Constrained submap algorithm for simultaneous localization and mapping

When solving the problem of simultaneous localization and mapping (SLAM), a standard extended Kalman filter (EKF) is subject to linearization errors and causes optimistic estimation. This paper proposes a submap algorithm, which builds a weighted least squares (WLS) constraint between two adjacent submaps according to the different estimations of the common features and the relationship between the vehicle poses in the corresponding submaps. By establishing the constraint equation after loop closing, re-linearization is implemented and each submap’s reference frame tends to its equilibrium position quickly. Experimental results demonstrate that the algorithm could get a globally consistent map and linearization errors are limited in local regions.     

一体化网络的名字解析映射系统

在理解域名解析系统（DNS）的基础上,阐明了在当前网络应用中DNS系统所存在的一些缺陷,如不支持数据的移动和复制,负载不均衡等．本文设计了全新的名字解析映射系统来克服这些缺陷,并把它应用在一体化网络中．该名字解析映射系统采用三层重叠网络结构：中继层、实现层和维护层,中继层控制用户接入,实现层和维护层协同工作,实现名字的解析映射．理论分析和试验结果表明,该设计克服了域名解析系统存在的缺陷,将在一体化网络的设计中起到重要作用．     

基于J2ME的无线蓝牙技术在工程测绘上的应用

针对蓝牙技术是当前研究开发的热点技术,介绍了J2ME对蓝牙协议栈的支持和蓝牙API接口,详细给出了基于J2ME的无线蓝牙应用系统架构及实现的具体技术研究,提出了在工程测绘上应用的具体软件实现方案并在应用中进行验证。     

对象/关系映射机制研究与实现

针对持久对象与关系数据库的存储矛盾,深入研究对象/关系映射的几种方法和相关机制,设计并初步实现了一个对象/关系映射框架.该框架具有对象/关系映射功能,使应用程序开发人员能够以统一的、面向对象的方法进行对象数据存取,而不必关心底层关系数据库的实现,从而极大地提高了开发效率.     

CRC通用校验测试工具的设计与实现

CRC(循环冗余校验码)编码是数字信号传输中用得较普遍的一种差错控制编码.它不但可以用于纠正独立的随机错误,也可以用于纠正突发错误.目前已有的CRC校验算法程序很多,但往往只以一种生成多项式为例进行编写,缺少完整、通用性好、用户界面良好的应用软件.介绍了一种CRC通用校验测试工具的设计与实现过程,本测试工具将各种类型的CRC校验算法进行汇总,类型全、计算精度高、速度快、用户界面好、易操作.     

Study and Development of the Biped Ice Skating Robot with Passive Wheels

A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.     

A risk assessment model with systematical uncertainty treatment for container shipping operations

ABSTRACT

The substantial adverse effects of risk factors on container shipping and logistics promoted a deep integration of risk analysis into the decision-making process. This paper aims to develop a well-grounded quantitative model to operational risk in a container shipping context. Considering uncertainty as a primary component of the risk concept, methods were employed in an inter-complementary manner to enable not only a sense of foreseeability but also a deeper look into the weaknesses of the knowledge base. The intersubjectivity of the input extraction process was supported by the Evidential Reasoning (ER) algorithm. Risks are then assessed based on a Fuzzy Rules Bayesian Network (FRBN) model with a 2-level parameter structure before meaningful interpretations can be derived through a new risk mapping approach. Besides an illustrative case study, the model was tested by sensitivity analysis and an examination of multiple validity claims.     

Urban road traffic noise spatiotemporal distribution mapping using multisource data

Many residents are disturbed by road traffic noise which needs to be controlled and managed. The noise map is a helpful and important tool for noise management and acoustical planning in urban areas. However, the static noise map is not sufficient for evaluating noise annoyance at different temporal periods. It is necessary to develop the dynamic noise map or the noise spatiotemporal distribution. In this study, a method about urban road traffic noise spatiotemporal distribution mapping is proposed to obtain the representative road traffic noise maps of different periods. This method relies on the proposed noise spatiotemporal distribution model with two time-dependent variables - traffic density and traffic speed, and the spatiotemporal characteristics derived from multisource data. There are three steps in the method. First, the urban road traffic noise spatiotemporal distribution model is derived from the law of sound propagation. Then, the temporal characteristics are extracted from traffic flow detecting data and E-map road segment speed data by the outlier detection analysis. Finally, the noise distributions corresponding to different periods are calculated by an efficient algorithm which can save 90% above of the computing time. Moreover, a validation experiment was conducted to evaluate the accuracy of the proposed method. There is only 2.26-dB[A] mean absolute error that is within an acceptable range, which shows that the method is effective.     

浅谈工程测量技术的进步与发展趋势

主要介绍了近20年来我国工程测量技术取得的进步与成就;面向21世纪工程测量仪器的若干发展趋势。阐述了工程测量在国民经济和国防建设中所处的重要地位。     

基于Vega的虚拟海洋场景视景仿真

虚拟海洋场景视景仿真是虚拟现实技术在船舶行业中的一个具体应用。以地理模型、建筑模型和植物模型为例研究了虚拟海洋场景的构建、优化方法，基于Vega的海洋模块介绍了虚拟海洋、海洋特效的形成原理和方法。