基于稀疏卷积神经网络的车载激光雷达点云语义分割方法

对车载激光雷达扫描得到的点云进行语义分割是保证行车安全、加强驾驶员对周边环境理解的重要手段之一。因为内存限制和大规模点云场景更加稀疏的特点,将传统神经网络的方法直接沿用到车载激光雷达扫描得到的点云场景中的效果不佳。本文中针对大规模点云的稀疏性,利用稀疏卷积神经网络对体素化点云进行特征提取。考虑到逐点处理分支抑制点云数据的密度不一致性导致的信息损失,另外设计了3D-CA和3D-SA模块,使稀疏卷积神经网络更好地提取特征。实验结果表明,与传统卷积神经网络的方法和将点云投影到平面的方法相比,使用稀疏卷积神经网络对大规模点云进行语义分割,可将平均交并比提升4.1%和3.4%,证明了该方法的有效性。     

Characteristics of gas explosion loads and structural responses of blast wall on FPSO

Gas explosions generally cause catastrophic damage to surrounding structures and humans. The application of blast wall can effectively prevent the damage. The uniform explosion load is widely used in assessing structural response, but it cannot represent the non-uniform characteristic of actual explosion pressures. The main contents of this paper are to study the effect of gas cloud characteristics on explosion pressure distribution, and analyze the effect of non-uniform loads on structural responses. The results reveal that the explosion loads have strongly spatial inhomogeneous when explosion scenarios have large sized cloud or long combustion distance. By establishing the overpressure-probability exceedance curves for uniform loading method and distributed loading method, based on the given accident frequency several design loads are determined. The structural responses of blast wall under design loads are assessed based on explosion evaluation acceptance criteria. It can be seen that the use of uniform loading method underestimates the structural response and misjudges the deformation pattern compared to actual explosion loads. Global and local explosion pressures should be considered simultaneously in the design specification. The overpressure-probability exceedance curves for non-uniform explosion pressures are recommended to establish the design load for blast wall.     

基于多站位点云数据的大面积甲板平面度计算方法

大面积、长距离精度测量和数据处理成为舰船建造精度控制技术的发展方向。基于多站位下全站扫描仪测量甲板平面度获得的点云数据，提出一种平面度高效计算方法。利用全站扫描仪多站位下获得的点云数据及公共点坐标（标靶）进行解算，求出坐标系转换参数，完成坐标系统一；利用最小二乘法完成平面拟合，旋转拟合面求出平面度结果。采用MATLAB仿真验证该计算方法的准确性和有效性，表明其适用于大面积甲板平面度测量。     

多线索融合的结构化道路检测算法研究

为实现结构化道路的检测，提出了一种用于道路检测的激光雷达和视觉融合法，通过提取激光雷达在道路边缘的三维点云信息，将其投影到视觉图像上，形成激光点云与图像的映射关系，生成激光雷达似然图。通过改进提取道路的颜色、纹理、水平线等特征的方法，生成相对应的视觉似然图。在贝叶斯框架下将激光雷达和视觉生成的似然图进行融合。在KITTI数据集上测试可知，精度达到94%，准确率达到86%，表明该道路检测法具有较好的道路检测果。     

全站式扫描仪在大面积甲板平整度变形监测中的应用

通过开展实船测试,结合实际运用与传统测量方法对比,全站式扫描仪在测量效率和人工投入方面均占优势。该设备能够适应甲板建造工况,有效测量作业半径大、测量精度高、效率快、劳动成本投入低,数据呈现形式直观,较大程度满足对大面积甲板平整度变形监测手段的有关需求。因此,该设备可推广应用到同类型区域建造过程中的平整度变形监测。     

基于熵权-云模型的车规级激光雷达企业正负创新网络评价研究

高新技术企业作为知识密集型企业，是我国创新驱动发展的重要抓手，分析、评价高新技术企业创新网络的竞争力水平，对我国产业发展方式转型升级具有重要意义。在综合考虑创新网络节点对中心企业的影响因素基础上，构建基于熵权－云模型的正负创新网络评价方法，有效地解决了以往创新网络评价中的模糊性与随机性问题。通过Matlab编程，运用云模型计算评价指标相应的隶属度，对企业正负创新网络进行划分，对综合创新网络进行评价。以车规级激光雷达企业为例，验证方法的科学性和可行性，并为企业提升创新能力提供了决策参考。     

Experimental study of controlling tip clearance flow in a pump-jet propulsor北大核心CSCD

[Objective]This paper aims to suppress the adverse effects of tip clearance flow on the hydrodynamic performance and unsteady excitation force of a pump-jet propulsor. [Method]As for the pre-swirl stator pump-jet propulsor, an annular flexible seal structure closely matched with a rotor tip ring is used to study the validity of suppressing the clearance flow on the rotor tip. The rotor thrust and torque of the propulsor are measured by keeping the shroud approximately rigidly fixed, enabling the rotor open water efficiency to be obtained. In addition, the point of cavitation inception at each design condition is observed and recorded carefully with the help of a high-power stroboscope, and the cavitation inception curves of the propulsor with/without tip clearance are obtained through calculation. Finally, tests of shaft vibration acceleration on the pump-jet propulsor with/without tip clearance are conducted under conditions of cavitation and non-cavitation in order to evaluate the effects of diminishing tip clearance. [Results]The results show that the thrust and torque of the rotor of the pump-jet propulsor with a flexible seal structure are significantly increased, which in turn renders open water efficiency significantly increased at low and medium advance coefficients, unchanged near the design point and slightly decreased at the high advance coefficient. Moreover, the cavitation performance of the pump-jet propulsor without clearance is better at a wide range of advance coefficient, 0.85 相似文献