An object tracking and global localization method using the cylindrical projection of omnidirectional image

We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment from the omnidirectional image and global localization of the robot in the context of the Middle Size League RoboCup field. This is accomplished by learning a set of visual landmarks such as the goals and the corner posts. Due to the dynamic changing environment and the partially observable landmarks, four localization cases are discussed in order to get robust localization performance. Localization is performed using a method that matches the observed landmarks, i.e. color blobs, which are extracted from the environment. The advantages of the cylindrical projection are discussed giving special consideration to the characteristics of the visual landmark and the meaning of the blob extraction. The analysis is established based on real time experiments with our omnidirectional vision system and the actual mobile robot. The comparative studies are presented and the feasibility of the method is shown.

钢管混凝土界面黏结破坏的声发射特征及时空演化机制

为研究钢管混凝土界面黏结-滑移的破坏机制,采用声发射(AE)监测系统对9个钢管混凝土试件的推出试验进行了声发射测试,获得了撞击计数、能量释放和频谱特征等AE信号特性。结果表明:荷载-滑移曲线可分为胶结段、非线性滑移段和滑移段。AE撞击计数率、能量释放率与黏结-滑移演化过程形成良好的对应关系。AE频谱特征中,胶结段的AE信号较少,其峰频和幅值分布带在0~80 kHz和0~55 dB区间;非线性初滑移段的AE信号不断增多,主要来自黏结界面中不断拓展的破坏裂纹,出现高频高幅值AE信号,其分布带集中于150~400 kHz和60~90 dB区间,非线性初滑移段中高频高幅值信号可作为界面发生黏结破坏的前兆信息;滑移段的AE信号较多,主要来自界面滑移摩擦,以低频低幅值信号为主,其峰频和幅值分布带集中于0~150 kHz和0~60 dB区间。AE信号源柱面定位结果揭示了推出试验下钢管混凝土界面黏结破坏裂纹从两端开始形成、逐渐向中部拓展的时空演化机制。