This paper investigates superconvergence properties of the direct discontinuous Galerkin(DDG)method with interface corrections and the symmetric DDG method for diffusion equations.We apply the Fourier analysis techniq...This paper investigates superconvergence properties of the direct discontinuous Galerkin(DDG)method with interface corrections and the symmetric DDG method for diffusion equations.We apply the Fourier analysis technique to symbolically compute eigenvalues and eigenvectors of the amplification matrices for both DDG methods with different coefficient settings in the numerical fluxes.Based on the eigen-structure analysis,we carry out error estimates of the DDG solutions,which can be decomposed into three parts:(i)dissipation errors of the physically relevant eigenvalue,which grow linearly with the time and are of order 2k for P^(k)(k=2,3)approximations;(ii)projection error from a special projection of the exact solution,which is decreasing over the time and is related to the eigenvector corresponding to the physically relevant eigenvalue;(iii)dissipative errors of non-physically relevant eigenvalues,which decay exponentially with respect to the spatial mesh sizeΔx.We observe that the errors are sensitive to the choice of the numerical flux coefficient for even degree P^(2)approximations,but are not for odd degree P^(3)approximations.Numerical experiments are provided to verify the theoretical results.展开更多
Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suf...Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suffers from significant performance degradation owing to the limited number of physical elements.To improve the underdetermined DOA estimation performance of a ULA radar mounted on a small UAV platform,we propose a nonuniform linear motion sampling underdetermined DOA estimation method.Using the motion of the UAV platform,the echo signal is sampled at different positions.Then,according to the concept of difference co-array,a virtual ULA with multiple array elements and a large aperture is synthesized to increase the degrees of freedom(DOFs).Through position analysis of the original and motion arrays,we propose a nonuniform linear motion sampling method based on ULA for determining the optimal DOFs.Under the condition of no increase in the aperture of the physical array,the proposed method obtains a high DOF with fewer sampling runs and greatly improves the underdetermined DOA estimation performance of ULA.The results of numerical simulations conducted herein verify the superior performance of the proposed method.展开更多
For bistatic multiple-input multiple-output(MIMO)radar,this paper presents a robust and direction finding method in strong impulse noise environment.By means of a new lower order covariance,the method is effective in ...For bistatic multiple-input multiple-output(MIMO)radar,this paper presents a robust and direction finding method in strong impulse noise environment.By means of a new lower order covariance,the method is effective in suppressing impulse noise and achieving superior direction finding performance using the maximum likelihood(ML)estimation method.A quantum equilibrium optimizer algorithm(QEOA)is devised to resolve the corresponding objective function for efficient and accurate direc-tion finding.The results of simulation reveal the capability of the presented method in success rate and root mean square error over existing direction-finding methods in different application situations,e.g.,locating coherent signal sources with very few snapshots in strong impulse noise.Other than that,the Cramér-Rao bound(CRB)under impulse noise environment has been drawn to test the capability of the presented method.展开更多
BACKGROUND Fibrobronchoscopy is a common adjunct tool that requires anesthesia and is widely used in the diagnosis and treatment of various respiratory diseases.However,current anesthesia methods,such as spray,nebuliz...BACKGROUND Fibrobronchoscopy is a common adjunct tool that requires anesthesia and is widely used in the diagnosis and treatment of various respiratory diseases.However,current anesthesia methods,such as spray,nebulized inhalation,and cricothyroid membrane puncture,have their own advantages and disadvantages.Recently,studies have shown that bronchoscopic direct-view glottis anesthesia is a simple and inexpensive method that shortens the examination time and provides excellent anesthetic results.AIM To evaluate the effectiveness of bronchoscopic direct vision glottis anesthesia for bronchoscopy.METHODS The study included 100 patients who underwent bronchoscopy during thoracic surgery.A random number table method was used to divide the patients into control and observation groups(50 patients each).The control and observation groups were anesthetized using the nebulized inhalation and bronchoscopic direct vision glottis method,respectively.Hemodynamic indices[systolic blood pressure(SBP),diastolic blood pressure(DBP),heart rate(HR),and oxygen saturation(SpO_(2))before(T1),5 