基于立体视觉的室外非结构化环境障碍物检测方法研究

随着智能机器人系统的发展，机器人的在线感知能力日益受到重视。障碍物检测能力是机器人在线感知能力的一个重要组成部分。因视觉传感器具有独特优势，基于视觉的障碍物检测方法成为目前关注的重点。 室外非结构化环境因结构复杂，机器人缺乏可有效利用的先验知识描述，导致众多障碍物检测系统在该环境中不能有效工作。本文采用全局-局部策略对场景进行由粗到精的分析，弥补室外非结构化环境先验知识不足的难题，提高机器人的在线感知能力。根据该策略，本文在基于视差图的障碍物检测系统框架中，引入视差投影图模块，提出了基于视差投影图的障碍物检测系统框架。该框架在视差投影图模块中全局分析场景视差分布水平，在立体匹配模块中局部分析场景前景目标的几何轮廓信息。依据该框架，针对实际应用中遇到的各种问题，提出了工作于室外非结构化环境的障碍物检测算法。该算法具有如下特点： 1、通过分析视差投影图的地面关联线信息，获得场景的视差分布水平。该信息一方面用来动态更改匹配算法的视差搜索范围，增强算法的实时性和鲁棒性；另一方面用来移除背景地表，简化障碍物分割过程； 2、采用双域滤波抑制噪声，获得清晰的边缘特征，降低立体匹配算法在深度不连续性区域的匹配难度； 3、借助逆向重投影的思想重采样扫描图像，在立体匹配前等效地实现了立体匹配过程中动态变更视差搜索范围的操作； 4、采用基于连通成分的扩散方法替代传统的SAD局部匹配算法，获得高质量的视差图，最终改善障碍物检测的精确性。 在室外非结构化环境中，本文对该算法进行了实验验证。通过设置不同的基线长度，验证了算法在不同的感知距离内的有效性。经实验证明，本算法在一定距离范围内能够有效的检测出障碍物。

像平面与空间平面的变换及其在移动机器人中的应用

说明了像平面与空间平面的变换以及摄像机在固定，旋转和平移时变换矩阵的求解方法．还讨论了该变换在移动机器人定位，障碍物检测，运动参数分析和三维坐标计算上的应用。

Burst Detection in Turbulent Channel Flows Based on Large Eddy Simulation Databases

Reliable turbulent channel flow databases at several Reynolds numbers have been established by large eddy simulation (LES), with two of them validated by comparing with typical direct numerical simulation (DNS) results. Furthermore, the statistics, such as velocity profile, turbulent intensities and shear stress, were obtained as well as the temporal and spatial structure of turbulent bursts. Based on the LES databases available, the conditional sampling methods are used to detect the structures of burst events. A method to deterimine the grouping parameter from the probability distribution function (pdf) curve of the time separation between ejection events is proposed to avoid the errors in detected results. And thus, the dependence of average burst period on thresholds is considerably weakened. Meanwhile, the average burst-to-bed area ratios are detected. It is found that the Reynolds number exhibits little effect on the burst period and burst-to-bed area ratio.

Detection and Characterization of Long-Pulse Low-Velocity Impact Damage in Plastic Bonded Explosives

Damage not only degrades the mechanical properties of explosives, but also influences the shock sensitivity, combustion and even detonation behavior of explosives. The study of impact damage is crucial in the vulnerability evaluation of explosives. A long-pulse low-velocity gas gun with a gas buffer was developed and used to induce impact damage in a hot pressed plastic bonded explosive. Various methods were used to detect and characterize the impact damage of the explosive. The microstructure was examined by use of polarized light microscopy. Fractal analysis of the micrographs was conducted by use of box counting method. The correlation between the fractal dimensions and microstructures was analyzed. Ultrasonic testing was conducted using a pulse through-transmission method to obtain the ultrasonic velocity and ultrasonic attenuation. Spectra analyses were carried out for recorded ultrasonic signals using fast Fourier transform. The correlations between the impact damage and ultrasonic parameters including ultrasonic velocities and attenuation coefficients were also analyzed. To quantitatively assess the impact induced explosive crystal fractures, particle size distribution analyses of explosive crystals were conducted by using a thorough etching technique, in which the explosives samples were soaked in a solution for enough time that the binder was totally removed. Impact induces a large extent of explosive crystal fractures and a large number of microcracks. The ultrasonic velocity decreases and attenuation coefficients increase with the presence of impact damage. Both ultrasonic parameters and fractal dimension can be used to quantitatively assess the impact damage of plastic bonded explosives.

