The first-order perturbations of the energy levels of a hydrogen atom in central internal gravitational field are investigated. The internal gravitational field is produced by the mass of the atomic nucleus. The energ...The first-order perturbations of the energy levels of a hydrogen atom in central internal gravitational field are investigated. The internal gravitational field is produced by the mass of the atomic nucleus. The energy shifts are calculated for the relativistic 1S, 2S, 2P, 3S, 3P, 3D, 4S, and 4P levels with Schwarzschild metric. The calculated results show that the gravitational corrections are sensitive to the total angular momentum quantum number.展开更多
Mobile target tracking is a necessary function of some emerging application domains, such as virtual reality, smart home and intelligent healthcare. However, existing portable devices for target tracking are resource ...Mobile target tracking is a necessary function of some emerging application domains, such as virtual reality, smart home and intelligent healthcare. However, existing portable devices for target tracking are resource intensive and high-cost. Camera tracking is an effective location tracking way for those emerging applications which can reuse the existing ubiquitous video monitoring system. This paper proposes a dynamic community-based camera collaboration(D3C) framework for target location and tracking. The contributions of D3C mainly include that(1) nonlinear perspective projection model is selected as the camera sensing model and sequential Monte Carlo is employed to predict the target location;(2) a dynamic collaboration scheme is proposed, it is based on the local community-detection theory deriving from social network analysis. The performance of proposed approach is validated by both synthetic datasets and real-world application. The experiment results show that D3C meets the versatility, real-time and fault tolerance requirements of target tracking applications.展开更多
This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position ...This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position correctly. However, for each mobile robot, it is impossible to know its own position correctly. Therefore, each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data errors from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by only using measurement value from each other robot.展开更多
基金The project supported by National Natural Science Foundation of China under Grant Nos. 10435080 and 10575123 and the Chinese Academy of Sciences Knowledge Innovation Project under Grant Nos. KJCX2-SW-N1b and KJC-SYW-N2
文摘The first-order perturbations of the energy levels of a hydrogen atom in central internal gravitational field are investigated. The internal gravitational field is produced by the mass of the atomic nucleus. The energy shifts are calculated for the relativistic 1S, 2S, 2P, 3S, 3P, 3D, 4S, and 4P levels with Schwarzschild metric. The calculated results show that the gravitational corrections are sensitive to the total angular momentum quantum number.
基金supported by National Natural Science Foundation of China (Grant No. 61501048) National High-tech R&D Program of China (863 Program) (Grant No. 2013AA102301)+1 种基金The Fundamental Research Funds for the Central Universities (Grant No. 2017RC12) China Postdoctoral Science Foundation funded project (Grant No.2016T90067, 2015M570060)
文摘Mobile target tracking is a necessary function of some emerging application domains, such as virtual reality, smart home and intelligent healthcare. However, existing portable devices for target tracking are resource intensive and high-cost. Camera tracking is an effective location tracking way for those emerging applications which can reuse the existing ubiquitous video monitoring system. This paper proposes a dynamic community-based camera collaboration(D3C) framework for target location and tracking. The contributions of D3C mainly include that(1) nonlinear perspective projection model is selected as the camera sensing model and sequential Monte Carlo is employed to predict the target location;(2) a dynamic collaboration scheme is proposed, it is based on the local community-detection theory deriving from social network analysis. The performance of proposed approach is validated by both synthetic datasets and real-world application. The experiment results show that D3C meets the versatility, real-time and fault tolerance requirements of target tracking applications.
文摘This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position correctly. However, for each mobile robot, it is impossible to know its own position correctly. Therefore, each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data errors from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by only using measurement value from each other robot.