min after anesthesia(T2),and at the end of the operation(T3)]serum stress hormone indices[norepinephrine(NE),epinephrine(E),adrenocorticotropic hormone(ACTH),and cortisol(Cor)before and after treatment]were compared between the 2 groups.Adverse effects were also RESULTS At T2 and T3,SBP,DBP,and HR were lower in the observation group than the control group,whereas SpO_(2) was higher than the control group[(119.05±8.01)mmHg vs(127.05±7.83)mmHg,(119.35±6.66)mmHg vs(128.39±6.56)mmHg,(84.68±6.04)mmHg vs(92.42±5.57)mmHg,(84.53±4.97)mmHg compared to(92.57±6.02)mmHg,(74.25±5.18)beats/min compared to(88.32±5.72)beats/min,(74.38±5.31)beats/min compared to(88.42±5.69)beats/min,(97.36±2.21)%vs(94.35±2.16)%,(97.42±2.36)%vs(94.38±2.69%],with statistically significant differences(all P<0.05).After treatment,NE,E,ACTH,and Cor were significantly higher in both groups than before treatment,but were lower in the observation group than in the control group[(68.25±8.87)ng/mL vs(93.35±14.00)ng/mL,(53.59±5.89)ng/mL vs(82.32±10.70)ng/mL,(14.32±1.58)pg/mL vs(20.35±3.05)pg/mL,(227.35±25.01)nmol/L vs(322.28±45.12)nmol/L],with statistically significant differences(all P<0.05).The incidence of adverse reactions was higher in the control group than in the observation group[12.00%(12/50)vs 6.00%(3/50)](P<0.05).CONCLUSION The use of bronchoscopic direct vision glottis anesthesia method for bronchoscopy patients is beneficial for stabilizing hemodynamic indices during bronchoscopy and reducing the level of patient stress,with good safety and practicality.展开更多
Since ancient times,lightning disasters have undoubtedly been an unstoppable threat to humanity.During thunderstorms,lightning often damages objects on the ground,such as buildings and structures.Since Franklin invent...Since ancient times,lightning disasters have undoubtedly been an unstoppable threat to humanity.During thunderstorms,lightning often damages objects on the ground,such as buildings and structures.Since Franklin invented the lightning rod in 1752,lightning rods have been used worldwide to prevent direct lightning strikes in various fields such as high-voltage power transmission lines,outdoor chemical sites,highways,land and sea wind farms,and forest lightning fire protection.It has been proven that lightning accidents still occur frequently in places where lightning rods are installed and the protective angle method is used.In order to further study the protective effect of lightning rods and identify the shortcomings of lightning rod protection,negative lightning strikes are taken as the research object,to analyze the limitations of lightning rods in preventing direct lightning strikes from the working principle of lightning rods.展开更多
In this context,four specimens,i.e.(i)circumferentially notched cylindrical torsion(CNCT),(ii)circum-ferentially notched cylindrical direct tension(CNCDT),(iii)edge notch disc bend(ENDB)and(iv)three-point bend beam(3P...In this context,four specimens,i.e.(i)circumferentially notched cylindrical torsion(CNCT),(ii)circum-ferentially notched cylindrical direct tension(CNCDT),(iii)edge notch disc bend(ENDB)and(iv)three-point bend beam(3PBB),were utilized to measure the modesⅠandⅢfracture toughness values of gypsum.While the CNCT specimen provides pure modeⅢloading in a direct manner,this pure mode condition is indirectly produced by the ENDB specimen.The ENDB specimen provided lower KⅢc and a non-coplanar(i.e.twisted)fracture surface compared with the CNCT specimen,which showed a planar modeⅢfracture surface.The ENDB specimen is also employed for conducting pure modeⅠ(with different crack depths)and mixed modeⅠ/Ⅲtests.KIc value was independent of the notch depth,and it was consistent with the RILEM and ASTM standard methods.But the modeⅢfracture results were highly sensitive to the notch depth.While the fracture resistance against modeⅢwas significantly lower than that of modeⅠ,the greater work of fracture under modeⅢwas noticeable.展开更多
Efficient acquiring information from a quantum state is important for research in fundamental quantum physics and quantum information applications. Instead of using standard quantum state tomography method with recons...Efficient acquiring information from a quantum state is important for research in fundamental quantum physics and quantum information applications. Instead of using standard quantum state tomography method with reconstruction algorithm, weak values were proposed to directly measure density matrix elements of quantum state. Recently, similar to the concept of weak value, modular values were introduced to extend the direct measurement scheme to nonlocal quantum wavefunction. However, this method still involves approximations, which leads to inherent low precision. Here, we propose a new scheme which enables direct measurement for ideal value of the nonlocal density matrix element without taking approximations. Our scheme allows more accurate characterization of nonlocal quantum states, and therefore has greater advantages in practical measurement scenarios.展开更多
