关于马克思主义中国化发展史研究的立场问题

提出并论述了马克思主义中国化发展史研究应以中国化马克思主义的理论成果为指导,坚持党的立场和人民立场的统一;充分借鉴社会科学研究的方法论,吸收“价值中立”的合理因素;坚持开放包容的态度,与时俱进,吸收借鉴人类创造的一切优秀文明成果。     

一种混合算法下单个磁通门定位运动磁性目标研究

运动磁性目标定位可归结为一类非线性规划问题的求解.针对其目标函数计算过程极为烦琐,不利于磁性目标实时定位的特点,提出了一种混合算法:首先利用粒子群优化算法获得初略解,再利用高斯-牛顿算法进行精确求解,在不知道目标初始位置的情况下,利用单个磁通门磁传感器采集的磁场数据准确快速地实现了目标的定位.理论仿真和汽车实验,验证了算法的合理性和可行性,为工程中磁性目标的检测与定位提供了新思路.     

Robust SLAM using square-root cubature Kalman filter and Huber’ s GM-estimator

Mobile robot systems performing simultaneous localization and mapping ( SLAM) are generally plagued by non-Gaussian noise.To improve both accuracy and robustness under non-Gaussian meas-urement noise, a robust SLAM algorithm is proposed.It is based on the square-root cubature Kal-man filter equipped with a Huber’ s generalized maximum likelihood estimator ( GM-estimator) .In particular, the square-root cubature rule is applied to propagate the robot state vector and covariance matrix in the time update, the measurement update and the new landmark initialization stages of the SLAM.Moreover, gain weight matrices with respect to the measurement residuals are calculated by utilizing Huber’ s technique in the measurement update step.The measurement outliers are sup-pressed by lower Kalman gains as merging into the system.The proposed algorithm can achieve bet-ter performance under the condition of non-Gaussian measurement noise in comparison with benchmark algorithms.The simulation results demonstrate the advantages of the proposed SLAM algorithm.     

瞳孔中心指导的虹膜边界快速定位算法

虹膜边界定位精度和定位速度影响识别系统性能。Hough变换是计算机视觉中检测几何目标的常用算法,在人眼图像中可以通过对圆参数的投票进行虹膜边界定位。虹膜在图像中的位置和大小不固定,这使得虹膜边界定位计算量大,定位速度慢。针对虹膜边界定位实时性差的问题,提出了基于瞳孔中心指导的虹膜边界快速定位算法,通过选择小图像块和减少图像边界点数提高边界定位的快速性。仿真结果表明该算法对于在人眼图像中快速、精确定位虹膜是有效的。     

Localized 3D-structural features of dynamic-chemical processes of urban air pollution in Beijing winter

The Beijing City Air Pollution Observation Field Experiment (BECAPEX) is described with emphases on the “point-surface” research approach and composite analysis. The analysis results of measurements from four observation sites across the Beijing urban area from January to March indicate that the overall impact of urban emission sources in the heating season is significant, and the staggered impact of urban emission sources has different features at observation sites over different parts of Beijing in both heating and non-heating seasons. The pollutants NOx, SO2 and CO in the urban boundary layer have the in-phase variation features over a large area. 03 concentrations at different sites have the same variation trend but its change is reversed phases with above pollutants. The pollutants over the urban area in heating and non-heating seasons also have the synchronous variation trend. The comprehensive sounding of BECAPEX indicates that pollutants and aerosol verticalprofiles are closely correlated to the vertical structure of the large-scale inversion layer in the urban boundary layer over the urban area. The localized 3D-structural features of local urban polluting processes associated with the peripheral areas are discussed with a “point-surface” comprehensive sounding technique.     

一种基于全向摄像机的移动机器人定位方法

研究用压缩的全向图像在移动机器人上定位和环境建模．采用Parzen窗方法估计全景图像边缘的概率密度，用FFT方法简化计算获得密度估计的实时处理效果．研究了全景图像的旋转不变特性和全景图像矢量集合的主成分提取方法，以进一步降低图像数据矢量维数．压缩数据量后，便于建立大的环境模型供移动机器人实时定位用．定位通过投影图像矢量到特征子空间和在子空间中寻找最邻近点的方法实现．提出的定位方法用于移动机器人定位系统，在室内场景多次试验获得了较理想的结果．     

A novel human gene spindlin1, encoding a protein localized in the cell nucleus and inducing NIH3T3 cell''s transformation

A novel human gene, spindlin1, recently cloned in our laboratory, is highly expressed in the tissue of ovary cancer. To study its biological function, a vector expressing green fluorescent-spindlin1 fusion protein was constructed and transfected into COS-7 and NIH3T3 cells by lipofectamine methods. The results showed that the fusion protein pEGFP-N1-spindlin1 was localized in the nucleus of COS-7 and NIH3T3 cells. NIH3T3 cells which could stably express spindlin1 as a result of RT-PCR analysis compared with the parental NIH3T3 cells displayed a complete morphological change, improved the cell growth and increased the percentage of cells in G2/M phase (12.6% vs control cells at 3.4%). Furthermore, overexpressed spindlin1 cells formed colonies in soft agar, more motile in migration assay in vitro and formed tumors in nude mice. Our findings provide direct evidence that spindlin1 gene may be a prooncogene which is associated with tumorigenesis.     

M－P定域化方法的多中心键扩展

提出了一种新的、能适用于包含多中心键定域化计算的扩展方案。当分子中不包含多中心键时，该方案即还原为经典的Ｍａｇｎａｓｃｏ－Ｐｅｒｒｉｃｏ方案。分析和计算所得结果均表明，本扩展方案能满足定域分子轨道的一般概念，且易于程序化。     

多传感器网络中目标定位的改进算法

为提高多传感器网络中的目标定位精度,基于优胜劣汰的进化思想提出一种改进算法.该算法通过循环运算,剔除明显异常的测距数据后,再对目标点进行定位.首先利用最小二乘法,拟合出目标点的初始概位,然后计算各节点到初始概位的距离与测量数据的相对误差的绝对值及相对误差的平均值,判断该平均值是否达到某一经验值,若未达到经验值,则剔除相对误差最大的节点数据,再进行下一轮运算,直到平均值达到经验值,且确保节点数多于3时,此轮次中估算的概位坐标即为目标点坐标.Matlab仿真实验表明,本算法可有效地提高定位精度.     

基于TDE技术的声源定位算法

针对基本互相关法在估计时延时没有明显的峰值及实际环境中的噪声会减损峰值,甚至出现伪峰的问题,提出了一种基于广义互相关的改进时延估计方法,并结合麦克风阵列结构,实现了基于两步定位的声源定位.通过仿真实验验证了该方法在有噪声的环境下能准确测量声源的位置,定位的平均距离误差和平均方向角误差都低于5%,且方向角在30°～150°、距离在1.1～2.3m时定位成功率达80%以上.