摘要 :
A light field image can achieve a realistic visualization of a complex scene because it contains directional information and intensity information of light; however, its advantages cannot be fully realized due to the limited angul...
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A light field image can achieve a realistic visualization of a complex scene because it contains directional information and intensity information of light; however, its advantages cannot be fully realized due to the limited angular range of a light field camera. For this reason, we processed a light field focal stack with a masked back projection algorithm to reconstruct the panoramic light field sub-aperture image and thereby achieved the goal of expanding the angular field of view of the light field. The method described in this paper consists of two main parts: focal stack stitching and panoramic light field reconstruction. To stitch a focal stack, two depth cues were fused to extract high-precision index maps for generating high-quality all-in-focus images and for calculating the transformation relationship between light fields. To generate a panoramic light field, we use a masked back projection algorithm to process the panoramic focal stack and to reconstruct a sharp panoramic light field sub-aperture-images. Finally, we demonstrate the generation of high-quality, all-in-focus images and sharp panoramic light-field sub-aperture-images with no loss of the field of view.
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摘要 :
A light field image can achieve a realistic visualization of a complex scene because it contains directional information and intensity information of light; however, its advantages cannot be fully realized due to the limited angul...
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A light field image can achieve a realistic visualization of a complex scene because it contains directional information and intensity information of light; however, its advantages cannot be fully realized due to the limited angular range of a light field camera. For this reason, we processed a light field focal stack with a masked back projection algorithm to reconstruct the panoramic light field sub-aperture image and thereby achieved the goal of expanding the angular field of view of the light field. The method described in this paper consists of two main parts: focal stack stitching and panoramic light field reconstruction. To stitch a focal stack, two depth cues were fused to extract high-precision index maps for generating high-quality all-in-focus images and for calculating the transformation relationship between light fields. To generate a panoramic light field, we use a masked back projection algorithm to process the panoramic focal stack and to reconstruct a sharp panoramic light field sub-aperture-images. Finally, we demonstrate the generation of high-quality, all-in-focus images and sharp panoramic light-field sub-aperture-images with no loss of the field of view.
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Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic functio...
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Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation. To give the grinding system the ability to adapt to any object shape being changed by the grinding, we added estimating function of the constraint condition in real time for the adaptive position / force control, which is indispensable for our method instead of not using force sensor. Evaluations through continuous shape-grinding experiment by fitting the changing constraint surface with spline functions, indicates that reliable position / force control and shape-grinding work can be achieved by this proposed controller.
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Trajectory tracking accuracy is of great significance for the control and safety management of autonomous vehicles. The curve with large curvature is often the bottleneck of vehicle control and the obstacle of safe driving. Aims a...
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Trajectory tracking accuracy is of great significance for the control and safety management of autonomous vehicles. The curve with large curvature is often the bottleneck of vehicle control and the obstacle of safe driving. Aims at the problem of partial visual field loss and low control accuracy of formula car in the process of driving on the curve with large curvature. This paper presents a trajectory planning and tracking framework, using the improved Delaunay triangle subdivision algorithm in cone bucket guide track path planning and real-time planning, combined with the neural network PID feedback the MPC control algorithm for global path tracking, experimental results show that the success rate of the improved path planning algorithm is increased by 55.8% on large curvature curves; The tracking control algorithm is superior to the traditional control algorithm in terms of tracking accuracy, which can reduce the steady-state error caused by the simplicity of the superior model and make the steady-state error close to zero faster. Compared with the traditional MPC, the overall average tracking accuracy is improved by 35.78% and the maximum lateral error is reduced by 52.99%.
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The algorithm uses the results of satellite aided inertial dynamic alignment calculation to heuristic set the initial value of the genetic algorithm, and uses satellite aided inertial dynamic alignment algorithm to constrain the f...
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The algorithm uses the results of satellite aided inertial dynamic alignment calculation to heuristic set the initial value of the genetic algorithm, and uses satellite aided inertial dynamic alignment algorithm to constrain the fitness function of the genetic algorithm, thus achieving a good combination of generality and specificity. A professional calculation method for specific alignment calculation is introduced into the genetic algorithm, which makes the initial value setting of the genetic algorithm more reasonable. The invalid search space can be cut down in the genetic iteration calculation, avoiding a large number of invalid iteration calculations. In this way, the advantages of strong optimization ability of genetic algorithm are preserved, and the disadvantages of blindness and large amount of calculation in probability search of genetic algorithm are overcome. Not only the search efficiency is improved, the calculation amount of genetic search is reduced, the calculation speed is improved, but also the advantages of optimization calculation of genetic algorithm can be used to improve the accuracy of alignment calculation results. Simulate the trajectory of the carrier during takeoff and ascent and the output parameters of gyroscope and accelerometer, and simulate the heuristic genetic algorithm. The results show that the genetic algorithm with initial value heuristic can quickly complete the search calculation, and the calculation results can also meet the accuracy requirements of initial alignment.
