Visual Localization in Urban Area Using Orthogonal Building Boundaries and a GIS Database

A framework is presented for robustly estimating the location of a mobile robot in urban areas based on images extracted from a monocular onboard camera, given a 2D map with building outlines with neither 3D geometric information nor appearance data. The proposed method firstly reconstructs a set of vertical planes by sampling and clustering vertical lines from the image with random sample consensus (RANSAC), using the derived 1D homographies to inform the planar model. Then, an optimal autonomous localization algorithm based on the 2D building boundary map is proposed. The physical experiments are carried out to validate the robustness and accuracy of our localization approach.     

液体钽电容器电解质低温性能的研究

研究了液体钽电解电容器电解质的低温性能，并通过正交实验优选出了工作电解质配方。该工作电解质采用复合酸体系，同时加入适量的去极化剂以改善电容器性能。     

A numerical analysis of the elastic-plastic peel test

The adhesive fracture energy, G_c, is determined from two types of elastic-plastic peel tests (i.e. the single-arm 90° and T-peel methods) and a linear-elastic fracture-mechanics (LEFM) test method (i.e. the tapered double-cantilever beam, TDCB method). A rubber-toughened epoxy adhesive, with both aluminium-alloy and steel substrates, has been used in the present work to manufacture the bonded joints. The peel tests are then modelled using numerical methods. The overall approach to modelling the elastic-plastic peel tests is to employ a finite-element analysis (FEA) approach and to model the crack advance through the adhesive layer via a node-release technique, based upon attaining a critical plastic strain in the element immediately ahead of the crack tip. It is shown that this ‘critical plastic strain fracture model (CPSFM)’ results in predicted values of the steady-state peel loads which are in excellent agreement with the experimentally-measured values. Also, the resulting values of G_c, as determined using the FEA CPSFM approach, have been found to be in excellent agreement with values from previously-reported analytical and direct-measurement methods. Further, it has been found that the calculated values of G_c are independent of whether a standard LEFM test or an elastic-plastic peel test method is employed. Therefore, it has been demonstrated that the value of the adhesive fracture energy, G_c, is independent of the geometric parameters studied and the value of G_c is indeed a characteristic of the joint, in this case for cohesive fracture through the adhesive layer. Finally, it is noted that the FEA CPSFM approach promises considerable potential for the analysis of peel tests which involve very extensive plastic deformation of the peeling arm and for analysing, and predicting, the performance of more complex adhesively-bonded geometries which involve extensive plastic deformation of the substrates.     

GARTEUR飞机模型的有限元分析及模态参数辨识

对GARTEUR飞机模型利用MSC Nastran软件进行有限元分析,得出模型的固有频率与振型等参数. 在实验数据的基础上,基于频率响应函数的有理分式模型,采用Forsythe正交多项式改善求解性态,自己编写模态参数辨识软件进一步分析该模型,比较两软件计算出来的结果来验证自编软件的有效性、实用性.     

应用于OFDM系统中的高速FFT处理器设计

针对无线城域网中工作在2GHz~11GHz频带的IEEE802.16a标准,在实现其OFDM系统时提出一种高速而且经济的FFT处理器设计方案。设计中采用了Radix-4的频率抽取算法和并行的蝶型计算单元结构,而且将旋转因子预先存储在ROM中以提高处理器运行的速度。设计方案采用了单个蝶型运算单元以达到控制FFT处理器规模的目的。数据的输入与输出都共用一个存储器,这进一步节约了硬件资源损耗。     

对软件无线电中调制模式识别的改进

在非合作通信体制下，通信信号的调制样式识别已经越来越占据重要作用。本文主要从理论上讨论了软件无线电中基带数字信号处理中的一些软件设计，包括信号调制模式的识别、正交解调及其选择解调模式时的控制过程，并着重讨论了在低信噪比情况下数字通信信号的调制模式的识别问题。所有这些过程部是基于可编程芯片用软件实现的。     

温压用铁粉松装密度的优化粒级匹配试验研究

为提高温压用铁粉的流动性和松装密度，对典型粉末的粒度分布、流动性和松装密度进行了试验研究。结果表明，随温度的升高单一粒径粉体的流动性和松装密度均变差，而多粒级匹配粉末在120℃内基本保持不变，且粉体粒度分布对粉末的流动性和松装密度影响较大。通过正交试验优化了粉末的粒级匹配，获得了高松装密度的H1粉末，其流动性与国外粉W1相当，而松装密度比国外粉W1和国内粉N1分别提高了5．03％和8．99％。     

Assessment of Soil Stiffness Properties by Dynamic Tests on Bridges

This paper presents a method to determine soil stiffness properties using measured structural modes of bridges. Normally, the identified mode shapes have to be smoothed. The mode shapes are approximated using functions describing the transverse vibration of distributed–parameter systems. Artificial coefficients are introduced into this solution in order to sum up the error contributions of displacements and its derivatives up to second order. Then, a pier-soil model based on normalized mechanical impedance functions is used. Applying this method along with more than one vertical mode shape leads to acceptable and more accurate results. The amplitudes of pier bottom vibrations are chosen as the suitable weights for the averaging procedure. For the Warth Bridge situated near Vienna, shear wave velocities and shear moduli at the pier foundations have been estimated. The results correspond quite well to the geological investigation.     

Diffusive Behavior of Bedform-Induced Hyporheic Exchange in Rivers

Solute transport in natural streams is a complex phenomenon that involves both in-stream dispersion and mass exchange with the porous zones surrounding the water body. Due to the complex nature of the riverine systems several models may be used to simulate and analyze the transport of solutes with different degrees of complexity. The bedform-induced hyporheic transport is a stream-subsurface exchange mechanism that can be reproduced in controlled systems, such as laboratory flumes. Application of a simple Fickian diffusion model to laboratory data obtained with passive solutes and stationary bedforms proves successful within a range of durations of the contamination process. A dimensionless form of the diffusion coefficient, scaled with dynamic, physical, and geometric properties of the system is derived by comparison with another physically based model. A prediction of the dimensionless diffusion coefficient is obtained as a function of the timescale of the exchange process and is validated with a few sets of results from laboratory tests.     

Interface Characteristics and Laboratory Constructability Tests of Novel Fiber-Reinforced Polymer/Concrete Piles

Conventional pile materials such as steel, concrete, and timber are prone to deterioration for many reasons. Fiber-reinforced polymer (FRP) concrete composites represent an alternative construction material for deep foundations that can eliminate many of the performance disadvantages of traditional piling materials. However, FRP composites present several difficulties related to constructability, and the lack of design tools for their implementation as a foundation element. This paper describes the results of an experimental study on frictional FRP/dense sand interface characteristics and the constructability of FRP–concrete composite piles. An innovative toe driving technique is developed to install the empty FRP shells in the soil and self-consolidating concrete is subsequently cast in them. The experimental program involves interface shear tests on small FRP samples and uplift load tests on large-scale model piles. Two different FRP pile materials with different roughness and a reference steel pile are examined. Static uplift load tests are conducted on different piles installed in soil samples subjected to different confining pressures in the pressure chamber. The results showed that the interface friction for FRP materials compared favorably with conventional steel material. It was shown that toe driving is suitable for installation of FRP piles in dense soils.