In recent years, reconstructing a sparse map from a simultaneous localization and mapping(SLAM) system on a conventional CPU has undergone remarkable progress. However,obtaining a dense map from the system often requi...In recent years, reconstructing a sparse map from a simultaneous localization and mapping(SLAM) system on a conventional CPU has undergone remarkable progress. However,obtaining a dense map from the system often requires a highperformance GPU to accelerate computation. This paper proposes a dense mapping approach which can remove outliers and obtain a clean 3D model using a CPU in real-time. The dense mapping approach processes keyframes and establishes data association by using multi-threading technology. The outliers are removed by changing detections of associated vertices between keyframes. The implicit surface data of inliers is represented by a truncated signed distance function and fused with an adaptive weight. A global hash table and a local hash table are used to store and retrieve surface data for data-reuse. Experiment results show that the proposed approach can precisely remove the outliers in scene and obtain a dense 3D map with a better visual effect in real-time.展开更多
The accuracy and repeatability of the laser interferometer measurement system （LIMS） are often limited by the mirror surface error that comes from the mirror surface shape and distortion. This paper describes a new ...The accuracy and repeatability of the laser interferometer measurement system （LIMS） are often limited by the mirror surface error that comes from the mirror surface shape and distortion. This paper describes a new method to calibrate mirror map on ultraprecise movement stage （UPMS） with nanopositioning and to make a real-time compensation for the mirror surface error by using mirror map data tables with the software algorithm. Based on the mirror map test model, the factors affecting mirror map are analyzed through geometric method on the UPMS with six digrees of freedom. Dam processing methods including spline interpolation and spline offsets are used to process the raw sampling data to build mirror map tables. The linear interpolation as compensation method to make a real-time correction on the stage mirror unflatness is adopted and the correction formulas are illuminated. In this way, the measurement accuracy of the system is obviously improved from 40 nm to 5 nm.展开更多
Quantitative assessment of the impact of groundwater depletion on phreatophytes in(hyper-)arid regions is key to sustainable groundwater management.However,a parsimonious model for predicting the response of phreatoph...Quantitative assessment of the impact of groundwater depletion on phreatophytes in(hyper-)arid regions is key to sustainable groundwater management.However,a parsimonious model for predicting the response of phreatophytes to a decrease of the water table is lacking.A variable saturated flow model,HYDRUS-1D,was used to numerically assess the influences of depth to the water table(DWT)and mean annual precipitation(MAP)on transpiration of groundwater-dependent vegetation in(hyper-)arid regions of northwest China.An exponential relationship is found for the normalized transpiration(a ratio of transpiration at a certain DWT to transpiration at 1 m depth,T_(a)^(*))with increasing DWT,while a positive linear relationship is identified between T_(a)^(*)and annual precipitation.Sensitivity analysis shows that the model is insensitive to parameters,such as saturated soil hydraulic conductivity and water stress parameters,indicated by an insignificant variation(less than 20%in most cases)under±50%changes of these parameters.Based on these two relationships,a universal model has been developed to predict the response of phreatophyte transpiration to groundwater drawdown for(hyper-)arid regions using MAP only.The estimated T_(a)^(*)from the model is reasonable by comparing with published measured values.展开更多
Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio...Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio frequency chain.In this paper,DSM is investigated using two mapping algorithms:Look-Up Table Order(LUTO)and Permutation Method(PM).Then,the bit error rate(BER)performance and complexity of the two mapping algorithms in various antennas and modulation methods are verified by simulation experiments.The results show that PM has a lower BER than the LUTO mapping algorithm,and the latter has lower complexity than the former.展开更多
A question about the analytical capability of Google maps is answered for three examples of pin maps, and polyline and polygon maps that are computer-programmed with the third version of the Google maps application. O...A question about the analytical capability of Google maps is answered for three examples of pin maps, and polyline and polygon maps that are computer-programmed with the third version of the Google maps application. One map reads XML data stored on the home server, whereas another downloads its data from an online fusion table, and the third includes pre-programmed data. Each map permits users to query mashup layers after the map has loaded. However, an analytical capability comparable to GIS should require users to have access to their data for analysis with their own functions while the map is loading. The technical constraint of asynchronous loading of data for Google maps is illustrated for each map. In conclusion, only one map has an analytical capability that is achieved by means of deprecated synchronous loading of data.展开更多
