrated the ionic mixture to be described by the index = 3.05 ± 0.15. which corresponds to the classical mean-field theory. The results obtained provide evidence that even small admixtures of charged particles result in a substantial suppression of fluctuations near the critical point by the long-range Coulomb interaction.Paper presented at the Twelfth Symposium on Thermophysical Properties, June 19–24, 1994, Boulder, Colorado, U.S.A.     

Existence results for impulsive differential inclusions with nonlocal conditions

In this paper, we shall establish sufficient conditions for the existence of mild solutions for nonlocal impulsive differential inclusions. On the basis of the fixed point theorems for multivalued maps and the technique of approximate solutions, new results are obtained. Examples are also provided to illustrate our results.     

On the generalized Hyers-Ulam stability of multi-quadratic mappings

A mapping f:Vⁿ?W, where V is a commutative group, W is a linear space, and n≥2 is an integer, is called multi-quadratic if it is quadratic in each variable. In this paper, we prove the generalized Hyers-Ulam stability of multi-quadratic mappings in Banach spaces and complete non-Archimedean spaces.     

An inexact hybrid projection-proximal point algorithm for solving generalized mixed variational inequalities

In this paper, we investigate an inexact hybrid projection-proximal method for solving a class of generalized mixed variational inequalities in Hilbert spaces. We construct a general inexact hybrid projection-proximal point algorithm, in which an inexact relaxed proximal point step is followed by a suitable orthogonal projection onto a hyperplane. Under some suitable conditions concerned with the pseudomonotone set-valued mapping T, the nonsmooth convex function f and the step size λ_k, we prove the convergence of the inexact hybrid projection-proximal point algorithm for solving generalized mixed variational inequalities in Hilbert spaces.     

Existence and uniqueness of strictly nondecreasing and positive solution for a fractional three-point boundary value problem

In this paper, we consider the following nonlinear fractional three-point boundary value problem

     

Multi-sensor calibration through iterative registration and fusion

In this paper, a new multi-sensor calibration approach, called iterative registration and fusion (IRF), is presented. The key idea of this approach is to use surfaces reconstructed from multiple point clouds to enhance the registration accuracy and robustness. It calibrates the relative position and orientation of the spatial coordinate systems among multiple sensors by iteratively registering the discrete 3D sensor data against an evolving reconstructed B-spline surface, which results from the Kalman filter-based multi-sensor data fusion. Upon each registration, the sensor data gets closer to the surface. Upon fusing the newly registered sensor data with the surface, the updated surface represents the sensor data more accurately. We prove that such an iterative registration and fusion process is guaranteed to converge. We further demonstrate in experiments that the IRF can result in more accurate and more stable calibration than many classical point cloud registration methods.     

计算机辅助外科手术空间配准技术的研究

医学图像和实际手术空间的配准问题是计算机辅助外科手术技术的一个重要的研究热点,它能够帮助医生选择最佳手术路径和减小手术损伤,实现手术的方便快捷和微创,提高手术成功率。主要研究了一种基于ICP算法的计算机辅助外科手术中空间配准技术,通过获取实验模型的空间坐标信息,进行点集配准,找到最优旋转矩阵和最优平移向量。并通过仿真实验给出了模拟的配准结果,仿真试验结果表明,ICP算法配准精度高,适用于计算机辅助外科手术。