RoadCompass: following rural roads with vision + ladar using vanishing point tracking

We present a vision- and ladar-based approach to autonomous driving on rural and desert roads that has been tested extensively in a closed-loop system. The vision component uses Gabor wavelet filters for texture analysis to find ruts and tracks from which the road vanishing point can be inferred via Hough-style voting, yielding a direction estimate for steering control. The ladar component projects detected obstacles along the road direction onto the plane of the front of the vehicle and tracks the 1-D obstacle “gap” presumed due to the road to yield a lateral offset estimate. Several image- and state-based tests to detect failure conditions such as off-road poses (i.e., there is no road to follow) and poor lighting due to sun glare or distracting shadows are also explained. The system’s efficacy is demonstrated with analysis of diverse logged data including from the 2005 DARPA Grand Challenge, as well as tests with full control of a vehicle over 15 km of difficult roads at up to 37 km/h with no waypoints.

Test frame updating in CPM testing of Prolog programs

Category Partition Method (CPM) is a general approach to specification-based program testing, where test frame reduction and refinement are two important issues. Test frame reduction is necessary since too many test frames may be produced, and test frame refinement is important since during CPM testing new information about test frame generation may be achieved and considered incrementally. Besides the information provided by testers or users, implementation related knowledge offers alternative information for reducing and refining CPM test frames. This paper explores the idea by proposing a call patterns semantics based test frame updating method for Prolog programs, in which a call patterns analysis is used to collect information about the way in which procedures are used in a program. The updated test frames will be represented as constraints. The effect of our test frame updating is two-fold. On one hand, it removes “uncared” data from the original set of test frames; on the other hand, it refines the test frames to which we should pay more attention. The first effect makes the input domain on which a procedure must be tested a subset of the procedure’s input domain, and the latter makes testers stand more chance to find out the faults that are more likely to show their presence in the use of the program under consideration. Our test frame updating method preserves the effectiveness of CPM testing with respect to the detection of faults we care. The test case generation from the updated set of test frames is also discussed. In order to show the applicability of our method an approximation call patterns semantics is proposed, and the test frame updating on the semantics is illustrated by an example.

城市轨道交通电力监控系统测试的研究及应用

针对电力监控系统具有实时性、可靠性、硬件依赖等特点,为了保证电力监控系统的可靠、安全和稳定性。提出了适用于该系统的测试方法。根据系统的特点制定了相应的测试策略,并进行了测试的总体设计和测试用例的设计。最后通过对测试环境的分析,开发了相应的模拟器。通过模拟器和测试用例实现了测试的自动化。根据测试的过程和结果表明,采用正确的测试设计方法能够有效的发现系统中存在的问题,保证系统的质量。     

基于模型的单视图线性共面四点算法

通过利用三维点的仿射坐标对于刚体变换而言是不变的,并且对计算机坐标系到图像坐标系的坐标变换而言也是不变的这一特性,开发了从一个目标单视图线性复原其三维位姿的新算法,该算法只需4个特征点即可精确实现目标的三维位姿的线性重建。实验表明,该算法快速高效,误差性能良好,抗噪能力较强。     

构件测试元数据及其提取与展现技术

构件具有的封装性给构件测试带来了困难,而目前构件包含的元数据尚不完整。为了充分利用构件元数据进行构件自动化测试,从构件使用者和测试者的角度设计了内涵丰富的构件元数据,并且针对COM构件,通过访问类型库来自动获取构件结构信息元数据,按层次提取并用XML形式化描述类型信息,得到了COM构件辅助测试规格说明。实例表明,该方法能直接操纵COM构件,自动获取元数据,便于测试脚本自动生成。     

虚拟维修模型的校验方法研究

介绍了虚拟雏修与建模仿真的关系,分析了虚拟维修模型校验的特点,研究了虚拟维修模型校验的方法,分别应用置信区间法、假设检验法、Bayes法、TIC法、频谱分析法从静态性能和动态性能两个方面对模型实施校验,从而为虚拟维修模型准确性、实时性提供了较为可靠的验证方法.为虚拟维修模型的校验提供一套系统的理论和方法,有利于虚拟维修模型得到更好应用.     

基于视觉检测技术的浮球姿态测量

给出一种基于图像信息估计被测浮球及其中心轴孔空间姿态的视觉检测方法.若相机焦距已知,且给定空间球与圆特征的形状参数,则可由单视方法估计该球心与圆特征中心位置及其法向方向.基于该算法,可实现对被测球体中心轴端面法线方向的估计,同时还可估计出被测球体及端面中心的位置,从而实现对目标浮球位置及姿态的非接触测量.数值仿真及实际图像处理结果表明了该算法的有效性.     

飞机主系统液压泵转速测试仪的设计与仿真

为给主系统液压泵转速装置的定检提供参考,设计了主系统液压泵转速测试仪。硬件设计包括单片机和液晶显示器四个模块;软件设计包括定时器T0的中断服务、计数器T1的脉冲计数和液晶的驱动三个模块。基于Proteus平台并利用模拟的霍尔脉冲信号对设计进行了仿真,结果表明,测试仪的软硬件设计正确。     

嵌入式系统控制设计思想在材料试验机中的应用

介绍了嵌入式系统控制设计思想的优势,根据嵌入式系统控制设计的特点和技术要求,阐明材料试验机的特点,并以电子蠕变及持久强度试验机为例说明了嵌入式控制系统设计思想的多方面的优势和发展前景。     

基于非结构化控制流的进化测试方法

结构性测试中,进化测试是一种高效的自动生成高质量测试用例的技术.然而,当程序中出现非结构化特征时,在面向节点的测试标准下,其效率极其低下甚至不及随机测试生成方法.在考虑循环体内部出现跳转(goto、retum)语句的情况下,提出了一种适应度计算方法.该方法在结合传统进化测试适应度计算的基础上,充分考虑了循环次数对于进化搜索的影响.实验结果表明,本适应度函数可以很好地引导进化搜索,并以较小的代价生成测试用例.