联合相容分支定界算法(JCBB)存在"计算复杂度高"等缺点.为了优化JCBB算法在准确度和计算复杂度方面的性能,对它进行了三处改进:一是采用互斥准则和最优准则来提高关联的准确度;二是根据机器人的位姿和传感器的测量范围将数据...联合相容分支定界算法(JCBB)存在"计算复杂度高"等缺点.为了优化JCBB算法在准确度和计算复杂度方面的性能,对它进行了三处改进:一是采用互斥准则和最优准则来提高关联的准确度;二是根据机器人的位姿和传感器的测量范围将数据关联限定在局部可能区域中;三是自适应地进行分批数据关联.仿真实验结果表明,优化JCBB算法(OJCBB)在保证准确度的同时大大降低了计算复杂度.Victoria Park Dataset实验表明,OJCBB算法的数据关联结果是可信的,而且OJCBB算法的计算效率远远高于JCBB算法.展开更多
Monitoring indoor harmful gas can obtain the infrared spectra of mixed harmful gases.Since the absorption bands of mixed gases overlap and their qualitative and quantitative analyses are not easy,feature extraction me...Monitoring indoor harmful gas can obtain the infrared spectra of mixed harmful gases.Since the absorption bands of mixed gases overlap and their qualitative and quantitative analyses are not easy,feature extraction method based on joint approximative diagonalization of eigenmatrix（JADE）is proposed.By fully mining the hidden information of original data and analyzing higher-order statistics information of the data,each substance spectrum in the mixed gas can be accurately distinguished.In addition,a multi-dimensional data quantitative analysis model of the extracted independent source is established by using support vector machine（SVM）based on regular theory.The experimental results show that the correlation coefficients of the components of mixed gases is above 0.999 1by quantitative analysis,which verifies the accuracy of this feature extraction method.展开更多
According to the influence of the combination of short-distance coal seam group on mining roadway, using numerical simulation software FLAG2D to draw the abutment pressure distribution ahead the working face and the a...According to the influence of the combination of short-distance coal seam group on mining roadway, using numerical simulation software FLAG2D to draw the abutment pressure distribution ahead the working face and the area of influence in fully-mechanized mining conditions, the variation rules of surrounding rock supporting pressure of floor roadway and the deformation rules were summarized. GYS-300 anchor dynamometer was used to measure the roadway surface displacement, and the conclusions of numerical simulation were verified.展开更多
针对在移动机器人同时定位与建图(SLAM)过程中如何快速准确获取数据关联结果的问题,提出了一种基于DBSCAN(density-based spatial clustering of application with noise)聚类分组的快速联合兼容SLAM数据关联算法(DFJCBB).首先,采用局...针对在移动机器人同时定位与建图(SLAM)过程中如何快速准确获取数据关联结果的问题,提出了一种基于DBSCAN(density-based spatial clustering of application with noise)聚类分组的快速联合兼容SLAM数据关联算法(DFJCBB).首先,采用局部关联策略将参与关联的特征点限定在局部地图中;其次,针对多数环境中量测都有较明显的分布,采用一种基于密度聚类的方法 DBSCAN对当前时刻的量测进行分组,从而得到若干关联度小的观测小组;最后,在每个小组中采用联合兼容分支定界(JCBB)算法进行数据关联,以获得每个小组量测与局部地图特征之间的最优关联解,并将这些关联解组合获得最终的关联结果.基于模拟器和标准数据集的仿真实验验证了该关联算法的性能,结果表明该关联算法在保证获得较高关联准确度的同时,大大降低了算法复杂度、缩短了运行时间,适用于解决不同复杂环境中的SLAM数据关联问题.展开更多
文摘联合相容分支定界算法(JCBB)存在"计算复杂度高"等缺点.为了优化JCBB算法在准确度和计算复杂度方面的性能,对它进行了三处改进:一是采用互斥准则和最优准则来提高关联的准确度;二是根据机器人的位姿和传感器的测量范围将数据关联限定在局部可能区域中;三是自适应地进行分批数据关联.仿真实验结果表明,优化JCBB算法(OJCBB)在保证准确度的同时大大降低了计算复杂度.Victoria Park Dataset实验表明,OJCBB算法的数据关联结果是可信的,而且OJCBB算法的计算效率远远高于JCBB算法.
基金National Natural Science Foundation of China(No.61127015)
文摘Monitoring indoor harmful gas can obtain the infrared spectra of mixed harmful gases.Since the absorption bands of mixed gases overlap and their qualitative and quantitative analyses are not easy,feature extraction method based on joint approximative diagonalization of eigenmatrix（JADE）is proposed.By fully mining the hidden information of original data and analyzing higher-order statistics information of the data,each substance spectrum in the mixed gas can be accurately distinguished.In addition,a multi-dimensional data quantitative analysis model of the extracted independent source is established by using support vector machine（SVM）based on regular theory.The experimental results show that the correlation coefficients of the components of mixed gases is above 0.999 1by quantitative analysis,which verifies the accuracy of this feature extraction method.
文摘According to the influence of the combination of short-distance coal seam group on mining roadway, using numerical simulation software FLAG2D to draw the abutment pressure distribution ahead the working face and the area of influence in fully-mechanized mining conditions, the variation rules of surrounding rock supporting pressure of floor roadway and the deformation rules were summarized. GYS-300 anchor dynamometer was used to measure the roadway surface displacement, and the conclusions of numerical simulation were verified.
文摘针对在移动机器人同时定位与建图(SLAM)过程中如何快速准确获取数据关联结果的问题,提出了一种基于DBSCAN(density-based spatial clustering of application with noise)聚类分组的快速联合兼容SLAM数据关联算法(DFJCBB).首先,采用局部关联策略将参与关联的特征点限定在局部地图中;其次,针对多数环境中量测都有较明显的分布,采用一种基于密度聚类的方法 DBSCAN对当前时刻的量测进行分组,从而得到若干关联度小的观测小组;最后,在每个小组中采用联合兼容分支定界(JCBB)算法进行数据关联,以获得每个小组量测与局部地图特征之间的最优关联解,并将这些关联解组合获得最终的关联结果.基于模拟器和标准数据集的仿真实验验证了该关联算法的性能,结果表明该关联算法在保证获得较高关联准确度的同时,大大降低了算法复杂度、缩短了运行时间,适用于解决不同复杂环境中的SLAM数据关联问题.