The fixed-time synchronization and preassigned-time synchronization are investigated for a class of quaternion-valued neural networks with time-varying delays and discontinuous activation functions. Unlike previous ef...The fixed-time synchronization and preassigned-time synchronization are investigated for a class of quaternion-valued neural networks with time-varying delays and discontinuous activation functions. Unlike previous efforts that employed separation analysis and the real-valued control design, based on the quaternion-valued signum function and several related properties, a direct analytical method is proposed here and the quaternion-valued controllers are designed in order to discuss the fixed-time synchronization for the relevant quaternion-valued neural networks. In addition, the preassigned-time synchronization is investigated based on a quaternion-valued control design, where the synchronization time is preassigned and the control gains are finite. Compared with existing results, the direct method without separation developed in this article is beneficial in terms of simplifying theoretical analysis, and the proposed quaternion-valued control schemes are simpler and more effective than the traditional design, which adds four real-valued controllers. Finally, two numerical examples are given in order to support the theoretical results.展开更多
Each rock joint is unique by nature which means that utilization of replicas in direct shear tests is required in experimental parameter studies.However,a method to acquire knowledge about the ability of the replicas ...Each rock joint is unique by nature which means that utilization of replicas in direct shear tests is required in experimental parameter studies.However,a method to acquire knowledge about the ability of the replicas to imitate the shear mechanical behavior of the rock joint and their dispersion in direct shear testing is lacking.In this study,a novel method is presented for geometric quality assurance of replicas.The aim is to facilitate generation of high-quality direct shear testing data as a prerequisite for reliable subsequent analyses of the results.In Part 1 of this study,two quality assurance parameters,smf and V_(Hp100),are derived and their usefulness for evaluation of geometric deviations,i.e.geometric reproducibility,is shown.In Part 2,the parameters are validated by showing a correlation between the parameters and the shear mechanical behavior,which qualifies the parameters for usage in the quality assurance method.Unique results from direct shear tests presenting comparisons between replicas and the rock joint show that replicas fulfilling proposed threshold values of σ_(mf)<0.06 mm and|V_(Hp100)|<0.2 mm have a narrow dispersion and imitate the shear mechanical behavior of the rock joint in all aspects apart from having a slightly lower peak shear strength.The wear in these replicas,which have similar morphology as the rock joint,is in the same areas as in the rock joint.The wear is slightly larger in the rock joint and therefore the discrepancy in peak shear strength derives from differences in material properties,possibly from differences in toughness.It is shown by application of the suggested method that the quality assured replicas manufactured following the process employed in this study phenomenologically capture the shear strength characteristics,which makes them useful in parameter studies.展开更多
For the linear least squares problem with coefficient matrix columns being highly correlated, we develop a greedy randomized Gauss-Seidel method with oblique direction. Then the corresponding convergence result is ded...For the linear least squares problem with coefficient matrix columns being highly correlated, we develop a greedy randomized Gauss-Seidel method with oblique direction. Then the corresponding convergence result is deduced. Numerical examples demonstrate that our proposed method is superior to the greedy randomized Gauss-Seidel method and the randomized Gauss-Seidel method with oblique direction.展开更多
随着移动机器人技术不断发展,里程计技术已经成为移动机器人实现环境感知的关键技术,其发展水平对提高机器人的自主化和智能化具有重要意义。首先,系统阐述了同步定位与地图构建(Simultaneous localization and mapping,SLAM)中激光SLA...随着移动机器人技术不断发展,里程计技术已经成为移动机器人实现环境感知的关键技术,其发展水平对提高机器人的自主化和智能化具有重要意义。首先,系统阐述了同步定位与地图构建(Simultaneous localization and mapping,SLAM)中激光SLAM和视觉SLAM的发展近况,阐述了经典SLAM框架及其数学描述,简要介绍了3类常见相机的相机模型及其视觉里程计的数学描述。其次,分别对传统视觉里程计和深度学习里程计的研究进展进行系统阐述。对比分析了近10年来各类里程计算法的优势与不足。另外,对比分析了7种常用数据集的性能。最后,从精度、鲁棒性、数据集、多模态等方面总结了里程计技术面临的问题,从提高算法实时性、鲁棒性等方面展望了视觉里程计的发展趋势为:更加智能化、小型化新型传感器的发展;与无监督学习融合;语义表达技术的提高;集群机器人协同技术的发展。展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.11871428 and 12071214)the Natural Science Foundation for Colleges and Universities of Jiangsu Province of China(Grant No.20KJB110011)+1 种基金supported by the National Science Foundation(Grant No.DMS-1620335)and the Simons Foundation(Grant No.637716)supported by the National Natural Science Foundation of China(Grant Nos.11871428 and 12272347).
