从视觉数据和惯性测量单元(Inertial Measurement Unit, IMU)数据各自的特点出发,利用计算机视觉三维重建技术从视觉数据中恢复视觉传感器的六维位姿信息,分析计算惯性测量数据和视觉位姿数据的时空关系,实现融合视惯传感数据的场景重...从视觉数据和惯性测量单元(Inertial Measurement Unit, IMU)数据各自的特点出发,利用计算机视觉三维重建技术从视觉数据中恢复视觉传感器的六维位姿信息,分析计算惯性测量数据和视觉位姿数据的时空关系,实现融合视惯传感数据的场景重建及尺度估计,进而获取待测对象的绝对物理尺寸数据。上述方法在实验数据上取得了相对误差约为3%的非接触式物体尺寸估计结果,由于该方法无需在待测场景中嵌入额外标定物或辅助定位装置,具有较好的灵活性和适用范围。展开更多
为解决原始自适应蒙特卡洛定位(Adaptive Monte Carlo localization,AMCL)在相似动态环境下极易重定位失败的问题,首先融合机器人里程计信息、激光信息以及视觉信息,基于Gmapping算法完成机器人的即时定位与栅格地图的创建,其次将Kinec...为解决原始自适应蒙特卡洛定位(Adaptive Monte Carlo localization,AMCL)在相似动态环境下极易重定位失败的问题,首先融合机器人里程计信息、激光信息以及视觉信息,基于Gmapping算法完成机器人的即时定位与栅格地图的创建,其次将KinectV2彩色图像输入到目标检测识别方法中获取图像中物体检测框与类别,并结合GrabCut算法实现语义分割,利用配准数据计算出彩色图像中的物体在深度图像中对应位置,然后将获取到的KinectV2深度数据转换成点云信息并投影转换至全局地图坐标系下,得到物体语义图,并充分发掘各语义物体之间的关系,构建语义物体尺寸链,并提出一种快速有效的尺寸链检索方法,同时采用贝叶斯方法来减小误检测和重复检测对物体语义图的影响,将物体语义图和栅格地图进行原点重合以及位姿对齐,从而构建二维语义栅格地图,提出一种基于语义物体尺寸链的改进AMCL重定位算法,最后通过大量真实环境下的重定位实验验证了所提方法在相似动态环境中的优越性能。展开更多
A 21-d laboratory experiment was conducted to study, the phosphorus （P） utilization of two different diets by redlip mullet Liza haematocheila T. ＆ S. Sand-filtered water in salinity 30 and temperatare 25℃ was use...A 21-d laboratory experiment was conducted to study, the phosphorus （P） utilization of two different diets by redlip mullet Liza haematocheila T. ＆ S. Sand-filtered water in salinity 30 and temperatare 25℃ was used. Twenty-nine fish individuals were divided into three groups： 11 to group 1 （G1） fed on diet 1, 11 to group 2 （G2） fed on diet 2, and 7 to contrast group. Diet 1 was a commercial feed, more valuable in nutrition than diet 2 that similar to natural detritus. The results show the intake phosphorus （IP） of G1 was significantly higher than that of G2, and both increased linearly with body size at a certain amount of diet. The retention phosphorus （RP） in fish of G1 was lower than G2. The relationship between retention phosphorus and body size was positive and stronger in G2. Significant difference in faecal phosphorus （FP） was found between G1 and G2. Body size significantly impacted the excretion phosphorus （EP） in G1 but G2. The loss of intake phosphorus in G1 was 10.83-20.27 mg per g fish weight gain, higher than that in G2 for 6.63-9.56. Of the phosphorus, about 10% was allocated into growth, 50% in faeces, and the rest lost in excretion. The main part of phosphorus was lost in faeces but excretion. The phosphorus budget of the fish could be described as 100IP = 7.40RP ＋ 47.39FP ＋ 36.63EP （Diet 1） or 100IP = 11.93RP ＋ 56.64FP ＋ 21.76EP （Diet 2）.展开更多
The dependence of starting materials and their initial grain sizes on the formation of gases （H2, CH4, C2H6 and C3Hs） during serpentinization was investigated by conducting hydrothermal experiments at 311℃ and 3 kb...The dependence of starting materials and their initial grain sizes on the formation of gases （H2, CH4, C2H6 and C3Hs） during serpentinization was investigated by conducting hydrothermal experiments at 311℃ and 3 kbar on olivine and peridotite with initial grain sizes ranging from 〈30 to 177 μm. Hydrocarbons （CH4, C2H6 and C3H8） were produced from reaction between dissolved CO2 in the starting fluids and HE formed during serpentinization, which were analyzed by Gas Chromatography. It was found that olivine serpentinization produced much less H2 and CH4 compared with those after peridotite alteration, while their C2H6 and C3H8 were identical. For example, for olivine with initial grain sizes of 〈30 μm, the amounts of HE and CH4 were 79.6 mmol/kg and 460 μmol/kg after 27 days, respectively. By contrast, the quantities of H2 and CH4 produced in experiment on peridotite with the same run duration were much larger, 119 mmol/kg and 1300 μmol/kg, respectively. This indicates that spinel and pyroxene in peridotite may increase the amounts of HE and hydrocarbons, possibly due to the catalytic effect of aluminum released by spinel and pyroxene during serpentinization. Moreover, the production of H2 and hydrocarbons is negatively correlated with initial grain sizes of the starting material, with smaller amounts of HE and hydrocarbons for larger initial grain sizes, indicating that the kinetics of serpentinization influences the formation of HE and hydrocarbons, possibly because of the lack of catalytic minerals for the starting material with larger grain sizes. This study suggests that olivine cannot completely represent peridotite during serpentinization, and that H2 and hydrocarbons in hydrothermal fields near the mid-ocean ridge may be produced in a very long period of serpentinization or the presence of catalytic minerals due to large grain sizes of ultramafic rocks.展开更多
