40000m~3/h空分设备主换热器的设计及制造

通过对进口 4 0 0 0 0m3 /h空分设备主换热器进行结构分析及对比模拟计算 ,用国产传热翅片进行设计、采用真空钎焊工艺制造的主换热器 ,经并网运行 ,设计指标优于原空分设备 ,为今后成套大型空分设备板翅式换热器国产化设计、制造创造了条件。     

首尔地面公交系统改革的成功经验

随着经济、人口的快速发展,首尔开展了一次针对地面公交系统的成功而深刻的变革。其中包括组建以公众参与为基础的公交系统改革公民委员会,形成了“以线路连接为导向的公交系统”,采用新型公交智能卡、票价新制度以及信息一体化的管理系统。     

一种融合多帧ICP和图优化的算法研究

当前基于迭代最近点拼接的同时定位与建图算法,存在误差积累、无法满足大范围定位精度的缺陷。为此,提出一种融合多帧迭代最近点和图优化的算法。在时域上处理点云拼接问题,将单帧迭代最近点算法推广到多帧进行最近点迭代,提取同一地点在不同时刻的数据特征,形成多个封闭循环,再运用基于最小二乘的图优化方法对点云拼接后的全网数据进行全局优化,消除累计误差,提升整体的定位精度。采用鲁巷和密歇根的数据进行测试,结果表明,该方法在一定程度上减少了匹配误差,平均误差为1.0m,最小误差为0.2m,可以满足大范围同步定位与建图的精度需求。     

A bacterial colony growth algorithm for mobile robot localization

Achieving robot autonomy is a fundamental objective in Mobile Robotics. However in order to realize this goal, a robot must be aware of its location within an environment. Therefore, the localization problem (i.e.,the problem of determining robot pose relative to a map of its environment) must be addressed. This paper proposes a new biology-inspired approach to this problem. It takes advantage of models of species reproduction to provide a suitable framework for maintaining the multi-hypothesis. In addition, various strategies to track robot pose are proposed and investigated through statistical comparisons. The Bacterial Colony Growth Algorithm (BCGA) provides two different levels of modeling: a background level that carries on the multi-hypothesis and a foreground level that identifies the best hypotheses according to an exchangeable strategy. Experiments, carried out on the robot ATRV-Jr manufactured by iRobot, show the effectiveness of the proposed BCGA.

一种Beacon协助的传感器网络定位方法

对无线传感器网络中的定位问题进行了研究,提出一种基于移动beacon协助的定位方法,该方法仅使用一个移动beacon即可完成对整个无线传感器网络的定位.给出两种beacon移动方式来进行定位,经过大量详实的仿真实验,验证了方法的有效性及定位的高精确度,可以将平均误差缩小到30厘米.     

Angle-of-arrival localization based on antenna arrays for wireless sensor networks

Among the large number of contributions concerning the localization techniques for wireless sensor networks (WSNs), there is still no simple, energy and cost efficient solution suitable in outdoor scenarios. In this paper, a technique based on antenna arrays and angle-of-arrival (AoA) measurements is carefully discussed. While the AoA algorithms are rarely considered for WSNs due to the large dimensions of directional antennas, some system configurations are investigated that can be easily incorporated in pocket-size wireless devices.A heuristic weighting function that enables decreasing the location errors is introduced. Also, the detailed performance analysis of the presented system is provided. The localization accuracy is validated through realistic Monte-Carlo simulations that take into account the specificity of propagation conditions in WSNs as well as the radio noise effects. Finally, trade-offs between the accuracy, localization time and the number of anchors in a network are addressed.     

Managing cohort movement of mobile sensors via GPS-free and compass-free node localization

A critical problem in mobile ad hoc wireless sensor networks is each node’s awareness of its position relative to the network. This problem is known as localization. In this paper, we introduce a variant of this problem, directional localization, where each node must be aware of both its position and orientation relative to its neighbors. Directional localization is relevant for applications that require uniform area coverage and coherent movement. Using global positioning systems for localization in large scale sensor networks may be impractical in enclosed spaces, and might not be cost effective. In addition, a set of pre-existing anchors with globally known positions may not always be available. In this context, we propose two distributed algorithms based on directional localization that facilitate the collaborative movement of nodes in a sensor network without the need for global positioning systems, seed nodes or a pre-existing infrastructure such as anchors with known positions. Our first algorithm, GPS-free Directed Localization (GDL) assumes the availability of a simple digital compass on each sensor node. We relax this requirement in our second algorithm termed GPS- and Compass-free Directed Localization (GCDL). Through experimentation, we demonstrate that our algorithms scale well for large numbers of nodes and provide convergent localization over time, despite errors introduced by motion actuators and distance measurements. In addition, we introduce mechanisms to preserve swarm formation during directed sensor network mobility. Our simulations confirm that, in a number of realistic scenarios, our algorithms provide for a mobile sensor network that preserves its formation over time, irrespective of speed and distance traveled. We also present our method to organize the sensor nodes in a polygonal geometric shape of our choice even in noisy environments, and investigate the possible uses of this approach in search-and-rescue type of missions.     

2DVTE: A two-directional videotext extractor for rapid and elaborate design

In video indexing and summarization, videotext is the very compact and accurate information. Most videotext detection and extraction methods only deal with the static videotext on video frames. Few methods can handle motion videotext efficiently since motion videotext is hardly extracted well. In this paper, we propose a two-directional videotext extractor, called 2DVTE. It is developed as an integrated system to detect, localize and extract the scrolling videotexts. First, the detection method is carried out by edge information to classify regions into text and non-text regions. Second, referring to the localization on scrolling videotext, we propose the two-dimensional projection profile method with horizontal and vertical edge map information. Considering the characteristics of Chinese text, the vertical edge map is used to localize the possible text region and horizontal edge map is used to refine the text region. Third, the extraction method consists of dual mode adaptive thresholding and multi-seed filling algorithm. In the dual mode adaptive thresholding, it produces the non-rectangle pattern to divide the background and foreground more precisely. Referring to the multi-seed filling algorithm, it is based on the consideration of the minimum and maximum length and four directions of the stroke while the previous method only considers the minimum length and two directions of the stroke. With this multi-seed exploitation on strokes, precise seeds are obtained to produce more sophisticated videotext. Considering high throughput and the low complexity issue, we can achieve a real-time system on detecting, localizing, and extracting the scrolling videotexts with only one frame usage instead of multi-frame integration in other literatures. According to the experiment results on various video sequences, all of the horizontal and vertical scrolling videotexts can be extracted precisely. We also make comparisons with other methods. In our analysis, the performance of our algorithm is superior to other existing methods in speed and quality.