文摘This paper investigates superconvergence properties of the direct discontinuous Galerkin(DDG)method with interface corrections and the symmetric DDG method for diffusion equations.We apply the Fourier analysis technique to symbolically compute eigenvalues and eigenvectors of the amplification matrices for both DDG methods with different coefficient settings in the numerical fluxes.Based on the eigen-structure analysis,we carry out error estimates of the DDG solutions,which can be decomposed into three parts:(i)dissipation errors of the physically relevant eigenvalue,which grow linearly with the time and are of order 2k for P^(k)(k=2,3)approximations;(ii)projection error from a special projection of the exact solution,which is decreasing over the time and is related to the eigenvector corresponding to the physically relevant eigenvalue;(iii)dissipative errors of non-physically relevant eigenvalues,which decay exponentially with respect to the spatial mesh sizeΔx.We observe that the errors are sensitive to the choice of the numerical flux coefficient for even degree P^(2)approximations,but are not for odd degree P^(3)approximations.Numerical experiments are provided to verify the theoretical results.
基金National Natural Science Foundation of China(61973037)National 173 Program Project(2019-JCJQ-ZD-324)。
文摘Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suffers from significant performance degradation owing to the limited number of physical elements.To improve the underdetermined DOA estimation performance of a ULA radar mounted on a small UAV platform,we propose a nonuniform linear motion sampling underdetermined DOA estimation method.Using the motion of the UAV platform,the echo signal is sampled at different positions.Then,according to the concept of difference co-array,a virtual ULA with multiple array elements and a large aperture is synthesized to increase the degrees of freedom(DOFs).Through position analysis of the original and motion arrays,we propose a nonuniform linear motion sampling method based on ULA for determining the optimal DOFs.Under the condition of no increase in the aperture of the physical array,the proposed method obtains a high DOF with fewer sampling runs and greatly improves the underdetermined DOA estimation performance of ULA.The results of numerical simulations conducted herein verify the superior performance of the proposed method.
基金This work was supported by the National Natural Science Foundation of China(62073093)the Postdoctoral Scientific Research Developmental Fund of Heilongjiang Province(LBH-Q19098)+1 种基金the Heilongjiang Provincial Natural Science Foundation of China(LH2020F017)the Key Laboratory of Advanced Marine Communication and Information Technology,Ministry of Industry and Information Technology.
文摘For bistatic multiple-input multiple-output(MIMO)radar,this paper presents a robust and direction finding method in strong impulse noise environment.By means of a new lower order covariance,the method is effective in suppressing impulse noise and achieving superior direction finding performance using the maximum likelihood(ML)estimation method.A quantum equilibrium optimizer algorithm(QEOA)is devised to resolve the corresponding objective function for efficient and accurate direc-tion finding.The results of simulation reveal the capability of the presented method in success rate and root mean square error over existing direction-finding methods in different application situations,e.g.,locating coherent signal sources with very few snapshots in strong impulse noise.Other than that,the Cramér-Rao bound(CRB)under impulse noise environment has been drawn to test the capability of the presented method.
基金Hebei Science and Technology Program,No.162777232(to Xing SS).
