基于FPGA的三维扫描测头反光标志点中心定位及匹配

三维扫描测量机器人在工业现场应用十分广泛,但是受限于机器人较低的定位精度,扫描测量机器人的测量精度不高。为了提高测量精度,采用基于多相机的视觉跟踪系统代替机器人的定位系统,实现扫描测头的精确定位。由于多台大面阵CMOS红外摄像机(2 048 pixel×2 048 pixel)同时采样的数据量大,传统的串行处理器(如PC、DSP等)难以满足数据处理的实时性要求(>30 fps)。以并行运行方式的FPGA作为核心处理单元,采用流水线的方式,实现对三维扫描测头反光标志点中心的定位及匹配。实验结果表明系统数据处理速度满足三维扫描测头位姿跟踪系统的实时性要求。

N-hexane Alters the Maturation of Oocytes and Induces Apoptosis in Mice

Objective This study was aimed to determine the effects of n-hexane on the maturation of mouse oocytes. Methods Cell culture was used to observe the maturation of mouse oocytes and CLSM was employed to determine their apoptosis. Results Germinal vesicle breakdown （GVBD） and extrusion of the first polar body in mouse oocytes were significantly inhibited by n-hexane. After fertilization, the number of eggs in the mouse was significantly reduced by n-hexane. Mitochondrial membrane potentials （A^Um） were altered in mouse oocytes that were leading to apoptosis of the oocytes. Conclusion N-hexane might have affected the maturation of oocytes, causing alteration of ~qJm and leading to apoptosis which maybe one of the most imn（~rt^nt rnpch^ni^nn~