Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

强度型光纤传感器的信号检测系统

本文阐述了一种可提高强度型光纤传感器测量精度的检测系统。该系统利用同一检测电路交替检测信号、参考通道的输出信号，并将信号、参考两通道的检测结果相除，从而消除了因发光二极管光源波动及检测电路系统不稳定所带来的误差。采用同步相关技术抑制了噪声，提高了输出信噪比。实验证明，当时间常数ＲＣ为０．０５Ｓ时，采用该检测系统可获得优于千分之一的零点稳定性和优于２×１０３的输出信噪比。     

Design of a robust controller for a supersonic aircraft using H∞ approach

In this paper an H_∞ optimal, robust flight control system design for a supersonic aircraft has been described. Separate controllers are designed for longitudinal and lateral motions. A general two-degrees-of-freedom controller is proposed, where feedback control is designed for robust performance augmentation, while a series compensator is used to ensure that requisite handling qualities. Three alternative methods to achieve performance robustness have been discussed. The results obtained are very encouraging. It is hoped that this will equip the flight control engineers with an alternative to the conventional methods.     

THERMAL RADIATION EFFECTS ON THE COMBUSTION BEHAVIOR OF POROUS CHAR PARTICLES

The effects of thermal radiation on the pseudosteady state and transient behavior of porous char particles exposed to an oxygen containing environment are investigated. The numerical simulation results show that particles that do not interchange radiant energy with their environment are characterized by wider ambient temperature regions where multiple steady states exist, higher combustion rates, and lower burning times     

同步辐射x射线光刻制作深亚微米T形栅

x射线光刻非常适合用于深亚微米T形栅的制作,这是因为它的高分辨率、大的曝光视场和高的生产效率足以满足MMIC制造工艺的要求。本文中我们首先对我们的x射线掩模制造工艺进行介绍,然后论述了一种用于制造深亚微米T形栅的两层胶工艺,介绍了所取得的一些研究结果,最后对国内的深亚微米光刻现状进行了简要分析。     

Lyapunov‐stable discrete‐time model reference adaptive control

Discrete‐time model reference adaptive control (MRAC) is considered with both least squares and projection algorithm parameter identification. For both cases complete Lyapunov proofs are given for stability and convergence. The results extend the approach of Johansson (Int. J. Control 1989; 50 (3):859–869) to include Lyapunov stability for MRAC when the normalized projection algorithm is used for parameter identification. Copyright © 2005 John Wiley & Sons, Ltd.     

硅片和硅器件工艺中的背面损伤吸除技术

本文介绍了硅片背面的三种主要损伤吸除技术：机械损伤、激光辐照和离子注入技术。对这三种吸除技术的机理、工艺条件、应用情况和近来进展，作了详细的评述。     

Solar radiation climate in Malawi

Recently, Diabaté et al. [Diabaté, L., Blanc, Ph., Wald, L., 2004. Solar climate in Africa. Solar Energy 76, 733–744] created a map of solar radiation climate in Africa using clearness index for 62 sites. They established a solar climate class II located in Malawi and Madagascar. However, their analysis did not include any irradiation data from a site in Malawi. In this study, the solar radiation climate of Malawi has been studied using long-term global radiation data from a local site. The mean monthly (K_tm) and seasonal (K_ts) daily clearness indices for the site were computed. It is observed that K_tm has two maxima in a year (K_tm = 0.58 in May and K_tm = 0.64 in September), in close conformity with findings of Diabaté et al. (2004). Other results are presented and discussed.     

Non‐reflecting artificial boundaries for transient scalar wave propagation in a two‐dimensional infinite homogeneous layer

This paper presents an exact non‐reflecting boundary condition for dealing with transient scalar wave propagation problems in a two‐dimensional infinite homogeneous layer. In order to model the complicated geometry and material properties in the near field, two vertical artificial boundaries are considered in the infinite layer so as to truncate the infinite domain into a finite domain. This treatment requires the appropriate boundary conditions, which are often referred to as the artificial boundary conditions, to be applied on the truncated boundaries. Since the infinite extension direction is different for these two truncated vertical boundaries, namely one extends toward x →∞ and another extends toward x→‐ ∞, the non‐reflecting boundary condition needs to be derived on these two boundaries. Applying the variable separation method to the wave equation results in a reduction in spatial variables by one. The reduced wave equation, which is a time‐dependent partial differential equation with only one spatial variable, can be further changed into a linear first‐order ordinary differential equation by using both the operator splitting method and the modal radiation function concept simultaneously. As a result, the non‐reflecting artificial boundary condition can be obtained by solving the ordinary differential equation whose stability is ensured. Some numerical examples have demonstrated that the non‐reflecting boundary condition is of high accuracy in dealing with scalar wave propagation problems in infinite and semi‐infinite media. Copyright © 2003 John Wiley & Sons, Ltd.     

Influence of a Jump in the Power of Laser Radiation on Its Measurement

Simulation and investigation of the effect of an isolated jump on realization of the unit of power of laser radiation and dissemination of the size of the unit are considered. Results are obtained by means of a newly developed algorithm that characterizes the behavior of the mean value of a signal and the standard deviation of a system as functions of the parameters of a jump in the power of laser radiation and the length and amplitude of the jump. If information concerning the time when a jump occurs is available, the proposed algorithm makes it possible to take into account how a jump affects the ultimate result of a measurement.