文摘BACKGROUND Fibrobronchoscopy is a common adjunct tool that requires anesthesia and is widely used in the diagnosis and treatment of various respiratory diseases.However,current anesthesia methods,such as spray,nebulized inhalation,and cricothyroid membrane puncture,have their own advantages and disadvantages.Recently,studies have shown that bronchoscopic direct-view glottis anesthesia is a simple and inexpensive method that shortens the examination time and provides excellent anesthetic results.AIM To evaluate the effectiveness of bronchoscopic direct vision glottis anesthesia for bronchoscopy.METHODS The study included 100 patients who underwent bronchoscopy during thoracic surgery.A random number table method was used to divide the patients into control and observation groups(50 patients each).The control and observation groups were anesthetized using the nebulized inhalation and bronchoscopic direct vision glottis method,respectively.Hemodynamic indices[systolic blood pressure(SBP),diastolic blood pressure(DBP),heart rate(HR),and oxygen saturation(SpO_(2))before(T1),5 min after anesthesia(T2),and at the end of the operation(T3)]serum stress hormone indices[norepinephrine(NE),epinephrine(E),adrenocorticotropic hormone(ACTH),and cortisol(Cor)before and after treatment]were compared between the 2 groups.Adverse effects were also RESULTS At T2 and T3,SBP,DBP,and HR were lower in the observation group than the control group,whereas SpO_(2) was higher than the control group[(119.05±8.01)mmHg vs(127.05±7.83)mmHg,(119.35±6.66)mmHg vs(128.39±6.56)mmHg,(84.68±6.04)mmHg vs(92.42±5.57)mmHg,(84.53±4.97)mmHg compared to(92.57±6.02)mmHg,(74.25±5.18)beats/min compared to(88.32±5.72)beats/min,(74.38±5.31)beats/min compared to(88.42±5.69)beats/min,(97.36±2.21)%vs(94.35±2.16)%,(97.42±2.36)%vs(94.38±2.69%],with statistically significant differences(all P<0.05).After treatment,NE,E,ACTH,and Cor were significantly higher in both groups than before treatment,but were lower in the observation group than in the control group[(68.25±8.87)ng/mL vs(93.35±14.00)ng/mL,(53.59±5.89)ng/mL vs(82.32±10.70)ng/mL,(14.32±1.58)pg/mL vs(20.35±3.05)pg/mL,(227.35±25.01)nmol/L vs(322.28±45.12)nmol/L],with statistically significant differences(all P<0.05).The incidence of adverse reactions was higher in the control group than in the observation group[12.00%(12/50)vs 6.00%(3/50)](P<0.05).CONCLUSION The use of bronchoscopic direct vision glottis anesthesia method for bronchoscopy patients is beneficial for stabilizing hemodynamic indices during bronchoscopy and reducing the level of patient stress,with good safety and practicality.
基金Supported by Lightning Multi-pulse Intelligent Monitoring System Optimization Technology Project of Guangdong Yuedian Dianbai Hot Water Wind Farm(SFC/DBW-Z-FW-23-006).
文摘Since ancient times,lightning disasters have undoubtedly been an unstoppable threat to humanity.During thunderstorms,lightning often damages objects on the ground,such as buildings and structures.Since Franklin invented the lightning rod in 1752,lightning rods have been used worldwide to prevent direct lightning strikes in various fields such as high-voltage power transmission lines,outdoor chemical sites,highways,land and sea wind farms,and forest lightning fire protection.It has been proven that lightning accidents still occur frequently in places where lightning rods are installed and the protective angle method is used.In order to further study the protective effect of lightning rods and identify the shortcomings of lightning rod protection,negative lightning strikes are taken as the research object,to analyze the limitations of lightning rods in preventing direct lightning strikes from the working principle of lightning rods.
文摘In this context,four specimens,i.e.(i)circumferentially notched cylindrical torsion(CNCT),(ii)circum-ferentially notched cylindrical direct tension(CNCDT),(iii)edge notch disc bend(ENDB)and(iv)three-point bend beam(3PBB),were utilized to measure the modesⅠandⅢfracture toughness values of gypsum.While the CNCT specimen provides pure modeⅢloading in a direct manner,this pure mode condition is indirectly produced by the ENDB specimen.The ENDB specimen provided lower KⅢc and a non-coplanar(i.e.twisted)fracture surface compared with the CNCT specimen,which showed a planar modeⅢfracture surface.The ENDB specimen is also employed for conducting pure modeⅠ(with different crack depths)and mixed modeⅠ/Ⅲtests.KIc value was independent of the notch depth,and it was consistent with the RILEM and ASTM standard methods.But the modeⅢfracture results were highly sensitive to the notch depth.While the fracture resistance against modeⅢwas significantly lower than that of modeⅠ,the greater work of fracture under modeⅢwas noticeable.
