针对目前国内外应用于移动机器人的三维激光扫描系统存在的扫描效率问题,提出了一种仿人眼功能的三维激光扫描算法.从仿生学角度出发,该算法模仿人类眼睛的扫描功能,对陌生环境进行分步扫描:根据当前的扫描信息,在线规划出下一步的扫描...针对目前国内外应用于移动机器人的三维激光扫描系统存在的扫描效率问题,提出了一种仿人眼功能的三维激光扫描算法.从仿生学角度出发,该算法模仿人类眼睛的扫描功能,对陌生环境进行分步扫描:根据当前的扫描信息,在线规划出下一步的扫描规律,以减少无用信息的获取;采用分步插补定位的方法来弥补分步扫描带来的时间消耗,从而提高了扫描系统的效率.为了满足扫描算法的在线处理对实时性的要求,采用了一种DSP(Digital Signal Processing)+FPGA(Field-Programmable Gate Array)的硬件平台架构:即DSP作主控制器负责三维信息的获取,FPGA作协处理器负责扫描算法的实现.实验结果表明仿人眼功能的扫描算法可以有效的提高三维扫描系统的扫描效率.展开更多
Synchrotron small angle X-ray scattering (SAXS) was performed to investigate the effect of dissolved CO2 in toluene on the conformation of polystyrene (PS) in the solution. It has been found that the second virial coe...Synchrotron small angle X-ray scattering (SAXS) was performed to investigate the effect of dissolved CO2 in toluene on the conformation of polystyrene (PS) in the solution. It has been found that the second virial coefficient A2 and the radius of gyration Rg decrease with the increasing antisolvent CO2 pressure. The scattering intensity of PS chain followed l(h)∞h-αunder different antisolvent pressures (0, 0.6, 1.5, 2.4, 3.3, and 4.2 MPa), suggesting that the PS chain has self-similar structure behavior or a fractal structure in the presence of antisolvent CO2.All this reveals a large effect of antisolvent pressure or the solubility of CO2 in the solution on PS structure. The fractal dimensions increase with the increasing antisolvent pressure, indicating that the polymer chain changes from a swollen coil into a rather dense globule in the course of adding antisolvent CO2.展开更多
文摘针对目前国内外应用于移动机器人的三维激光扫描系统存在的扫描效率问题,提出了一种仿人眼功能的三维激光扫描算法.从仿生学角度出发,该算法模仿人类眼睛的扫描功能,对陌生环境进行分步扫描:根据当前的扫描信息,在线规划出下一步的扫描规律,以减少无用信息的获取;采用分步插补定位的方法来弥补分步扫描带来的时间消耗,从而提高了扫描系统的效率.为了满足扫描算法的在线处理对实时性的要求,采用了一种DSP(Digital Signal Processing)+FPGA(Field-Programmable Gate Array)的硬件平台架构:即DSP作主控制器负责三维信息的获取,FPGA作协处理器负责扫描算法的实现.实验结果表明仿人眼功能的扫描算法可以有效的提高三维扫描系统的扫描效率.
基金the National Basic Research Project--Macromolecular Condensed Statethe National Natural Science Foundation of China (Grant No. 29633020, 29725308)
文摘Synchrotron small angle X-ray scattering (SAXS) was performed to investigate the effect of dissolved CO2 in toluene on the conformation of polystyrene (PS) in the solution. It has been found that the second virial coefficient A2 and the radius of gyration Rg decrease with the increasing antisolvent CO2 pressure. The scattering intensity of PS chain followed l(h)∞h-αunder different antisolvent pressures (0, 0.6, 1.5, 2.4, 3.3, and 4.2 MPa), suggesting that the PS chain has self-similar structure behavior or a fractal structure in the presence of antisolvent CO2.All this reveals a large effect of antisolvent pressure or the solubility of CO2 in the solution on PS structure. The fractal dimensions increase with the increasing antisolvent pressure, indicating that the polymer chain changes from a swollen coil into a rather dense globule in the course of adding antisolvent CO2.
