实现曲面刻字的调和方法

曲面刻字的首要问题在于如何选择刀位点，使得文字笔划角度在曲面上与平面时相同。本文的解决方法是将文字图像调和映射到曲面上确定刀位点，由调和映射的保角性质保证角度不变。描述了平面到曲面调和映射的求解过程，并以球面印字为例，进行了数值试验。     

Observability theorems for some linear hyperbolic systems

In this paper the observability of systems of first-order hyperbolic partial differential equations is investigated. Both systems with boundary measurements and systems with distributed measurements are considered. In the case of boundary measurements a sufficient condition is found for observability. This condition is shown also to be necessary for systems defined on a one-dimensional space domain, as well as in other special cases. In the case of linear distributed measurements, a necessary and sufficient condition for observability is derived. The theorems are applicable for example to linearized hydrodynamical flow equations and to industrial flow system equations.     

前景广阔的高渗透层压裂

高渗透层压裂技术是水力压裂的一个重要突破，它包括从中渗透率到高渗透率储层的压裂技术。压裂机理是要求压裂后产生的地层裂缝建立短而宽的高导流裂缝，有效地增大泄油半径。文中介绍了高渗透层压裂的选井原则、技术要求和措施。高渗透层压裂前必须进行测试压裂，其关键技术是作业中应用了端部脱砂技术，应用实例论证了该技术的增产效果。     

Ruthenium Nanoparticles on Cobalt‐Doped 1T′ Phase MoS2 Nanosheets for Overall Water Splitting

2D MoS₂ nanostructures have recently attracted considerable attention because of their outstanding electrocatalytic properties. The synthesis of unique Co–Ru–MoS₂ hybrid nanosheets with excellent catalytic activity toward overall water splitting in alkaline solution is reported. 1T′ phase MoS₂ nanosheets are doped homogeneously with Co atoms and decorated with Ru nanoparticles. The catalytic performance of hydrogen evolution reaction (HER) and oxygen evolution reaction (OER) is characterized by low overpotentials of 52 and 308 mV at 10 mA cm^?2 and Tafel slopes of 55 and 50 mV decade^?1 in 1.0 m KOH, respectively. Analysis of X‐ray photoelectron and absorption spectra of the catalysts show that the MoS₂ well retained its metallic 1T′ phase, which guarantees good electrical conductivity during the reaction. The Gibbs free energy calculation for the reaction pathway in alkaline electrolyte confirms that the Ru nanoparticles on the Co‐doped MoS₂ greatly enhance the HER activity. Water adsorption and dissociation take place favorably on the Ru, and the doped Co further catalyzes HER by making the reaction intermediates more favorable. The high OER performance is attributed to the catalytically active RuO₂ nanoparticles that are produced via oxidation of Ru nanoparticles.     

连铸连轧非调质钢的强度计算及其预报

非调质钢的强度为α-Fe基体细化强度与固溶强化、奥氏体析出碳化物弥散强化、界面强化和过饱和铁素体析出碳化物的析出强化的强度增量之和．以细晶铁素体强度为基础,利用相最强键上的共用电子数nA及相界面电子密度差△p计算了连铸连轧非调质钢固溶强化、界面强化、弥散强化和析出强化的强度增量．给出了一组计算非调质钢连铸连轧终轧强度的公式．可根据化学成分和工艺规定的终轧晶粒尺寸计算终轧强度,或根据技术要求的强度给出相应的轧制晶粒尺寸与化学成分间的最佳组合．实现了化学成分——轧制晶粒尺寸——终轧强度的计算机预报．     

基于DoG检测图像特征点的快速二进制描述子

针对SIFT描述子实时性差和传统二进制描述子对尺度、旋转和视角变化鲁棒性差的问题,本文通过优化采样模式和添加灰度差分不变量比较测试进行改进,提出了一种鲁棒性更高的二进制描述子。首先,设计了一种尺度关联、编号标记的采样模式;然后,旋转采样模式中各采样点到特定位置,确保描述子尺度、旋转不变性;接着,分析了采样点点对模式对描述子的影响,选择使用机器学习训练后的128对采样点对;最后,选择灰度值比较测试及梯度绝对值和比较测试构建二进制描述子。实验中采用DoG检测图像关键点,结果表明:本文提出的描述子在描述子构建和描述子匹配上比SIFT描述子分别快84%和67%;在有视角变化的图像匹配上,准确率比传统的二进制描述子高3%~5%,召回率平均要高30%以上。本文提出的特征点描述方法适用于时间要求高的图像匹配领域。     

单线激光雷达与GNSS/INS的空间重构

为了解决多线激光雷达在三维空间重构任务中数据吞吐量过大导致运算负担过重以及扫描俯仰范围有限的问题,本文提出了一种利用单线激光雷达与惯性测量单元GNSS/INS相互结合的多站点扫描空间重构方案及相应解算方法。首先使用单线激光雷达扫描待测空间获取三维尺度信息,然后将点云数据与对应的任意方向的航向角相结合,再利用四元数姿态解算获取各站点扫描的点云图像。为提高计算效率,使用迭代最近点算法实现站点间点云配准时,对待匹配点云数据筛选并更新。实验结果表明在保留点云数字特征前提下,单线激光雷达与GNSS/INS系统能够提高76%的运算速率。本文提出的硬件方案和解算方法不但能够实现较高的配准精度,与多线激光雷达方案相比工程成本也得到显著下降。     

基于差分进化算法的手眼标定方法

针对眼在手机器人视觉系统的手眼标定问题,提出了一种基于差分进化算法的手眼标定方法。首先建立了眼在手机器人视觉系统手眼标定的数学模型,通过李群李代数理论,将手眼标定问题转化为误差函数的优化问题,同时保证了优化问题的最优解落在特殊欧氏群ＳＥ（３）上。通过差分进化算法对优化问题进行求解,避免了求解过程中的局部最优问题。最后在实物平台上进行了手眼标定实验,实验结果验证了算法的可行性和有效性。     

Ladars for construction assessment and update

Work at the National Institute of Standards and Technology (NIST) on laser radar imaging of a construction site is described. The objective of the NIST research is to make measurements required in a construction project quicker and cheaper than current practice and to do so without impacting existing operations. This can be done by developing techniques for real-time assessment and documentation in terms of 3-D as-built models of the construction process. Once developed, this technology may be used for other applications such as condition assessment of a hazardous environment where human intervention would be impossible.