基于启发式的多机器人SLAM地图融合方法研究

同步定位和地图构建（simultaneous localization and mapping,SLAM）是移动机器人在未知环境中完成地图构建和定位任务的关键技术。针对多机器人SLAM中的地图融合问题,提出一种启发式的搜索方法引导局部地图的重复区域进行地图融合。每个机器人可以在不了解其相对位置的情况下建立局部地图,并将局部地图信息发送至同一工作站中,以局部地图的相似性为判断指标融合得到最优的全局地图。在机器人实物平台上进行验证,结果证明了多机器人SLAM的地图融合算法的有效性和准确性。     

Advances in tissue engineering

Tissue engineering is a newly developed specialty involved in the construction of tissues and organs either in vitro or in vivo. Tremendous progress has been achieved over the past decade in tisse construction as well as in other related areas, such as bone marrow stromal cells, embryonic stem cells and tissue progenitor cells. In our laboratory, tissues of full-thickness skin, bone, cartilage and tendon have been successfully engineered, and the engineered tissues have repaired full-thickness skin wound, cranial bone defects, articular cartilage defects and tendon defects in animals. In basic research areas, bone marrow stromal cells have been induced and transformed into osteoblasts and chondrocytes in vitro. Mouse embryo stem cell lines we established have differentiated into neuron precursor, cardiac muscle cells and epithelial cells. Genetic modifications of seed cells for promoting cell proliferation, delaying cell aging and inducing immune tolerance have also been investigated.     

四棱柱状Sb_2S_3纳米棒的水热合成与表征

以三氯化锑(SbCl3)和硫(S)粉为反应物、硼氢化钠(NaBH4)作还原剂及乙二醇(EG)为辅助溶剂,用水热法合成了四棱柱状的Sb2S3纳米棒.所得产品用XRD、EDS、SEM、TEM、HRTEM、SAED以及UV-Vis进行了表征.结果表明,在180℃水热反应12 h可得到结晶良好、形貌规整的四棱柱状的正交晶系Sb2S3单晶纳米棒,棒的横截面为矩形,其宽为75~215nm、厚为50~110 nm,长度达2~5μm.经计算,其晶胞参数a=1.126 nm,b=1.128 nm,c=0.382 5 nm.UV-Vis分析表明,Sb2S3纳米棒为半导体材料,其带隙能量为1.80 eV.     

Auto-measuring System of 3-Dimensional Human Body

To realize the automation of fashion industry measuring, designing and manufacturing, the auto-measurement of 3D size of human body is of great importance.The auto-measurement system of 3D human body based on Charge Coupled Devices ( CCD) and infrared sensors is presented in this paper. The system can measure the bare size of human body that excludes the effect of clothing quickly and accurately.     

调频广播中预加重和去加重问题的讨论

通过对调频广播系统噪声分布情况的分析，证明了在调频通讯系统中采取预加重和去加重的措施以改善信号传输质量的原理。     

浅谈热力管网工程施工工艺与质量控制

热力管网工程的施工工艺复杂,而且每一道工艺都非常严格.所以在施工过程中须严格规范规定的施工工艺操作.     

基于时间Petri网的Artifact有效性的验证

在面向Artifact的业务流程管理系统中,业务核心数据实体Artifact具有动态时变性。Artifact状态是否正常关系到流程的运转成功与否,因此,验证Artifact的有效性是一个关键问题。针对该问题本文基于时间Petri网理论对Artifact的相关流程进行分析并获得其业务要求树,然后根据流程记录数据库中Artifact的快照构建出相应快照树,最后通过比较业务要求树和快照树而得以验证Artifact是否有效。     

一品红的生态特性及现代栽培技术

本文阐述了一品红的生物学特性及现代栽培关键技术－－繁殖、温光湿调控、水肥运筹、塑造理想株型的方法。特别是防寒、光周期的调节的理论与实践作了深入论述。     

非水电位滴定法测定混合芳胺中各组分含量

本文用非水电位滴定法测定了三元混合芳胺中各组分含量，测定结果的相对标准偏差为2．09％～3.97％，回收率为99．5％～102％。该法设备简单，操作方便，测定准确，选择性好。对二元混合芳胺中各组分含量也可用同样的方法测定。     

改进型信号控制的数字有线信道解码接收器

本文首先概要分析了传统的数字有线信道解调解码接收器的不足之处,在此基础上提出了一种改进型的数字有线信道解码接收器的设计思想,并详细概述了它的设计与实现.实践验证了该设计的有效性.