Mobile Robot Hierarchical Simultaneous Localization and Mapping Using Monocular Vision

A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.     

基于类锚虚拟线圈的多流向车流量检测算法

针对城市道路车流量检测中车辆误分类问题,提出一种基于类锚虚拟线圈的多流向车流量检测算法.首先,采集车辆图像样本并随机裁剪以构建小客车、公交车和摩托车的均衡数据集,通过DBSCAN(Density-Based Spatial Clustering of Applications with Noise)算法聚类获得3类车型...     

基于聚类学习的超分辨率方法

在高分辨率空间对图像局部结构进行k均值聚类,估计最小二乘意义下的插值滤波器参数,然后根据估计参数来增强图像的分辨率。同时借鉴区域连接增长的思想解决分类歧义问题。计算结果显示,该方法优于传统的基于学习的方法,图像边缘清晰、细节恢复多。     

动态无功补偿装置在牵引变电所的应用

对于运量较小、列车对数较少的单线电气化铁道,在无功"返送正计"计量方式下,采用固定并联电容补偿往往难以满足变电所功率因数指标要求,甚至出现负面影响.动态无功补偿装置能够根据供电臂牵引负荷变化动态提供系统所需的无功补偿容量.牵引变电所动态无功补偿的设计内容主要包含2个方面:SVC最大无功补偿量的确定和滤波器支路的设计.给出了SVC最大无功补偿量的计算公式.从工程设计角度,对一些著名电力公司的无功总容量分配算法进行了讨论,根据牵引负荷中各次谐波含量的特点,推荐采用BBC公司的无功补偿容量分配算法.     

宁河县芦台桥北污水处理厂设计

宁河县芦台桥北污水处理厂近期规模1.2万m3/d,采用改良A2/O+纤维转盘滤池工艺。进水以生活污水为主,CODcr350 mg/L,BOD5150 mg/L,SS200mg/L,NH3-N30mg/L,TN40mg/L,TP4mg/L。设计出水达到《城镇污水处理厂污染物排放标准》(GB18918—2002)一级A标准。该文介绍了污水处理厂设计概况、设计思路和主要工艺的对比方案。     

小口径舰炮拦截机动目标的火控算法研究

为了解决小口径反导舰炮不易于跟踪瞄准高速机动目标的问题,针对做比例导引运动的反舰导弹,将比例导引规律引入状态方程,建立线性时变模型,实现对系统状态的Kalman滤波;在简易射表拟和函数基础上,提出了基于比例导引运动的解相遇模型,为控制火炮射击提供了算法基础。     

汽车空调对可吸入颗粒物的过滤机理和效果分析

本文旨在分析空调系统对可吸入颗粒物的阻隔机理、过滤机理和过滤效果。介绍了空调系统CLEAN AIR功能将车内空气质量控制在最优状态的工作机制。在不同风速下测定了单效空调滤清器和双效空调滤清器在过滤前后空气中可吸入颗粒物的计数浓度,得到了不同条件下各空调滤清器对可吸入颗粒物的过滤效率。研究发现,单效空调滤清器的过滤效率较低,不同条件下的过滤效率均不高于50%。双效空调滤清器对可吸入颗粒物的过滤效果更好,过滤效率达到80%以上,过滤效率随着颗粒物粒径的增大而增大,随着风速的增大而减小。双效过滤器的过滤阻力越大,其对可吸入颗粒物的过滤效率越高,而采用静电驻极技术可以在不牺牲风量的情况下显著提高可吸入颗粒物的过滤效率。另外,在不同的环境下,使用过相同里程和时间的空调过滤器的过滤效果会有很大差异。因此,依据过滤器的堵塞程度选择合理的更换周期,对维持良好的过滤效果具有重要的意义。     

新建地铁下穿既有城铁地铁同台换乘站改技术研究

新建成都地铁6号线下穿既有地铁2号线与成灌城际铁路同台换乘的犀浦站,为实现三线换乘,需要对犀浦站进行改造。本文分析了该站改工程的重难点,优化了站改方案,阐述了既有站房立柱的桩基托换技术;且在桩基托换和基坑开挖过程中,监测了周边地下水位、托换站房立柱及城铁桥墩的沉降。实践表明:通过优化换乘通道基坑开挖深度,可以做到城铁桥墩周边不降水,且桩基承载力满足要求;采用叠合梁被动托换技术对站房立柱进行托换,解决了新建换乘通道与既有站房立柱在空间上的冲突;这可为类似工程设计、施工提供参考。     

Real-time estimation of lane-based queue lengths at isolated signalized junctions

In this study, we develop a real-time estimation approach for lane-based queue lengths. Our aim is to determine the numbers of queued vehicles in each lane, based on detector information at isolated signalized junctions. The challenges involved in this task are to identify whether there is a residual queue at the start time of each cycle and to determine the proportions of lane-to-lane traffic volumes in each lane. Discriminant models are developed based on time occupancy rates and impulse memories, as calculated by the detector and signal information from a set of upstream and downstream detectors. To determine the proportions of total traffic volume in each lane, the downstream arrivals for each cycle are estimated by using the Kalman filter, which is based on upstream arrivals and downstream discharges collected during the previous cycle. Both the computer simulations and the case study of real-world traffic show that the proposed method is robust and accurate for the estimation of lane-based queue lengths in real time under a wide range of traffic conditions. Calibrated discriminant models play a significant role in determining whether there are residual queued vehicles in each lane at the start time of each cycle. In addition, downstream arrivals estimated by the Kalman filter enhance the accuracy of the estimates by minimizing any error terms caused by lane-changing behavior.     

柴油机微粒捕集器逆向喷气再生试验研究

针对当前的柴油机微粒捕集器设计了一种"扫气式"逆向喷气再生装置。给出了反吹效率的定义,对再生效果进行了简要评价。以CY4102BQ柴油机为试验用发动机,利用台架试验对再生过程中的喷气压力、喷气时间和扫气时间对再生的影响进行了研究。