With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation sa...With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.展开更多
Edge detection is an image processing technique for finding the boundaries of objects within images. It is typically used to interpret gravity and magnetic data, and find the horizontal boundaries of geological bodies...Edge detection is an image processing technique for finding the boundaries of objects within images. It is typically used to interpret gravity and magnetic data, and find the horizontal boundaries of geological bodies. Large deviations between model and true edges are common because of the interference of depth and errors in computing the derivatives; thus, edge detection methods cannot provide information about the depth of the source. To simultaneously obtain the horizontal extent and depth of geophysical anomalies, we use normalized edge detection filters, which normalize the edge detection function at different depths, and the maxima that correspond to the location of the source. The errors between model and actual edges are minimized as the depth of the source decreases and the normalized edge detection method recognizes the extent of the source based on the maxima, allowing for reliable model results. We demonstrate the applicability of the normalized edge detection filters in defining the horizontal extent and depth using synthetic and actual aeromagnetic data.展开更多
Circuits with switched current are described by an admittance matrix and seeking current transfers then means calculating the ratio of algebraic supplements of this matrix. As there are also graph methods of circuit a...Circuits with switched current are described by an admittance matrix and seeking current transfers then means calculating the ratio of algebraic supplements of this matrix. As there are also graph methods of circuit analysis in addition to algebraic methods, it is clearly possible in theory to carry out an analysis of the whole switched circuit in two-phase switching exclusively by the graph method as well. For this purpose it is possible to plot a Mason graph of a circuit, use transformation graphs to reduce Mason graphs for all the four phases of switching, and then plot a summary graph from the transformed graphs obtained this way. First the author draws nodes and possible branches, obtained by transformation graphs for transfers of EE （even-even） and OO （odd-odd） phases. In the next step, branches obtained by transformation graphs for EO and OE phase are drawn between these nodes, while their resulting transfer is 1 multiplied by z^1/2. This summary graph is extended by two branches from input node and to output node, the extended graph can then be interpreted by the Mason＇s relation to provide transparent current transfers. Therefore it is not necessary to compose a sum admittance matrix and to express this consequently in numbers, and so it is possible to reach the final result in a graphical way.展开更多
A single Complementary Metal Oxide Semiconductor (CMOS) image sensor based on 0.35μm process along with its design and implementation is introduced in this paper. The pixel ar-chitecture of Active Pixel Sensor (APS) ...A single Complementary Metal Oxide Semiconductor (CMOS) image sensor based on 0.35μm process along with its design and implementation is introduced in this paper. The pixel ar-chitecture of Active Pixel Sensor (APS) is used in the chip,which comprises a 256×256 pixel array together with column amplifiers,scan array circuits,series interface,control logic and Analog-Digital Converter (ADC). With the use of smart layout design,fill factor of pixel cell is 43%. Moreover,a new method of Dynamic Digital Double Sample (DDDS) which removes Fixed Pattern Noise (FPN) is used. The CMOS image sensor chip is implemented based on the 0.35μm process of chartered by Multi-Project Wafer (MPW). This chip performs well as expected.展开更多
Inorganic silica-titania thin films with thicknesses 150 nm-200 nm are deposited on high purity and polished silicon wafer and silica glass substrates by sol-gel dipping process and are patterned by capillary force li...Inorganic silica-titania thin films with thicknesses 150 nm-200 nm are deposited on high purity and polished silicon wafer and silica glass substrates by sol-gel dipping process and are patterned by capillary force lithography technique. Subsequently grating structure is embossed in green stage. The patterned gel films are subjected to stepwise heat treatment to 500 ℃ and above in pure oxygen atmosphere in order to achieve major conversion of mixed-gel to oxide optical films which are characterized by Ellipsometry, Fourier transform infrared spectroscopy （FTIR） and atomic force microscopy （AFM） to optimize the fabrication parameters and to get perfectly matched film. Removal of organics and formation of perfectly inorganic silica-titania network at optimized heat treatment in controlled environment are ensured by FTIR spectral study. The difference in refractive indices between the substrate and coated film as developed waveguides for operating wavelength show the planar waveguide behavior of the films. calculated theoretically matches exactly with the （632.8 nm） and the measured optical properties展开更多
The study developed a triple-exposure color particle image velocimetry(TE-CPIV) technique associated with pressure reconstruction, and validated its feasibility. A light source with the three primary colors of red, gr...The study developed a triple-exposure color particle image velocimetry(TE-CPIV) technique associated with pressure reconstruction, and validated its feasibility. A light source with the three primary colors of red, green, and blue(R, G, and B) is produced in a time sequence by a liquid crystal display(LCD) projector. Particle images at three different instants under the color illuminations are captured in one snapshot using a color digital single-lens reflex(SLR) camera with a complementary metal-oxide semiconductor(CMOS) sensor. A contamination correction algorithm based on a specific calibration is performed on the different color layers(R layer, G layer, and B layer) of the raw color image to reduce the contaminated intensity of each color illumination on the other two color layers. The corrected intensity generates three new color layers, from which a standard cross-correlation process in the classical PIV method is used to obtain two velocity fields. Eventually, an instantaneous pressure field is reconstructed from the two velocity fields. The feasibility of TE-CPIV was tested by two experiments with a solid body rotation flow and a cylinder wake flow. The results show acceptable accuracy and robustness of the new technique. The idea of the TE-CPIV is believed to provide a simple and effective way of estimating a pressure field with low cost and high convenience.展开更多
基金supported in part by the Guangxi Power Grid Company’s 2023 Science and Technol-ogy Innovation Project(No.GXKJXM20230169)。
文摘With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.
