Virtual 3D city model as a priori information source for vehicle localization system

This paper aims at demonstrating the usefulness of integrating virtual 3D models in vehicle localization systems. Usually, vehicle localization algorithms are based on multi-sensor data fusion. Global Navigation Satellite Systems GNSS, as Global Positioning System GPS, are used to provide measurements of the geographic location. Nevertheless, GNSS solutions suffer from signal attenuation and masking, multipath phenomena and lack of visibility, especially in urban areas. That leads to degradation or even a total loss of the positioning information and then unsatisfactory performances. Dead-reckoning and inertial sensors are then often added to back up GPS in case of inaccurate or unavailable measurements or if high frequency location estimation is required. However, the dead-reckoning localization may drift in the long term due to error accumulation. To back up GPS and compensate the drift of the dead reckoning sensors based localization, two approaches integrating a virtual 3D model are proposed in registered with respect to the scene perceived by an on-board sensor. From the real/virtual scenes matching, the transformation (rotation and translation) between the real sensor and the virtual sensor (whose position and orientation are known) can be computed. These two approaches lead to determine the pose of the real sensor embedded on the vehicle. In the first approach, the considered perception sensor is a camera and in the second approach, it is a laser scanner. The first approach is based on image matching between the virtual image extracted from the 3D city model and the real image acquired by the camera. The two major parts are: 1. Detection and matching of feature points in real and virtual images (three features points are compared: Harris corner detector, SIFT and SURF). 2. Pose computation using POSIT algorithm. The second approach is based on the on–board horizontal laser scanner that provides a set of distances between it and the environment. This set of distances is matched with depth information (virtual laser scan data), provided by the virtual 3D city model. The pose estimation provided by these two approaches can be integrated in data fusion formalism. In this paper the result of the first approach is integrated in IMM UKF data fusion formalism. Experimental results obtained using real data illustrate the feasibility and the performances of the proposed approaches.     

基于“1+3”的复合型人才课程体系的探索与实践——以新能源汽车技术专业为例

当前时期,针对复合型人才教学体系的创新,应当有对性地构建起更加完善的人才培养体系,并做好对于学生的专业性知识技能和专业性职业技能优化培养。结合现阶段的新能源汽车技术专业培养,要针对把握性教学标准和教学要求,做好有效性的更新和完善,本文主要结合基于"1+3"的复合型人才课程体系的探索与实践展开了研究分析。     

Shifting from car to active transport: A systematic review of the effectiveness of interventions

IntroductionA promising way to stimulate physical activity is to promote the choice for active modes of transport (walking and cycling). Over the past years, several interventions and policies have been implemented to stimulate this mode shift. However, information concerning the effectiveness of these interventions and policies is still limited. The aim of the present study was to systematically review the effectiveness of interventions designed to stimulate a shift from car use to cycling or walking and to obtain insight into the intervention tools that have been used to promote and/or implement these interventions.MethodsFive databases were searched and articles published in English, Dutch, German, Danish, Norwegian and Swedish were included. Only studies that focussed on a mode shift from car use towards active transport in a general adult population, which were published in peer reviewed journals and which investigated effectiveness were included. Intervention tools used were categorized by using the model of Hoogerwerf & Herweijer, as either legal, economic (subsidy, reward system, penalty), communicative (written materials, behavioural tools) and physical tools (providing bicycles, providing better bicycle facilities at work, adjustment of the environment).ResultsNineteen studies met our inclusion criteria. Studies included described work-place-based interventions, architectural and urbanistic adjustments, population-wide interventions, and bicycle-renting systems. Nearly all studies (except three) showed positive effects concerning a mode shift. Most of the included studies used more than one intervention tool and the tools used differed between types of interventions. However, information about the statistical significance of these results was often lacking and the study methodologies used were not of high quality.ConclusionNearly all studies showed results in a positive direction. However, the quality of the included studies was mostly low and intervention characteristics were poorly described.     

摩托车油耗试验新国家标准学习与研究

GB 15744—2008《摩托车燃油消耗量限值及测量方法》和GB 16486—2008《轻便摩托车燃油消耗量限值及测量方法》2项新国家标准已经出版发行,今年7月1日正式实施。新国标中试验方法、数据处理、油耗限值与老国标相比变化较大,新标准试验方法和数据处理更科学、细致和严格,同时试验技术难度加大,成本提高。     

龙角镇高边坡稳定性FLAC^3D数值分析

对重庆云阳龙角镇岩质高边坡进行了数值模拟，包括边坡的初始应力场、开挖过程中位移、塑性区及稳定性的分析、计算，为高边坡工程的设计提供了依据和建议。     

舰艇仿真指控系统的设计与实现

舰艇指控系统是海军新型舰艇的作战指挥控制中心，实现仿真指控系统是舰艇新装备尽快形成战斗力的需要。在“新型导弹驱护舰作战指控舱仿真训练系统”项目建设的基础上，提出了舰艇仿真指控系统的设计方案和有关技术难点的实现方法。     

南京长江第三大桥钢塔工程控制技术

南京长江第三大桥索塔为“人”字形曲线钢塔。通过试验验证钢筋混凝土棒剪力键群传递荷载的传力机理及承载能力,并编制了制造及架设工艺技术标准。钢塔制造采用板单元件、块体、箱体三阶段制作工艺;采用组装胎型和施焊方法,控制曲线钢塔线型;开发集激光跟踪测量、计算机控制及液压技术于一体的精密加工找正技术,进行钢塔端面加工;采用计算机预拼代替多节段实际预拼,开发精度管理系统进行累计精度控制。钢塔架设采用自立式定臂塔机吊装,施工过程中对关键部位布设应变计进行实时监测,严格工序检查和现场检测,3个月完成高232 m、最大重160 t的钢塔吊装;形成并采用TMD、TLD相结合的钢塔吊装被动制振方案。2005年9月交工验收检测:安装端面接触率≥65%,最大偏位≤1/6 000。     

C~3Ⅰ系统抗攻击能力评估研究

介绍一种评估C3Ⅰ系统抗攻击能力的方法。首先提出用网络熵的方法进行定量分析,然后用模糊综合评判的方法进行评估,最后结合实例对该方法进行验证,得出评估结论。     

海上巡逻救助飞机若干问题探讨

根据海上巡逻搜救任务对巡逻救助飞机在安全系数、操作性能、搜救能力、适应程度等方面的要求,论证了采用专业飞机执行海上巡逻救助任务的必要性;通过巡逻搜救飞机和船舶在应急反应时间、搜寻范围、救助能力以及成本费用对比,提出了巡逻搜救飞机的适用条件和船机配合执行任务的模式;通过对巡逻搜救飞机和机场自建-自用、建设-托管、租赁-使用三种模式的优缺点和费用的分析,提出了巡逻搜救飞机的机场建设的管理模式。     

三维设计在船体结构中的应用

在三维空间里设计水面舰艇的船体结构是军船结构设计的发展趋势。介绍船体结构三维设计的构思;三维设计方法与传统二维设计方法的比较;目前三维设计可达到的设计深度。详细论述结构三维设计的研究内容和具体实施方法,揭示三维设计中的关键技术,最后提出舰艇船体结构三维设计的发展构想。