Burst event detection in wall turbulence by WVITA method

Wavelet Variable Interval Time Average (WVITA) is introduced as a method incorporating burst event detection in wall turbulence. Wavelet transform is performed to unfold the longitudinal fluctuating velocity time series measured in the near wall region of a turbulent boundary layer using hot-film anemometer. This unfolding is both in time and in space simultaneously. The splitted kinetic of the longitudinal fluctuating velocity time series among different scales is obtained by integrating the square of wavelet coefficient modulus over temporal space. The time scale that related to burst events in wall turbulence passing through the fixed probe is ascertained by maximum criterion of the kinetic energy evolution across scales. Wavelet transformed localized variance of the fluctuating velocity time series at the maximum kinetic scale is put forward instead of localized short time average variance in Variable Interval Time Average (VITA) scheme. The burst event detection result shows that WVITA scheme can avoid erroneous judgement and solve the grouping problem more effectively which is caused by VITA scheme itself and can not be avoided by adjusting the threshold level or changing the short time average interval.

Effects of Noise and Detection Error in a Dynamic Adaptive Optics System

It is well known that noise and detection error can affect the performances of an adaptive optics (AO) system. Effects of noise and detection error on the phase compensation effectiveness in a dynamic AO system are investigated by means of a pure numerical simulation in this paper. A theoretical model for numerically simulating effects of noise and detection error in a static AO system and a corresponding computer program were presented in a previous article. A numerical simulation of effects of noise and detection error is combined with our previous numeral simulation of a dynamic AO system in this paper and a corresponding computer program has been compiled. Effects of detection error, readout noise and photon noise are included and investigated by a numerical simulation for finding the preferred working conditions and the best performances in a practical dynamic AO system. An approximate model is presented as well. Under many practical conditions such approximate model is a good alternative to the more accurate one. A simple algorithm which can be used for reducing the effect of noise is presented as well. When signal to noise ratio is very low, such method can be used to improve the performances of a dynamic AO system.

Influence of Obstacle-Produced Turbulence on Development of Premixed Flames

An investigation into influence of obstructions on premixed flame propagation has been carried out in a semi-open tube. It is found that there exists flame acceleration and rising overpressure along the path of flame due to obstacles. According to the magnitude of flame speeds, the propagation of flame in the tube can be classified into three regimes: the quenching, the choking and the detonation regimes. In premixed flames near the flammability limits, the flame is observed first to accelerate and then to quench itself after propagating past a certain number of obstacles. In the choking regime, the maximum flame speeds are somewhat below the combustion product sound speeds, and insensitive to the blockage ratio. In the more sensitive mixtures, the transition to detonation (DDT) occurs when the equivalence ratio increases. The transition is not observed for the less sensitive mixtures. The dependence of overpressure on blockage ratio is not monotonous. Furthermore, a numerical study of flame acceleration and overpressure with the unsteady compressible flow model is performed, and the agreement between the simulation and measurements is good.

Simultaneous Laser-Induced Fluorescence And Contactless-Conductivity Detection For Microfluidic Chip

A combined detection system involving simultaneous LIF and contactless-conductometric measurements at the same place of the microfluidic chip was described. The LIF measurement was designed according to the confocal principle and a moveable contactless-conductivity detector was used in (CD)-D-4. Both measurements were mutually independent and advantageous in analyses of mixtures. Various experimental parameters affecting the response were examined and optimized. The performances were demonstrated by simultaneous detection of Rhodamine B. And the results showed that the combined detection system could be used sensitively and reliably. (C) 2008 Yong Yu. Published by Elsevier B.V. on behalf of Chinese Chemical Society. All rights reserved.

Assessment of bursting detection methods with LES database of turbulent channel flows

Validated by comparison with DNS, numerical database of turbulent channel flows is yielded by Large Eddy Simulation (LES). Three conventional techniques: uv quadrant 2, VITA and mu-level techniques for detecting turbulent bursts are applied to the identification of turbulent bursts. With a grouping parameter introduced by Bogard & Tiedemann (1986) or Luchik & Tiederman (1987), multiple ejections detected by these techniques which originate from a single burst can be grouped into a single-burst event. The results are compared with experimental results, showing that all techniques yield reasonable average burst period. However, uv quadrant 2 and mu-level are found to be superior to VITA in having large threshold-independent range.

