In order to provide important parameters for schedule designing, decision-making bases for transit operation management and references for passengers traveling by bus, bus transit travel time reliability is analyzed a...In order to provide important parameters for schedule designing, decision-making bases for transit operation management and references for passengers traveling by bus, bus transit travel time reliability is analyzed and evaluated based on automatic vehicle location （AVL） data. Based on the statistical analysis of the bus transit travel time, six indices including the coefficient of variance, the width of travel time distribution, the mean commercial speed, the congestion frequency, the planning time index and the buffer time index are proposed. Moreover, a framework for evaluating bus transit travel time reliability is constructed. Finally, a case study on a certain bus route in Suzhou is conducted. Results show that the proposed evaluation index system is simple and intuitive, and it can effectively reflect the efficiency and stability of bus operations. And a distinguishing feature of bus transit travel time reliability is the temporal pattern. It varies across different time periods.展开更多
Terrain texture analysis is an important method of digital terrain analysis in quantitative geomorphological research and in the exploration of the spatial heterogeneity and autocorrelation of terrain features. Howeve...Terrain texture analysis is an important method of digital terrain analysis in quantitative geomorphological research and in the exploration of the spatial heterogeneity and autocorrelation of terrain features. However, a major issue often neglected in previous studies is the calculation unit of the terrain texture, that is, the stability analysis unit. As the test size increases, the derived terrain textures become increasingly similar so that their differences can be ignored. The test size of terrain texture is defined as the stability analysis unit. This study randomly selected 48 areas within the Loess Plateau in northern Shaanxi in China as the study sites and used the gray level co-occurrence matrix to calculate the terrain texture. The stability analysis unit of the terrain texture was then extracted, and its spatial distribution pattern in the Loess Plateau was studiedusing spatial interpolation method. Four terrain texture metrics, i.e., homogeneity, energy, correlation, and contrast, were extracted on the basis of the stability analysis unit, and the spatial variation patterns of these parameters were studied. Results showed that the spatial distribution pattern and the terrain texture metrics reflected a trend of high–low–high from north to south, which correlated with the spatial distribution of the landforms at the Loess Plateau. In addition, the terrain texture measures was significantly correlated with the terrain factors of gully density and slope, and this relationship showed that terrain texture measures based on the stability analysis unit could reflect the basic characteristics of terrain morphology. The stability analysis unit provided a reasonable analytical scale for terrain texture analysis and could be used as a measure of the regional topography to accurately describe basic terrain characteristics.展开更多
The task of simultaneous localization and mapping （SLAM） is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. ...The task of simultaneous localization and mapping （SLAM） is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. However, there are two obvious limitations in FastSLAM 2.0, one is the linear approximations of nonlinear functions which would cause the filter inconsistent and the other is the ＂particle depletion＂ phenomenon. A kind of PSO ＆ Hjj-based FastSLAM 2.0 algorithm is proposed. For maintaining the estimation accuracy, H~ filter is used instead of EKF for overcoming the inaccuracy caused by the linear approximations of nonlinear functions. The unreasonable proposal distribution of particle greatly influences the pose state estimation of robot. A new sampling strategy based on PSO （particle swarm optimization） is presented to solve the ＂particle depletion＂ phenomenon and improve the accuracy of pose state estimation. The proposed approach overcomes the obvious drawbacks of standard FastSLAM 2.0 algorithm and enhances the robustness and efficiency in the parts of consistency of filter and accuracy of state estimation in SLAM. Simulation results demonstrate the superiority of the proposed approach.展开更多
The UAVs （unmanned aerial vehicles） and the use of graphical data files of extension KML （keyhole markup language） have become popular nowadays. The KML files are associated to the Google Earth applications. Devel...The UAVs （unmanned aerial vehicles） and the use of graphical data files of extension KML （keyhole markup language） have become popular nowadays. The KML files are associated to the Google Earth applications. Developed by Microdrone company for planning, overflight simulation and data flight analysis, the program mdCockpit was used in this experiment. The UAV Microdrone＇s flight path was programmed in two ways： using geo referenced images from Google Earth and entering points coordinates into the program. These points have had their geographical decimal coordinates collected by GPS （global positioning system） （RTK （real time kinematic）） method. The aim here is to describe a way of evaluating the difference between the alternatives of flight planning. A flight path, defined a route with 22 points, was also simulated in the program mdCockpit. The points were collected and saved, while the images captured by the program went automatically forming a georeferenced mosaic. A comparison between the differences of coordinates to each point was made by choosing on the images and also by a RTK positioning. The result was up to 14.20 m to a 100 m flight height. There is a significant change of position and this can result in unwanted over flights in locations or even jeopardizing the safety of air activity.展开更多
This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information...This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.展开更多