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As the online monitoring technology of marine ecology constantly improves, China's automatic monitoring system for offshore areas has transited from experimental research to practical application, in which the online monitoring sy...
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As the online monitoring technology of marine ecology constantly improves, China's automatic monitoring system for offshore areas has transited from experimental research to practical application, in which the online monitoring systems of shore-based station and buoy are applied more widely. But on the whole, China's online monitoring for marine environment is still in its infancy. There is still a gap from the large scale operational application. The most important reason is that the equipment lacks necessary tests and inspections. As a result, it is hard to ensure the data quality and the online monitoring data lacks legal effect. The National Ocean Technology Center has constructed a “Test and Inspection Platform for Online Monitoring Station Equipment of Shore-based Marine Ecology” (short for “Shore-based Test Platform”) at the estuary of Yongding New River and carried out the field test and verification with typical equipment. The results show that the Shore-based Test Platform has complete functions and can realize the long-term field test for different types of online equipment. The test indicators are reasonable and the test methods are scientific. Thus, the accuracy and stability of the equipment measurement and the adaptability to ocean environment can be assessed scientifically to provide references for the promotion and application of the online monitoring equipment at the shore-based station, promote the development of the online monitoring technology of marine ecology and improve China's early-warning and monitoring capability for marine ecology.
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With the development of the times, robotics technology has gradually been no longer confined to the laboratory, but more integrated into the lives of the public. As a researcher in the field of intelligent science, one should cont...
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With the development of the times, robotics technology has gradually been no longer confined to the laboratory, but more integrated into the lives of the public. As a researcher in the field of intelligent science, one should contribute his own contribution to the development of robotics. The visual processing of robots is an important topic in today's science and technology circles, and my team and I have developed a strong interest in this field. For the specific realization of visual processing, we have selected a technology that is very close to the lives of ordinary people-SLAM mapping technology and application for related research. I will use the construction of ROS robot as a starting point to briefly explain how to develop and apply SLAM algorithms on the ROS platform. At the same time, I will explore the derivation of SLAM algorithms-the role and difference of Hector algorithm and Karto algorithm in building maps. By sharing some of my insights on SLAM technology, I believe it can provide some reference for subsequent research.
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Loss of coolant accident is an important accident to be prevented in PWR nuclear power plant, when a LOCA occurs in a nuclear power plant, if the characteristics of the accident break are determined at the early stage of the accid...
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Loss of coolant accident is an important accident to be prevented in PWR nuclear power plant, when a LOCA occurs in a nuclear power plant, if the characteristics of the accident break are determined at the early stage of the accident, it can save the time to deal with the accident and increase the possibility of avoiding the accident, which is of great significance to the safe operation of the system. Therefore, a method of identifying the type of LOCA based on operation data-driven is proposed. According to the corresponding relationship between the change law of system operating parameters and the type of break in tens of seconds after the accident, the fault symptom is extracted and the accident characterization model is established. According to the established model, the method likesupport vector classification is used to identify the type of accident, so as to judge the characteristics of the break. The experimental results show that the method can accurately and effectively determine the break size and relative position of typical LOCA in the early stage of accident, and can be used as an effective auxiliary tool to assist operators to identify the break characteristics of LOCA.
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摘要 :
With the development of the times, robotics technology has gradually been no longer confined to the laboratory, but more integrated into the lives of the public. As a researcher in the field of intelligent science, one should cont...
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With the development of the times, robotics technology has gradually been no longer confined to the laboratory, but more integrated into the lives of the public. As a researcher in the field of intelligent science, one should contribute his own contribution to the development of robotics. The visual processing of robots is an important topic in today's science and technology circles, and my team and I have developed a strong interest in this field. For the specific realization of visual processing, we have selected a technology that is very close to the lives of ordinary people-SLAM mapping technology and application for related research. I will use the construction of ROS robot as a starting point to briefly explain how to develop and apply SLAM algorithms on the ROS platform. At the same time, I will explore the derivation of SLAM algorithms-the role and difference of Hector algorithm and Karto algorithm in building maps. By sharing some of my insights on SLAM technology, I believe it can provide some reference for subsequent research.
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Both genetic information and medical images have found extensive use in cancer patient diagnosis and treatment. Integrating the genomics and imaging information will provide valuable information, such as patient prognosis and dise...
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Both genetic information and medical images have found extensive use in cancer patient diagnosis and treatment. Integrating the genomics and imaging information will provide valuable information, such as patient prognosis and disease prediction. Imaging features extraction will reveal hidden knowledge inside imaging and allow researchers to interpret tumor biology from various perspectives. We propose a brain tumor 3D localization and segmentation techniques, preliminary statistical analysis of the imaging phenotype and associated gene expression to unmask their correlation indicate that they have an internal association, which may potentially be useful for noninvasive medical research.
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