基金supported by the China Postdoctoral Science Foundation (No.2014M551188)the Deep Exploration in China Sinoprobe-09-01 (No.201011078)
文摘Edge detection is an image processing technique for finding the boundaries of objects within images. It is typically used to interpret gravity and magnetic data, and find the horizontal boundaries of geological bodies. Large deviations between model and true edges are common because of the interference of depth and errors in computing the derivatives; thus, edge detection methods cannot provide information about the depth of the source. To simultaneously obtain the horizontal extent and depth of geophysical anomalies, we use normalized edge detection filters, which normalize the edge detection function at different depths, and the maxima that correspond to the location of the source. The errors between model and actual edges are minimized as the depth of the source decreases and the normalized edge detection method recognizes the extent of the source based on the maxima, allowing for reliable model results. We demonstrate the applicability of the normalized edge detection filters in defining the horizontal extent and depth using synthetic and actual aeromagnetic data.
文摘Circuits with switched current are described by an admittance matrix and seeking current transfers then means calculating the ratio of algebraic supplements of this matrix. As there are also graph methods of circuit analysis in addition to algebraic methods, it is clearly possible in theory to carry out an analysis of the whole switched circuit in two-phase switching exclusively by the graph method as well. For this purpose it is possible to plot a Mason graph of a circuit, use transformation graphs to reduce Mason graphs for all the four phases of switching, and then plot a summary graph from the transformed graphs obtained this way. First the author draws nodes and possible branches, obtained by transformation graphs for transfers of EE （even-even） and OO （odd-odd） phases. In the next step, branches obtained by transformation graphs for EO and OE phase are drawn between these nodes, while their resulting transfer is 1 multiplied by z^1/2. This summary graph is extended by two branches from input node and to output node, the extended graph can then be interpreted by the Mason＇s relation to provide transparent current transfers. Therefore it is not necessary to compose a sum admittance matrix and to express this consequently in numbers, and so it is possible to reach the final result in a graphical way.
文摘A single Complementary Metal Oxide Semiconductor (CMOS) image sensor based on 0.35μm process along with its design and implementation is introduced in this paper. The pixel ar-chitecture of Active Pixel Sensor (APS) is used in the chip,which comprises a 256×256 pixel array together with column amplifiers,scan array circuits,series interface,control logic and Analog-Digital Converter (ADC). With the use of smart layout design,fill factor of pixel cell is 43%. Moreover,a new method of Dynamic Digital Double Sample (DDDS) which removes Fixed Pattern Noise (FPN) is used. The CMOS image sensor chip is implemented based on the 0.35μm process of chartered by Multi-Project Wafer (MPW). This chip performs well as expected.
文摘Inorganic silica-titania thin films with thicknesses 150 nm-200 nm are deposited on high purity and polished silicon wafer and silica glass substrates by sol-gel dipping process and are patterned by capillary force lithography technique. Subsequently grating structure is embossed in green stage. The patterned gel films are subjected to stepwise heat treatment to 500 ℃ and above in pure oxygen atmosphere in order to achieve major conversion of mixed-gel to oxide optical films which are characterized by Ellipsometry, Fourier transform infrared spectroscopy （FTIR） and atomic force microscopy （AFM） to optimize the fabrication parameters and to get perfectly matched film. Removal of organics and formation of perfectly inorganic silica-titania network at optimized heat treatment in controlled environment are ensured by FTIR spectral study. The difference in refractive indices between the substrate and coated film as developed waveguides for operating wavelength show the planar waveguide behavior of the films. calculated theoretically matches exactly with the （632.8 nm） and the measured optical properties
基金supported by the National Natural Science Foundation of China(Grant Nos.11472030,11327202&11490552)the Fundamental Research Funds for the Central Universities(Grant No.YWF-16-JCTD-A-05)
文摘The study developed a triple-exposure color particle image velocimetry(TE-CPIV) technique associated with pressure reconstruction, and validated its feasibility. A light source with the three primary colors of red, green, and blue(R, G, and B) is produced in a time sequence by a liquid crystal display(LCD) projector. Particle images at three different instants under the color illuminations are captured in one snapshot using a color digital single-lens reflex(SLR) camera with a complementary metal-oxide semiconductor(CMOS) sensor. A contamination correction algorithm based on a specific calibration is performed on the different color layers(R layer, G layer, and B layer) of the raw color image to reduce the contaminated intensity of each color illumination on the other two color layers. The corrected intensity generates three new color layers, from which a standard cross-correlation process in the classical PIV method is used to obtain two velocity fields. Eventually, an instantaneous pressure field is reconstructed from the two velocity fields. The feasibility of TE-CPIV was tested by two experiments with a solid body rotation flow and a cylinder wake flow. The results show acceptable accuracy and robustness of the new technique. The idea of the TE-CPIV is believed to provide a simple and effective way of estimating a pressure field with low cost and high convenience.