The steered response power-phase transform (SRP-PHAT) sound source localization algorithm is robust in a real environment. However, the large computation complexity limits the practical application of SRP-PHAT. For a ...The steered response power-phase transform (SRP-PHAT) sound source localization algorithm is robust in a real environment. However, the large computation complexity limits the practical application of SRP-PHAT. For a microphone array, each location corresponds to a set of time differences of arrival (TDOAs), and this paper collects them into a TDOA vector. Since the TDOA vectors in the adjacent regions are similar, we present a fast algorithm based on clustering search to reduce the computation complexity of SRP-PHAT. In the training stage, the K-means or Iterative Self-Organizing Data Analysis Technique (ISODATA) clustering algorithm is used to find the centroid in each cluster with similar TDOA vectors. In the procedure of sound localization, the optimal cluster is found by comparing the steered response powers (SRPs) of all centroids. The SRPs of all candidate locations in the optimal cluster are compared to localize the sound source. Experiments both in simulation environments and real environments have been performed to compare the localization accuracy and computational load of the proposed method with those of the conventional SRP-PHAT algorithm. The results show that the proposed method is able to reduce the computational load drastically and maintains almost the same localization accuracy and robustness as those of the conventional SRP-PHAT algorithm. The difference in localization performance brought by different clustering algorithms used in the training stage is trivial.展开更多
In this paper,the Fourier spectrum-based strain energy damage detection method for beam-like structures is proposed based on the discrete Fourier transform.The classical strain energy damage detection method localizes...In this paper,the Fourier spectrum-based strain energy damage detection method for beam-like structures is proposed based on the discrete Fourier transform.The classical strain energy damage detection method localizes damage by the comparison of the strain energy between the intact and inspected structures.The evaluation of the 2nd-order derivative term in the strain energy plays a crucial part in the comparison.The classical methods are mostly based on a numerical derivative estimation for this term.The numerical derivative,however,introduces additional disturbances into damage indications.To address this problem,a discrete Fourier transform-based strain energy is proposed with the emphasis of enhancing the performance in noisy condition.The validations conducted on the simulated and experimental data show that the developed method is effective enough for composite beam damage detection in noisy environments.展开更多
Accurate calculation of circulating current is one of the key problems for stator transposition bars in the design of turbo-generators. Aimed at limitation that analytical algorithm of circulating current could not re...Accurate calculation of circulating current is one of the key problems for stator transposition bars in the design of turbo-generators. Aimed at limitation that analytical algorithm of circulating current could not reflect the local electromagnetic field distribution and difficulty that overlaps easily exist in solid modeling process of stator transposition bars, a simplified physical model of transposition bars is established. A three-dimensional(3-D) numerical method for circulating current in stator transposition bars of large water-cooled turbo-generators is investigated, which is combined with field-circuit coupling method. Taking stator bars less than 540° transposition with void model of a 600-MW water-cooled turbo-generator as the research object, the magnetic flux density distribution, current density distribution and circulating current distribution of transposition strands are obtained by numerical calculation. Compared with calculation results of the improved analytical algorithm, the correctness of the numerical calculation for circulating current is demonstrated, the calculation value difference for the maximum current of strands is obtained. The numerical calculation for circulating current will provide an appropriate basis for the reasonable calculation of local overheating of stator transposition bars and the design of safety margin for turbo-generators.展开更多
Automatic localization,aligning the measured points with the design model,is a basic task in free-form surface inspection.The main difficulty of current localization algorithms is how to define effective distance func...Automatic localization,aligning the measured points with the design model,is a basic task in free-form surface inspection.The main difficulty of current localization algorithms is how to define effective distance function and localization reliability index.This paper proposes a new method of calculating motion parameters and evaluating localization reliability.First,improved modified coefficient is defined and applied to weighted-iteration distance function,which better approximates the point-to-surface closest distance.It can control the contribution ratios of different measured points by considering the curvature feature and iterative residual.Second,the mapping relationship between localization error and geometric error is analyzed,from which a Lyapunov-test statistic is derived to define a frame-independence index.Then,the determination of localization reliability changes into a supposition examination problem.This can avoid rejecting correct motion parameters,which exists in the traditional judgment of absolute root-mean-square distance.In addition,two test experiments are implemented to demonstrate the proposed localization algorithm.展开更多
基金The Soft Science Research Project of Ministry of Housing and Urban-Rural Development of China (No. 2008-k5-14)
文摘In order to provide important parameters for schedule designing, decision-making bases for transit operation management and references for passengers traveling by bus, bus transit travel time reliability is analyzed and evaluated based on automatic vehicle location （AVL） data. Based on the statistical analysis of the bus transit travel time, six indices including the coefficient of variance, the width of travel time distribution, the mean commercial speed, the congestion frequency, the planning time index and the buffer time index are proposed. Moreover, a framework for evaluating bus transit travel time reliability is constructed. Finally, a case study on a certain bus route in Suzhou is conducted. Results show that the proposed evaluation index system is simple and intuitive, and it can effectively reflect the efficiency and stability of bus operations. And a distinguishing feature of bus transit travel time reliability is the temporal pattern. It varies across different time periods.
