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.     

硅中硼离子注入校准样品的研制

本文主要介绍了硅中硼离子注入校准样品的制备与研究。分别用三台SIMS仪器对样品进行了深度剖析与比对,并对用作校准目的的样品主要参数进行了定值。     

Improvement of the methods of reproducing and transferring the dimensions of the unit of sound pressure in an aqueous medium under free-field conditions

Methods of reducing the predominant components of uncertainty in standards of sound pressure in an aqueous medium in a free field, and also methods of increasing the accuracy when the dimensions of the unit of a physical quantity are transferred by the means employed in natural measurements are reviewed. __________ Translated from Izmeritel’naya Tekhnika, No. 8, pp. 59–63, August, 2007.     

Application of a Three-dimensional Wind Driven Circulation Model to Assess the Locations of New Drinking Water Intakes in Lake Ontario

A 3D transport model is used to perform a comparative analysis of several potential drinking water intakes located along the northwest shore of Lake Ontario between Toronto and Oshawa. The model is specifically used to assess each intake under both long- and short-term transport of a potential pollutant release from the Pickering Nuclear Generating Station and potential and actual pollutant releases from local land sources respectively. A model based on a 500 m grid resolution is calibrated using data collected in the aftermath of the 1992 tritium spill at the Pickering Nuclear Generation Station and subsequently used to simulate long-term transport. A model based on a 100 m grid resolution is verified using drogue studies and used to simulate short-term transport events. Both models are used to assess pollutant levels at each of nine potential intake locations under different wind scenarios and pollutant releases. Field data for the study included water quality and flow measurements from local sewers and rivers, and estimates of pollutant levels from the local waste water treatment plants. This paper describes the model setup for both the long-term and short-term transport models, calibration using field data, long-term transport modeling, short-term transport modeling, and the comprehensive analysis approach used to evaluate the nine potential intake locations proposed. Results indicated that four intakes in particular outperformed other intake locations by maintaining bottom pollutant levels within governmental standards and warning times that exceeded 20 hours.     

Determination of friction coefficient encountered in large deformation processes

A new technique, namely, the open-die backward extrusion test technique, was developed as an alternative method to the ring compression test in order to quantitatively evaluate the coefficient of friction, μ, at the die/workpiece interface. This technique relates the percentage deformation in height of the specimen to the percentage increase in extruded height of the specimen. In this study, the open-die backward extrusion tests (ODBET) were simulated for different aspect ratios, (H/D), and different die geometries, (d/D), by utilizing an elastic-plastic finite element code (ANSYS) in order to obtain the friction calibration curves (FCCs). The results indicated that the extruded height is related to the friction conditions at the die/workpiece interface. Therefore, ODBET can be used to generate FCCs to determine the coefficient of friction at the die/workpiece interface in large deformation processes.     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

基于图像灰度统计分布的高炉温度场动态定标算法

通过高炉红外图像建立料面温度场是判断高炉煤气流分布形态的一种有效方法,温度定标是建立温度场的基本问题之一.在高炉复杂、恶劣的环境下,本文以高炉十字测温为基础,通过热电偶温度数据和图像对应区域的灰度分布统计,动态地建立温度定标关系.算法具有较好的自适应性,实际生产运行表明,温度定标关系较好地适应了高炉炉况的不确定性,准确地反映了高炉温度场的变化情况.