一种基于视觉的水下机器人动力定位方法

以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。

交通监控系统中运动目标分类和跟踪研究

文章讲述了交通监控系统中应用视频图像流来跟踪运动目标并对目标进行分类的具体过程和原则.基于目标检测提出了双差分的目标检测算法,目标分类应用到了连续时间限制和最大可能性估计的原则,目标跟踪则结合检测到的运动目标图像和当前模板进行相关匹配.实验结果表明,该过程能够很好地探测和分类目标,去除背景信息的干扰,并能够在运动目标部分被遮挡、外观改变和运动停止等情况下连续地跟踪目标.

Prediction of soil adsorption coefficients from retention parameters on three reversed-phase liquid chromatographic columns

Reversed-phase high-performance liquid chromatographic (RP-HPLC) retention parameters, which are determined by the intermolecular interactions in retention process, can be considered as the chemical molecular descriptors in linear free energy relationships (LFERs). On the basis of the characterization and comparison of octadecyl-bonded silica gel (ODS), cyano-bonded silica gel (CN), and phenyl-bonded silica gel (Ph) columns with linear solvation energy relationships (LSERs), a new multiple linear regression model using RP-HPLC retention parameters on ODS and CN columns as variables for estimation of soil adsorption coefficients was developed. It was tested on a set of reference substances from various chemical classes. The results showed that the multicolumn method was more promising than a single-column method was for the estimation of soil adsorption coefficients. The accuracy of the suggested model is identical with that of LSERs.

当代大学生消费价值观与消费行为的调查研究——北京大学生中的消费主义倾向及有关影响因素研究

The aim of this study was to investigate consuming values and behaviors in Chinese college students, to detect the factorial structure in consuming values, and to explore possible determinants of those values and their effects on consuming behaviors. A total of 778 students from various universities in Beijing were investigated with questionnaire survey. The main results and conclusions are as follows: (1) College students were basically satisfied with their current life and study conditions in university, and their main pressures or stresses were from their studies. They were highly motivated in the development of their academic and life careers, and also valued the importance of family and having children in the future. About 11% of the students had pressures due to less favorable financial conditions of their families. (2) Five basic consuming values were found among college students, namely, “industrious and thrifty-aimed value”, “status and brand-aimed value”, “personal and unique-oriented value”, “relation-aimed value”, and “autonomous-aimed value”. The “industrious and thrifty-aimed value” stands for the traditional consuming values in the culture, and the “status and brand-aimed value” shows an explicit tendency of consumerism. The other three consuming values had moderate relations with both of the two values. (3) There was a high negative correlation between the first two values, which showed both a general acceptance and the main trend of “industrious and thrifty-aimed value” among the students. The basic “status and brand-aimed value” was shown among 3.3% of the students. (4) The consuming values were significantly correlated with life values, indicating that consuming values could be in consistence with or be determined by basic life values. The “industrious and thrifty-aimed value” and the “autonomous-aimed value” were shown as collectivistic values, while the “status and brand-aimed value” and “relation-aimed value” were shown as individualistic values. (5) Consuming values had significant influences on consuming behaviors. (6) The demographic factors such as financial conditions of parents, children of number in family, urban-rural location of family, gender, age, and campus culture could affect consuming values and consuming behaviors of college students in both direct and indirect ways.