基金supported by the National Natural Science Foundation of China (Grant Nos. 41471316, 41571383, 41671389)the Priority Academic Program Development of Jiangsu Higher Education Institutions-PAPD (Grant No. 164320H101)the Key Project of Natural Science Research of Anhui Provincial Department of Education (Grant No. KJ2015A171)
文摘Terrain texture analysis is an important method of digital terrain analysis in quantitative geomorphological research and in the exploration of the spatial heterogeneity and autocorrelation of terrain features. However, a major issue often neglected in previous studies is the calculation unit of the terrain texture, that is, the stability analysis unit. As the test size increases, the derived terrain textures become increasingly similar so that their differences can be ignored. The test size of terrain texture is defined as the stability analysis unit. This study randomly selected 48 areas within the Loess Plateau in northern Shaanxi in China as the study sites and used the gray level co-occurrence matrix to calculate the terrain texture. The stability analysis unit of the terrain texture was then extracted, and its spatial distribution pattern in the Loess Plateau was studiedusing spatial interpolation method. Four terrain texture metrics, i.e., homogeneity, energy, correlation, and contrast, were extracted on the basis of the stability analysis unit, and the spatial variation patterns of these parameters were studied. Results showed that the spatial distribution pattern and the terrain texture metrics reflected a trend of high–low–high from north to south, which correlated with the spatial distribution of the landforms at the Loess Plateau. In addition, the terrain texture measures was significantly correlated with the terrain factors of gully density and slope, and this relationship showed that terrain texture measures based on the stability analysis unit could reflect the basic characteristics of terrain morphology. The stability analysis unit provided a reasonable analytical scale for terrain texture analysis and could be used as a measure of the regional topography to accurately describe basic terrain characteristics.
基金Project(ZR2011FM005)supported by the Natural Science Foundation of Shandong Province,China
文摘The task of simultaneous localization and mapping （SLAM） is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. However, there are two obvious limitations in FastSLAM 2.0, one is the linear approximations of nonlinear functions which would cause the filter inconsistent and the other is the ＂particle depletion＂ phenomenon. A kind of PSO ＆ Hjj-based FastSLAM 2.0 algorithm is proposed. For maintaining the estimation accuracy, H~ filter is used instead of EKF for overcoming the inaccuracy caused by the linear approximations of nonlinear functions. The unreasonable proposal distribution of particle greatly influences the pose state estimation of robot. A new sampling strategy based on PSO （particle swarm optimization） is presented to solve the ＂particle depletion＂ phenomenon and improve the accuracy of pose state estimation. The proposed approach overcomes the obvious drawbacks of standard FastSLAM 2.0 algorithm and enhances the robustness and efficiency in the parts of consistency of filter and accuracy of state estimation in SLAM. Simulation results demonstrate the superiority of the proposed approach.
文摘The UAVs （unmanned aerial vehicles） and the use of graphical data files of extension KML （keyhole markup language） have become popular nowadays. The KML files are associated to the Google Earth applications. Developed by Microdrone company for planning, overflight simulation and data flight analysis, the program mdCockpit was used in this experiment. The UAV Microdrone＇s flight path was programmed in two ways： using geo referenced images from Google Earth and entering points coordinates into the program. These points have had their geographical decimal coordinates collected by GPS （global positioning system） （RTK （real time kinematic）） method. The aim here is to describe a way of evaluating the difference between the alternatives of flight planning. A flight path, defined a route with 22 points, was also simulated in the program mdCockpit. The points were collected and saved, while the images captured by the program went automatically forming a georeferenced mosaic. A comparison between the differences of coordinates to each point was made by choosing on the images and also by a RTK positioning. The result was up to 14.20 m to a 100 m flight height. There is a significant change of position and this can result in unwanted over flights in locations or even jeopardizing the safety of air activity.