Multi-pipe string electromagnetic detection tool and its applications

The MID-K, a new kind of multi-pipe string detection tool is introduced. This tool provides a means of evaluating the condition of in-place pipe string, such as tubing and casino. It is capable of discriminating the defects of the inside and outside, and estimating the thickness of tubing and casing. It is accomplished by means of a low frequency eddy current to detect flaws on the inner surface and a magnetic flux leakage to inspect the full thickness. The measurement principle, the technology and applications are presented in this paper.

Soluble Angiopoietin Receptor Tie-2 In Patients With Acute Myocardial Infarction And Its Detection By Optical Protein-Chip

The Tie-2 receptor has been shown to play a role in angiogenesis in atherosclerosis. The conventional method assaying the level of soluble Tie-2 (sTie-2) was ELISA. However, this method has some disadvantages. The aims of this research are to establish a more simple detection method, the optical protein-chip based on imaging ellipsomtry (OPC-IE) applying to Tie-2 assay. The sTie-2 biosensor surface on silicon wafer was prepared first, and then serum levels of sTie-2 in 38 patients with AMI were measured on admission (day 1), day 2, day 3 and day 7 after onset of chest pain and 41 healthy controls by ELISA and OPC-IE in parallel. Median level of sTie-2 increased significantly in the AMI patients when compared with the controls. Statistics showed there was a significant correlation in sTie-2 results between the two methods (r=0.923, P0.01). The result of this study showed that the level of sTie-2 increased in AMI, and OPC-IE assay was a fast, reliable, and convenient technique to measure sTie-2 in serum.

Phage M13Ko7 Detection With Biosensor Based On Imaging Ellipsometry And Afm Microscopic Confirmation

A rapid detection and identification of pathogens is important for minimizing transfer and spread of disease. A label-free and multiplex biosensor based on imaging ellipsometry (BIE) had been developed for the detection of phage M13KO7. The surface of silicon wafer is modified with aldehyde, and proteins can be patterned homogeneously and simultaneously on the surface of silicon wafer in an array format by a microfluidic system. Avidin is immobilized on the surface for biotin-anti-M13 immobilization by means of interaction between avidin and biotin, which will serve as ligand against phage M13KO7. Phages M13KO7 are specifically captured by the ligand when phage M13KO7 solution passes over the surface, resulting in a significant increase of mass surface concentration of the anti-M13 binding phage M13KO7 layer, which could be detected by imaging ellipsometry with a sensitivity of 10(9) pfu/ml. Moreover, atomic force microscopy is also used to confirm the fact that phage M13KO7 has been directly captured by ligands on the surface. It indicates that BIE is competent for direct detection of phage M13KO7 and has potential in the field of virus detection. (C) 2008 Elsevier B.V. All rights reserved.

Detection of hepatitis B virus markers using a biosensor based on imaging ellipsometry

A biosensor based on imaging ellipsometry (BIE) has been developed and validated in 169 patients for detecting five markers of hepatitis B virus (HBV) infection. The methodology has been established to pave the way for clinical diagnosis, including ligand screening, determination of the sensitivity, set-up of cut-off values (CoVs) and comparison with other clinical methods. A matrix assay method was established for ligand screening. The CoVs of HBV markers were derived with the help of receiver operating characteristic curves. Enzyme-linked immunosorbent assay (ELISA) was the reference method. Ligands with high bioactivity were selected and sensitivities of 1 ng/mL and 1 IU/mL for hepatitis B surface antigen (HBsAg) and surface antibody (anti-HBs) were obtained respectively. The CoVs of HBsAg, anti-HBs, hepatitis B e antigen, hepatitis B e antibody and core antibody were as follows: 15%, 18%, 15%, 20% and 15%, respectively, which were the percentages over the values of corresponding ligand controls. BIE can simultaneously detect up to five markers within 1 h with results in acceptable agreement with ELISA, and thus shows a potential for diagnosing hepatitis B with high throughput.

Universal Greenberger-Horne-Zeilinger-state analyzer based on two-photon polarization parity detection

We present a universal analyzer for the three-particle Greenberger-Horne-Zeilinger (GHZ) states with quantum nondemolition parity detectors and linear-optics elements. In our scheme, all of the three-photon GHZ states can be discriminated with nearly unity probability in the regime of weak nonlinearity feasible at the present state of the art experimentally. We also show that our scheme can be easily extended to the analysis of the multi-particle GHZ states.