基于变分贝叶斯优化的近邻采样 PF-SLAM 算法

针对移动机器人同时定位与地图构建（SLAM）中观测噪声随时间变化及粒子滤波(PF)中粒子多样性易丧失问题,提出基于变分贝叶斯优化的近邻采样PF-SLAM算法。采用高斯混合模型对时变的观测噪声建模,使用变分贝叶斯方法,迭代估算出混合模型中的未知参数;同时根据粒子权重将粒子划分为保留粒子和调整粒子,通过两种粒子间的近邻位置分布关系优化调整粒子位置,在处理时变观测噪声同时,解决粒子多样性丧失问题,使得优化的粒子集更好地表示机器人位置概率分布。实验表明,改进算法与传统PF-SLAM算法相比,定位与建图误差降低76%,较期望最大化算法下的定位与建图误差降低了54%,进一步验证了所提算法的可行性与有效性,为移动机器人同时定位与建图提供一定参考。     

基于多边带调制产生全光正交频分复用信号的研究

研究了基于双臂马赫-曾德尔调制器(MZM)产生全光正交频分复用信号的原理,讨论了正交光子载波的产生由MZM的射频驱动和直流偏置电压决定的特性;并对基于载波抖动对系统的损伤定义了一个新的参数--载波均衡,以准确地描述产生全光正交频分复用载波的传输性能.根据选择的载波均衡参数,得到了产生2,3,4和5条正交光载波的最佳工作...     

一种邻近性的计算方法

邻近律是Gestalt定律的基本定律之一，然而迄今为止，如何在图像处理中计算元素之间的邻近性程度还没有具体方法提出．以点元素作为抽象载体提出了一种邻近性的计算方法，该方法借鉴基于最小支撑树（MST）的聚类思想，引入三角剖分和Prim算法计算元素之间的MST邻近性测度和加权MST邻近性测度用于度量元素之间的邻近性．实验结...     

新型多取代Tr(o)ger's base衍生物的合成及其晶体结构

以邻氨基二苯甲酮为原料,经两分子环化缩合反应制得6,12-二芳基二苯并[b,f][1,5]二氮杂环辛四烯(2a~2d);2a~2d经LiAlH4还原制得6,12-二芳基-5,6,11,12-四氢二苯并[b,f][1,5]二氮杂环辛(3a~3d);3a~3d与醛(或酮)反应,合成了一系列新型的多取代Tr(o)ger's base衍生物(4a~4d和5a~7a),其结构经1H NMR, 13C NMR, HR-MS(ESI)和X-射线单晶衍射表征.通过分析架桥前后3a(CCDC: 1498564)和6a(CCDC: 1498555)的晶体结构,解释了该类化合物1H NMR中NCH质子及桥上取代基质子裂分的原因,并进一步证实了4~7为非C2轴对称结构.     

LOCALLY STABILIZED FINITE ELEMENT METHOD FOR STOKES PROBLEM WITH NONLINEAR SLIP BOUNDARY CONDITIONS

Based on the low-order conforming finite element subspace （Vh, Mh） such as the P1-P0 triangle element or the Q1-P0 quadrilateral element, the locally stabilized finite element method for the Stokes problem with nonlinear slip boundary conditions is investigated in this paper. For this class of nonlinear slip boundary conditions including the subdifferential property, the weak variational formulation associated with the Stokes problem is an variational inequality. Since （Vh, Mh） does not satisfy the discrete inf-sup conditions, a macroelement condition is introduced for constructing the locally stabilized formulation such that the stability of （Vh, Mh） is established. Under these conditions, we obtain the H1 and L2 error estimates for the numerical solutions.     

p-n结二极管结区边界附近的交流电特性

基于p-n结二极管的理想工作状态的基本假定，推导了二极管在交流电下工作时其基区和p-n结分界面附近上的时间常数与二极管空间尺寸、扩散长度、载流子寿命和外加交流电频率等的依赖关系.结果发现高频和低频两种状态下二极管各类特征参量对时间常数的作用不一样.低频条件下，二极管的时间常数由材料本身来决定，与外加电流频率无关.高频情况下，时间常数则与半导体材料性质无关，只由外加交流电的频率来决定.     

Seasonal variability of cloud optical depth over northwestern China derived from CERES/MODIS satellite measurements

The seasonal variability of cloud optical depth over northwestern China derived from Clouds and the Earth＇s Radiant Energy System （CERES） Single Scanner Footprint （SSF） Aqua Moderate Resolution Imaging Spectroradiometer （MODIS） Edition IB data from July 2002 to June 2004 is presented. The regions of interest are those with Asia monsoon influence, the Tianshan and Qilian Mountains, and the Taklimakan Desert. The results show that the instantaneous measurements presented here are much higher than the previous results derived from International Satellite Cloud Climatology Project （ISCCP） D2 monthly mean data. Generally the measurements of cloud optical depth are the highest in summer and the lowest in winter, however, Taklimakan Desert has the lowest measurements in autumn. The regional variation is quite significant over northwestern China.     

杂交有限元的区域分解法

近几年来,由于并行计算机的迅速发展,求解椭圆型微分方程的区城分解法又引起了人们的重视.这一方法的基本思想是把求解区域分解成许多子区域,每个子区域上用一台计算机求解.这种方法适应并行机的需要,是用并行机解大型椭圆型偏微分方程的一     

VARIATIONAL PROPERTIES OF THE INTEGRATED MEAN CURVATURES OF TUBES IN SYMMETRIC SPACES

61. IntroductionLet P be a submanifold of an n-dimensional riemannian manifold AI. Expressions fOrthe kth integrated mean curvatures, M^P(t), (i. e. the integral of tho kth mcan curvature,k = 0, 1,' l n -- l), of a tubular hypersurface P of radius t about P, in terms of theRiemann curvature tensor of P. are calculated when AI is Euclidean or a rank one symmetricspace[5'13"1. Moreover, when P is a closed convex hypersurface of thc n-dimensional spaceof constant curvature A', Santal6 has…