文摘This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.
基金supported by the National Natural Science Foundation of China(Grant Nos. 60971098 and 61201345)the Beijing Key Laboratory of Advanced Information Science and Network Technology(Grant No.XDXX1308)
文摘The steered response power-phase transform (SRP-PHAT) sound source localization algorithm is robust in a real environment. However, the large computation complexity limits the practical application of SRP-PHAT. For a microphone array, each location corresponds to a set of time differences of arrival (TDOAs), and this paper collects them into a TDOA vector. Since the TDOA vectors in the adjacent regions are similar, we present a fast algorithm based on clustering search to reduce the computation complexity of SRP-PHAT. In the training stage, the K-means or Iterative Self-Organizing Data Analysis Technique (ISODATA) clustering algorithm is used to find the centroid in each cluster with similar TDOA vectors. In the procedure of sound localization, the optimal cluster is found by comparing the steered response powers (SRPs) of all centroids. The SRPs of all candidate locations in the optimal cluster are compared to localize the sound source. Experiments both in simulation environments and real environments have been performed to compare the localization accuracy and computational load of the proposed method with those of the conventional SRP-PHAT algorithm. The results show that the proposed method is able to reduce the computational load drastically and maintains almost the same localization accuracy and robustness as those of the conventional SRP-PHAT algorithm. The difference in localization performance brought by different clustering algorithms used in the training stage is trivial.
基金supported by the National Natural Science Foundation of China(Grant Nos.51405369&51421004)the National Key Basic Research Program of China(Grant No.2015CB057400)+1 种基金the National Natural Science Foundation of Shaanxi Province(Grant No.2016JQ5049)the Postdoctoral Science Foundation of Shaanxi Province
文摘In this paper,the Fourier spectrum-based strain energy damage detection method for beam-like structures is proposed based on the discrete Fourier transform.The classical strain energy damage detection method localizes damage by the comparison of the strain energy between the intact and inspected structures.The evaluation of the 2nd-order derivative term in the strain energy plays a crucial part in the comparison.The classical methods are mostly based on a numerical derivative estimation for this term.The numerical derivative,however,introduces additional disturbances into damage indications.To address this problem,a discrete Fourier transform-based strain energy is proposed with the emphasis of enhancing the performance in noisy condition.The validations conducted on the simulated and experimental data show that the developed method is effective enough for composite beam damage detection in noisy environments.
基金supported by the National Natural Science Foundation of China(Grant No.51477038)
文摘Accurate calculation of circulating current is one of the key problems for stator transposition bars in the design of turbo-generators. Aimed at limitation that analytical algorithm of circulating current could not reflect the local electromagnetic field distribution and difficulty that overlaps easily exist in solid modeling process of stator transposition bars, a simplified physical model of transposition bars is established. A three-dimensional(3-D) numerical method for circulating current in stator transposition bars of large water-cooled turbo-generators is investigated, which is combined with field-circuit coupling method. Taking stator bars less than 540° transposition with void model of a 600-MW water-cooled turbo-generator as the research object, the magnetic flux density distribution, current density distribution and circulating current distribution of transposition strands are obtained by numerical calculation. Compared with calculation results of the improved analytical algorithm, the correctness of the numerical calculation for circulating current is demonstrated, the calculation value difference for the maximum current of strands is obtained. The numerical calculation for circulating current will provide an appropriate basis for the reasonable calculation of local overheating of stator transposition bars and the design of safety margin for turbo-generators.
基金supported by the National Natural Science Foundation of China (Grant Nos. 50835004 and 51105155)the China Postdoctoral Science Foundation (Grant No. 20110491145)
文摘Automatic localization,aligning the measured points with the design model,is a basic task in free-form surface inspection.The main difficulty of current localization algorithms is how to define effective distance function and localization reliability index.This paper proposes a new method of calculating motion parameters and evaluating localization reliability.First,improved modified coefficient is defined and applied to weighted-iteration distance function,which better approximates the point-to-surface closest distance.It can control the contribution ratios of different measured points by considering the curvature feature and iterative residual.Second,the mapping relationship between localization error and geometric error is analyzed,from which a Lyapunov-test statistic is derived to define a frame-independence index.Then,the determination of localization reliability changes into a supposition examination problem.This can avoid rejecting correct motion parameters,which exists in the traditional judgment of absolute root-mean-square distance.In addition,two test experiments are implemented to demonstrate the proposed localization algorithm.
