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一种基于计算机视觉的无人机实时三维重建方法 被引量:3
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作者 张臻炜 赵勇 布树辉 《机械与电子》 2015年第12期19-22,共4页
针对机器人(或无人机)实时的三维重建中面临的噪声干扰和计算量大的问题,提出一种实时的鲁棒性的同时定位和建图的方法:用RGB-D相机精确估计相机位置的同时重建三维环境。关键思想是测量残差函数——用于估计当前帧的移动量,同时用金字... 针对机器人(或无人机)实时的三维重建中面临的噪声干扰和计算量大的问题,提出一种实时的鲁棒性的同时定位和建图的方法:用RGB-D相机精确估计相机位置的同时重建三维环境。关键思想是测量残差函数——用于估计当前帧的移动量,同时用金字塔模型一步步去逼近真实值。提出一种新的衡量标准用于建立关键帧。然后通过与相邻关键帧的三角化投影给全局地图增加地图点。此外,应用图优化来实现全局优化以获取更高的精度。 展开更多
关键词 RGB-D并行定位与建图 实时三维重建 图优化
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装配线自动轨道系统的主站程序设计
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作者 柳超明 陈书宏 白洪飞 《机械设计与制造》 北大核心 2014年第2期187-189,共3页
考虑到装配工位和轨道小车之间多对多的对应关系,设计了基于状态信息的主站程序结构。在获取状态信息时,根据PLC的工作特点,采用扫描式的状态刷新方法,使获取状态信息的查询次数从常规的M×N减小到M+N。对于一些有特殊限制的工位,... 考虑到装配工位和轨道小车之间多对多的对应关系,设计了基于状态信息的主站程序结构。在获取状态信息时,根据PLC的工作特点,采用扫描式的状态刷新方法,使获取状态信息的查询次数从常规的M×N减小到M+N。对于一些有特殊限制的工位,提出了一种并行的定位指令给定方法,并以自动在线压机工位为例进行了实现,分析表明,总的定位时间约等于三轴定位时间的最大值。自动轨道系统在现场试运行中能够正常运转,成功完成装配定位,表明所设计的主站程序具有良好的工程实用性。 展开更多
关键词 自动轨道系统 状态信息 状态获取 并行定位
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Inter-Circuit Fault Location Algorithm for Two-Parallel Transmission Line
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作者 张庆超 李大勇 +1 位作者 李晖 屈洪鑫 《Transactions of Tianjin University》 EI CAS 2003年第3期189-192,共4页
A novel numerical algorithm of fault location estimation for four-line fault without ground connection involving phases from each of the parallel lines is presented in this paper. It is based on one-terminal voltage a... A novel numerical algorithm of fault location estimation for four-line fault without ground connection involving phases from each of the parallel lines is presented in this paper. It is based on one-terminal voltage and current data. The loop and nodal equations comparing faulted phase to non-faulted phase of two-parallel lines are introduced in the fault location estimation model, in which the source impedance of a remote end is not involved. The effects of load flow and fault resistance on the accuracy of fault location are effectively eliminated, therefore a precise algorithm of locating fault is derived. The algorithm is demonstrated by digital computer simulations. 展开更多
关键词 fault location estimation two-parallel line four-line fault
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Concurrent collision probability of RFID tags in underground mine personnel position systems 被引量:1
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作者 JI Yuchu,XU Zhao,FENG Qinzhu,SANG Yuan School of Information & Electrical Engineering,China University of Mining & Technology,Xuzhou 221008,China 《Mining Science and Technology》 EI CAS 2010年第5期734-737,共4页
According to the basic requirements of underground mine personnel position systems and the working characteristics of active RFID tags,we studied the cause of concurrent collision of RFID tags and leak reading probabi... According to the basic requirements of underground mine personnel position systems and the working characteristics of active RFID tags,we studied the cause of concurrent collision of RFID tags and leak reading probability,by means of theoretical analysis and computation.The result shows that the probability of wireless collision increases linearly with an increase in the number of tags.The probability of collision and leak reading can be reduced by extending the working period of the duty cycle and using a backoff algorithm.In a practical application,a working schedule for available labels has been designed according to the requirement of the project. 展开更多
关键词 personnel position system RFID collision probability of RFID tag
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