针对现有算法无法满足在不同环境中对定位精度的要求,提出一种基于测距定向的分步求精定位算法(stepwise refine-ment localization algorithm based on ranging and orientation,SRLRO)。通过分析环境因素对RSSI(received signal stren...针对现有算法无法满足在不同环境中对定位精度的要求,提出一种基于测距定向的分步求精定位算法(stepwise refine-ment localization algorithm based on ranging and orientation,SRLRO)。通过分析环境因素对RSSI(received signal strength indica-tion)测距的影响,算法首先建立RSSI测距定向模型,确定指向待定位节点所在较小区域的多条直线,通过质心算法求这些直线交点的质心。为了进一步提高算法精度,算法采取了一些优化规则。仿真和实验表明,在不同环境因素的影响下,算法都具有较高的定位精度。展开更多
Self-localization is a fundamental requirement for the mobile robot. Robot usually contains a large number of dif- ferent sensors, which provide the information of robot localization, and all the sensor information sh...Self-localization is a fundamental requirement for the mobile robot. Robot usually contains a large number of dif- ferent sensors, which provide the information of robot localization, and all the sensor information should be considered for the optimal location. Kalman filter is efficient to realize the information fusion. Used as an efficient sensor fusion algorithm, Kalman filter is an advanced filtering technique which can reduce errors of the position and orientation of the sensors. Kalman filter has been paied much attention to robot automation and solutions to solve uncertainties such as robot localization, navigation, following, tracking, motion control, estimation and prediction. The paper briefly describes Kalman filter theory, and establishes a simple mathematical model based on muti-sensor mobile robot. Meanwhile, Kalman filter is used in robot self-localization by simulations, and it is demonstrated by simulations that Kalman filter is effective.展开更多
人类的空间定向能力对于完成特殊职业任务具有重要作用,而声音线索能够为空间定向感知提供辅助线索。通过查阅维普、中国知网、PubMed、Wed of Science等数据库,本文综述了解剖结构、声音属性与人体行为特征等对单声源听觉定位的影响,...人类的空间定向能力对于完成特殊职业任务具有重要作用,而声音线索能够为空间定向感知提供辅助线索。通过查阅维普、中国知网、PubMed、Wed of Science等数据库,本文综述了解剖结构、声音属性与人体行为特征等对单声源听觉定位的影响,多声源条件下的"优先效应"在听觉定位中的作用等;探索其他感知系统与听觉定位的交互作用,并阐述传统空间定向感知系统的限制及听觉定位在特殊人群中的潜在应用价值,旨在为听觉定位能力在特殊人群中态势感知能力提升提供理论基础。展开更多
To obtain the damage effect in the process of elasto-plasticity deformation of quasi-brittle materials, the isotropic damage loading-unloading function and damage variable were introduced to non-continuous bifurcation...To obtain the damage effect in the process of elasto-plasticity deformation of quasi-brittle materials, the isotropic damage loading-unloading function and damage variable were introduced to non-continuous bifurcation. The critical bifurcation orientation and its corresponding hardening modulus for quasi-brittle materials were derived considering the effect of stiffness degradation and volumetric dilatancy under the assumption of isotropic damage. The relationships of localized orientation angle and maximal hardening modulus dependent on degree of damage and initial Poisson's ratio of rock were explored. Comparative analyses were conducted to study the bifurcation of uniaxial tension-compression samples under the conditions of plane stress and plane strain. It is shown that as the initial Poisson's ratio or degree of damage increases, the localization orientation angle of the plane uniaxial compression sample tends to be initiated to decrease. However, the localization orientation angle of the plane uniaxial tension sample tends to be initiated to increase. The sum of orientation angle under tension and compression conditions is 90°. There are plane stress and plane strain cases of the maximum hardening modulus that is independent of the uniaxial compression and tension.展开更多
文摘针对现有算法无法满足在不同环境中对定位精度的要求,提出一种基于测距定向的分步求精定位算法(stepwise refine-ment localization algorithm based on ranging and orientation,SRLRO)。通过分析环境因素对RSSI(received signal strength indica-tion)测距的影响,算法首先建立RSSI测距定向模型,确定指向待定位节点所在较小区域的多条直线,通过质心算法求这些直线交点的质心。为了进一步提高算法精度,算法采取了一些优化规则。仿真和实验表明,在不同环境因素的影响下,算法都具有较高的定位精度。
基金Supposed by the National Natural Science Foundation of China under Grant No.60575019(国家自然科学基金)the National High-Tech Research and Development Plan of China under Grant No.2006AA01Z116(国家高技术研究发展计划(863))
基金Research Fund for the Doctoral Program of Higher Education of China(No.20123718120007)
文摘Self-localization is a fundamental requirement for the mobile robot. Robot usually contains a large number of dif- ferent sensors, which provide the information of robot localization, and all the sensor information should be considered for the optimal location. Kalman filter is efficient to realize the information fusion. Used as an efficient sensor fusion algorithm, Kalman filter is an advanced filtering technique which can reduce errors of the position and orientation of the sensors. Kalman filter has been paied much attention to robot automation and solutions to solve uncertainties such as robot localization, navigation, following, tracking, motion control, estimation and prediction. The paper briefly describes Kalman filter theory, and establishes a simple mathematical model based on muti-sensor mobile robot. Meanwhile, Kalman filter is used in robot self-localization by simulations, and it is demonstrated by simulations that Kalman filter is effective.
文摘人类的空间定向能力对于完成特殊职业任务具有重要作用,而声音线索能够为空间定向感知提供辅助线索。通过查阅维普、中国知网、PubMed、Wed of Science等数据库,本文综述了解剖结构、声音属性与人体行为特征等对单声源听觉定位的影响,多声源条件下的"优先效应"在听觉定位中的作用等;探索其他感知系统与听觉定位的交互作用,并阐述传统空间定向感知系统的限制及听觉定位在特殊人群中的潜在应用价值,旨在为听觉定位能力在特殊人群中态势感知能力提升提供理论基础。
基金Project(50574016) supported by the National Natural Science Foundation of ChinaProject(2009S006) supported by Science and Technology Research Foundation of Key Laboratory of Education Department of Liaoning Province, China
文摘To obtain the damage effect in the process of elasto-plasticity deformation of quasi-brittle materials, the isotropic damage loading-unloading function and damage variable were introduced to non-continuous bifurcation. The critical bifurcation orientation and its corresponding hardening modulus for quasi-brittle materials were derived considering the effect of stiffness degradation and volumetric dilatancy under the assumption of isotropic damage. The relationships of localized orientation angle and maximal hardening modulus dependent on degree of damage and initial Poisson's ratio of rock were explored. Comparative analyses were conducted to study the bifurcation of uniaxial tension-compression samples under the conditions of plane stress and plane strain. It is shown that as the initial Poisson's ratio or degree of damage increases, the localization orientation angle of the plane uniaxial compression sample tends to be initiated to decrease. However, the localization orientation angle of the plane uniaxial tension sample tends to be initiated to increase. The sum of orientation angle under tension and compression conditions is 90°. There are plane stress and plane strain cases of the maximum hardening modulus that is independent of the uniaxial compression and tension.
