室内环境下基于图优化的视觉惯性SLAM方法

基于图优化的即时定位与同步构图(SLAM)方法是在视觉里程计运动估计的基础上通过增加一个回环检测,从而对非线性多约束进行优化来提高定位精度。在视觉运动估计中,针对视觉特征点匹配错误率高的问题,提出了一种ORB特征点聚类抽样匹配跟踪的方法。在位姿图优化上,提出了一种改进型的回环检测方法,减少了两种错误匹配的可能性。最后将视觉SLAM与惯性导航进行组合,提高了系统的稳定性和定位精度。使用公开的室内SLAM测试数据集进行仿真,结果表明,该方法的定位均方根误差在厘米级,生成的点云地图清晰可见。     

翘翘板摆式MEMS加速度计振动整流误差

MEMS加速度计凭借其体积小、成本低、可靠性高及可批量生产等优势,已经在战术级精度的武器领域得到了广泛应用。但是,在振动环境下的输出误差(振动整流误差)成为其向导航级精度发展的主要指标瓶颈。为了减小MEMS加速度计的振动整流误差,对传感器芯片结构不对称性和电路零位误差引起的力矩器结构非线性进行了理论分析,然后按照振动法测非线性的方式对上述误差源引起的系统级误差模型进行了仿真试验验证,确定了各误差源与加速度计非线性系数间的影响关系。最后,对主要误差源(电路零位)优化前后的MEMS加速度计振动整流误差和非线性系数进行了测试对比,结果表明:优化后,在50~1500 Hz频率范围内MEMS加速度计二阶非线性的最大值可由1E-4g/g~2降至5E-6g/g~2。     

Dynamics and Mechanism of A Quorum Sensing Network Regulated by Small RNAs in Vibrio Harveyi

Bacterial quorum sensing (QS) has attracted much interests and it is an important process of cell communication. Recently, Bassler et al. studied the phenomena of QS regulated by small RNAs and the experimental data showed that small RNAs played important role in the QS of Vibrio harveyi and it can permit the fine-tuningof gene regulation and maintenance of homeostasis. According to Michaelis-Menten kinetics and mass action law in this paper, we construct a mathematical model to investigate the mechanism induced QS by coexist of small RNA and signal molecular (AI) and show that there are periodic oscillation when the time delay and Hill coefficient exceed a critical value and the periodic oscillation produces the change of concentration and induces QS. These results are fit to the experimental results. In the meanwhile, we also get some theoretical value of Hopf Bifurcation on time deday. In addition, we also find this network is robust against noise.     

Spacing-adjustable and wavelength-tunable multiwavelength fibre laser with nonlinear Brillouin gain and birefringence fibre loop mirror

This paper demonstrates a room-temperature multiwavelength fibre laser with spacing-adjustability and wavelength-tunability. The nonlinear gain of self-excited stimulated Brillouin scattering can suppress mode competition induced by homogeneous broadening of Erbium-doped fibre. With the use of a birefringence fibre loop filter, the wavelength spacing can be adjusted by changing the length of the used birefringence fibre, and the lasing wavelengths can be finely tuned through modifying the filtering profile of the birefringence filter. Multiwavelength output with spectral spacing as small as 0.076~nm and a wavelength number of more than 80 has been successfully produced.     

Isospin violating mechanisms in quarkonium hadronic decays

We analyze the φ meson production in e+e-→ωπ0 as a probe for studying the isospin violation mechanisms.By clarifying the dynamic sources causing the isospin violation,we succeed in quantifying those mechanisms with the help of the recent KLOE data.Hence,the φ→ωπ0 branching ratio is extracted.We find that apart from the electromagnetic(EM)transitions,the strong transition via intermediate kaon loops plays an important role in understanding the cross section and its lineshape.     

Integrable Couplings of Classical-Boussinesq Hierarchy and Its Hamiltonian Structure＊

By using a Lie algebra, an integrable couplings of the classicai-Boussinesq hierarchy is obtained. Then, the Hamiltonian structure of the integrable couplings of the classical-Boussinesq is obtained by the quadratic-form identity.     

多功能铁电材料测试系统的硬件设计与开发

为了提高铁电材料性能测试设备的集成度、重复性和极化安全性,介绍自行开发的多功能铁电材料测试系统的硬件结构与设计原则和思路,主要包括极化装置的设计与加工、积分放大电路的设计、硬件之间的连接、分析软件的编写、软硬件之间的通讯等。实现在不同温度点下,封闭式安全极化及电滞回线的数据采集与处理。填补了国内中档产品的空白,造价是国外设备的1/3,但精度相当。     

GPS软件接收机算法研究

为了能快速、准确地提取导航数据,对GPS软件接收机的捕获和跟踪算法进行研究。捕获算法采用基于FFT的频域快速捕获算法,在跟踪环路中,载波跟踪算法采用锁相环(PLL),码跟踪算法采用非相干延迟锁相环(DLL),成功实现了对GPS信号的快速准确跟踪,这一处理算法性能优越,易于在PC机上软件实现。     

S7—200 PLC在PID闭环控制系统中的应用

为了实现对现场生产过程的精确控制,PLC闭环控制系统在工业生产中正得到越来越广泛的应用,阐述PLC实现PID控制的3种常用方式,分析闭环控制系统中PID数字控制器的原理,结合西门子S7-200 PLC详细介绍PID指令使用和输入/输出变量转换的方法,为S7-200 PLC在PID闭环控制系统中的应用提供一整套解决方案,最后以工业生产中常见的温度控制为背景,给出一个编程实例,对PID在工业控制中的应用很有参考价值。     

基于FPGA的数字解扩解调模块设计及实现

提出了一种适用于直扩通信系统的解调解扩模块.分析了该电路的基本原理及其实现技术,详细讨论了各电路模块的设计实现方法,并采用自顶向下和模块化的设计思想,利用Verilog语言,通过仿真和综合,最后在FPGA上硬件实现.给出了电路实现后的仿真结果及RTL图,结果表明该环路性能优良,能够达到项目的设计指标要求,对工程设计有一定的参考价值.