文摘从视觉数据和惯性测量单元(Inertial Measurement Unit, IMU)数据各自的特点出发,利用计算机视觉三维重建技术从视觉数据中恢复视觉传感器的六维位姿信息,分析计算惯性测量数据和视觉位姿数据的时空关系,实现融合视惯传感数据的场景重建及尺度估计,进而获取待测对象的绝对物理尺寸数据。上述方法在实验数据上取得了相对误差约为3%的非接触式物体尺寸估计结果,由于该方法无需在待测场景中嵌入额外标定物或辅助定位装置,具有较好的灵活性和适用范围。
文摘为解决原始自适应蒙特卡洛定位(Adaptive Monte Carlo localization,AMCL)在相似动态环境下极易重定位失败的问题,首先融合机器人里程计信息、激光信息以及视觉信息,基于Gmapping算法完成机器人的即时定位与栅格地图的创建,其次将KinectV2彩色图像输入到目标检测识别方法中获取图像中物体检测框与类别,并结合GrabCut算法实现语义分割,利用配准数据计算出彩色图像中的物体在深度图像中对应位置,然后将获取到的KinectV2深度数据转换成点云信息并投影转换至全局地图坐标系下,得到物体语义图,并充分发掘各语义物体之间的关系,构建语义物体尺寸链,并提出一种快速有效的尺寸链检索方法,同时采用贝叶斯方法来减小误检测和重复检测对物体语义图的影响,将物体语义图和栅格地图进行原点重合以及位姿对齐,从而构建二维语义栅格地图,提出一种基于语义物体尺寸链的改进AMCL重定位算法,最后通过大量真实环境下的重定位实验验证了所提方法在相似动态环境中的优越性能。
基金the NNSF of China (No.40206001)the Key Laboratory of Mariculture of Ministry of Education,Ocean University of China (No.200404)
文摘A 21-d laboratory experiment was conducted to study, the phosphorus （P） utilization of two different diets by redlip mullet Liza haematocheila T. ＆ S. Sand-filtered water in salinity 30 and temperatare 25℃ was used. Twenty-nine fish individuals were divided into three groups： 11 to group 1 （G1） fed on diet 1, 11 to group 2 （G2） fed on diet 2, and 7 to contrast group. Diet 1 was a commercial feed, more valuable in nutrition than diet 2 that similar to natural detritus. The results show the intake phosphorus （IP） of G1 was significantly higher than that of G2, and both increased linearly with body size at a certain amount of diet. The retention phosphorus （RP） in fish of G1 was lower than G2. The relationship between retention phosphorus and body size was positive and stronger in G2. Significant difference in faecal phosphorus （FP） was found between G1 and G2. Body size significantly impacted the excretion phosphorus （EP） in G1 but G2. The loss of intake phosphorus in G1 was 10.83-20.27 mg per g fish weight gain, higher than that in G2 for 6.63-9.56. Of the phosphorus, about 10% was allocated into growth, 50% in faeces, and the rest lost in excretion. The main part of phosphorus was lost in faeces but excretion. The phosphorus budget of the fish could be described as 100IP = 7.40RP ＋ 47.39FP ＋ 36.63EP （Diet 1） or 100IP = 11.93RP ＋ 56.64FP ＋ 21.76EP （Diet 2）.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.4109037341121002+2 种基金41103012 and 41173069)the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDB06030100)also by Postdoctoral Science Foundation of China(Grant No.2015M570735)
文摘The dependence of starting materials and their initial grain sizes on the formation of gases （H2, CH4, C2H6 and C3Hs） during serpentinization was investigated by conducting hydrothermal experiments at 311℃ and 3 kbar on olivine and peridotite with initial grain sizes ranging from 〈30 to 177 μm. Hydrocarbons （CH4, C2H6 and C3H8） were produced from reaction between dissolved CO2 in the starting fluids and HE formed during serpentinization, which were analyzed by Gas Chromatography. It was found that olivine serpentinization produced much less H2 and CH4 compared with those after peridotite alteration, while their C2H6 and C3H8 were identical. For example, for olivine with initial grain sizes of 〈30 μm, the amounts of HE and CH4 were 79.6 mmol/kg and 460 μmol/kg after 27 days, respectively. By contrast, the quantities of H2 and CH4 produced in experiment on peridotite with the same run duration were much larger, 119 mmol/kg and 1300 μmol/kg, respectively. This indicates that spinel and pyroxene in peridotite may increase the amounts of HE and hydrocarbons, possibly due to the catalytic effect of aluminum released by spinel and pyroxene during serpentinization. Moreover, the production of H2 and hydrocarbons is negatively correlated with initial grain sizes of the starting material, with smaller amounts of HE and hydrocarbons for larger initial grain sizes, indicating that the kinetics of serpentinization influences the formation of HE and hydrocarbons, possibly because of the lack of catalytic minerals for the starting material with larger grain sizes. This study suggests that olivine cannot completely represent peridotite during serpentinization, and that H2 and hydrocarbons in hydrothermal fields near the mid-ocean ridge may be produced in a very long period of serpentinization or the presence of catalytic minerals due to large grain sizes of ultramafic rocks.