基金Project supported by National Key Research and Development Program of China (Grant No. 2019YFA0705000)the National Natural Science Foundation of China (Grant No. 11974178)。
文摘Efficient acquiring information from a quantum state is important for research in fundamental quantum physics and quantum information applications. Instead of using standard quantum state tomography method with reconstruction algorithm, weak values were proposed to directly measure density matrix elements of quantum state. Recently, similar to the concept of weak value, modular values were introduced to extend the direct measurement scheme to nonlocal quantum wavefunction. However, this method still involves approximations, which leads to inherent low precision. Here, we propose a new scheme which enables direct measurement for ideal value of the nonlocal density matrix element without taking approximations. Our scheme allows more accurate characterization of nonlocal quantum states, and therefore has greater advantages in practical measurement scenarios.
基金supported by the National Natural Science Foundation of China (61963033, 61866036, 62163035)the Key Project of Natural Science Foundation of Xinjiang (2021D01D10)+1 种基金the Xinjiang Key Laboratory of Applied Mathematics (XJDX1401)the Special Project for Local Science and Technology Development Guided by the Central Government (ZYYD2022A05)。
文摘The fixed-time synchronization and preassigned-time synchronization are investigated for a class of quaternion-valued neural networks with time-varying delays and discontinuous activation functions. Unlike previous efforts that employed separation analysis and the real-valued control design, based on the quaternion-valued signum function and several related properties, a direct analytical method is proposed here and the quaternion-valued controllers are designed in order to discuss the fixed-time synchronization for the relevant quaternion-valued neural networks. In addition, the preassigned-time synchronization is investigated based on a quaternion-valued control design, where the synchronization time is preassigned and the control gains are finite. Compared with existing results, the direct method without separation developed in this article is beneficial in terms of simplifying theoretical analysis, and the proposed quaternion-valued control schemes are simpler and more effective than the traditional design, which adds four real-valued controllers. Finally, two numerical examples are given in order to support the theoretical results.
文摘Each rock joint is unique by nature which means that utilization of replicas in direct shear tests is required in experimental parameter studies.However,a method to acquire knowledge about the ability of the replicas to imitate the shear mechanical behavior of the rock joint and their dispersion in direct shear testing is lacking.In this study,a novel method is presented for geometric quality assurance of replicas.The aim is to facilitate generation of high-quality direct shear testing data as a prerequisite for reliable subsequent analyses of the results.In Part 1 of this study,two quality assurance parameters,smf and V_(Hp100),are derived and their usefulness for evaluation of geometric deviations,i.e.geometric reproducibility,is shown.In Part 2,the parameters are validated by showing a correlation between the parameters and the shear mechanical behavior,which qualifies the parameters for usage in the quality assurance method.Unique results from direct shear tests presenting comparisons between replicas and the rock joint show that replicas fulfilling proposed threshold values of σ_(mf)<0.06 mm and|V_(Hp100)|<0.2 mm have a narrow dispersion and imitate the shear mechanical behavior of the rock joint in all aspects apart from having a slightly lower peak shear strength.The wear in these replicas,which have similar morphology as the rock joint,is in the same areas as in the rock joint.The wear is slightly larger in the rock joint and therefore the discrepancy in peak shear strength derives from differences in material properties,possibly from differences in toughness.It is shown by application of the suggested method that the quality assured replicas manufactured following the process employed in this study phenomenologically capture the shear strength characteristics,which makes them useful in parameter studies.
文摘For the linear least squares problem with coefficient matrix columns being highly correlated, we develop a greedy randomized Gauss-Seidel method with oblique direction. Then the corresponding convergence result is deduced. Numerical examples demonstrate that our proposed method is superior to the greedy randomized Gauss-Seidel method and the randomized Gauss-Seidel method with oblique direction.
文摘随着移动机器人技术不断发展,里程计技术已经成为移动机器人实现环境感知的关键技术,其发展水平对提高机器人的自主化和智能化具有重要意义。首先,系统阐述了同步定位与地图构建(Simultaneous localization and mapping,SLAM)中激光SLAM和视觉SLAM的发展近况,阐述了经典SLAM框架及其数学描述,简要介绍了3类常见相机的相机模型及其视觉里程计的数学描述。其次,分别对传统视觉里程计和深度学习里程计的研究进展进行系统阐述。对比分析了近10年来各类里程计算法的优势与不足。另外,对比分析了7种常用数据集的性能。最后,从精度、鲁棒性、数据集、多模态等方面总结了里程计技术面临的问题,从提高算法实时性、鲁棒性等方面展望了视觉里程计的发展趋势为:更加智能化、小型化新型传感器的发展;与无监督学习融合;语义表达技术的提高;集群机器人协同技术的发展。