针对现有数字矢量信号分析仪上位机软件调制信号种类少、分析功能不完善、流畅性差的问题,文中提出一种基于Qt5.12的多线程信号生成和分析的高性能软件架构,设计了一种利用星座映射表进行快速调制的通用调制解调结构体和一种基于环形缓...针对现有数字矢量信号分析仪上位机软件调制信号种类少、分析功能不完善、流畅性差的问题,文中提出一种基于Qt5.12的多线程信号生成和分析的高性能软件架构,设计了一种利用星座映射表进行快速调制的通用调制解调结构体和一种基于环形缓冲器结构的多相分解成型滤波方法用于基带信号处理。所设计算法对生成信号解调的EVM小于0.1%,对软件无线电生成信号解调的平均EVM小于2.95%。程序使用互斥锁和线程同步保证内存安全,软件生成处理10亿个码元并绘制多域图像用时3 h 27 min 12 s,图像刷新率为72 f/s,全程运行流畅。测试结果表明,该软件算法准确度高、性能优异,可应用于实际信号测量分析。展开更多
基金supported by the National Natural Science Foundation of China(61473202)。
文摘In recent years, reconstructing a sparse map from a simultaneous localization and mapping(SLAM) system on a conventional CPU has undergone remarkable progress. However,obtaining a dense map from the system often requires a highperformance GPU to accelerate computation. This paper proposes a dense mapping approach which can remove outliers and obtain a clean 3D model using a CPU in real-time. The dense mapping approach processes keyframes and establishes data association by using multi-threading technology. The outliers are removed by changing detections of associated vertices between keyframes. The implicit surface data of inliers is represented by a truncated signed distance function and fused with an adaptive weight. A global hash table and a local hash table are used to store and retrieve surface data for data-reuse. Experiment results show that the proposed approach can precisely remove the outliers in scene and obtain a dense 3D map with a better visual effect in real-time.
文摘The accuracy and repeatability of the laser interferometer measurement system （LIMS） are often limited by the mirror surface error that comes from the mirror surface shape and distortion. This paper describes a new method to calibrate mirror map on ultraprecise movement stage （UPMS） with nanopositioning and to make a real-time compensation for the mirror surface error by using mirror map data tables with the software algorithm. Based on the mirror map test model, the factors affecting mirror map are analyzed through geometric method on the UPMS with six digrees of freedom. Dam processing methods including spline interpolation and spline offsets are used to process the raw sampling data to build mirror map tables. The linear interpolation as compensation method to make a real-time correction on the stage mirror unflatness is adopted and the correction formulas are illuminated. In this way, the measurement accuracy of the system is obviously improved from 40 nm to 5 nm.
基金This research was funded by projects of the China Geological Survey(12120113104100 and DD20190351)National Natural Science Foundation of China(41877199)Shaanxi Science and Technology Department(2019TD-040,2021ZDLSF05-01).
文摘Quantitative assessment of the impact of groundwater depletion on phreatophytes in(hyper-)arid regions is key to sustainable groundwater management.However,a parsimonious model for predicting the response of phreatophytes to a decrease of the water table is lacking.A variable saturated flow model,HYDRUS-1D,was used to numerically assess the influences of depth to the water table(DWT)and mean annual precipitation(MAP)on transpiration of groundwater-dependent vegetation in(hyper-)arid regions of northwest China.An exponential relationship is found for the normalized transpiration(a ratio of transpiration at a certain DWT to transpiration at 1 m depth,T_(a)^(*))with increasing DWT,while a positive linear relationship is identified between T_(a)^(*)and annual precipitation.Sensitivity analysis shows that the model is insensitive to parameters,such as saturated soil hydraulic conductivity and water stress parameters,indicated by an insignificant variation(less than 20%in most cases)under±50%changes of these parameters.Based on these two relationships,a universal model has been developed to predict the response of phreatophyte transpiration to groundwater drawdown for(hyper-)arid regions using MAP only.The estimated T_(a)^(*)from the model is reasonable by comparing with published measured values.
基金supported by the National Natural Science Foundation of China(NSFC)under Grant No.62061024the Project of Gansu Province Science and Technology Department under Grant No.22ZD6GA055.
文摘Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio frequency chain.In this paper,DSM is investigated using two mapping algorithms:Look-Up Table Order(LUTO)and Permutation Method(PM).Then,the bit error rate(BER)performance and complexity of the two mapping algorithms in various antennas and modulation methods are verified by simulation experiments.The results show that PM has a lower BER than the LUTO mapping algorithm,and the latter has lower complexity than the former.
文摘A question about the analytical capability of Google maps is answered for three examples of pin maps, and polyline and polygon maps that are computer-programmed with the third version of the Google maps application. One map reads XML data stored on the home server, whereas another downloads its data from an online fusion table, and the third includes pre-programmed data. Each map permits users to query mashup layers after the map has loaded. However, an analytical capability comparable to GIS should require users to have access to their data for analysis with their own functions while the map is loading. The technical constraint of asynchronous loading of data for Google maps is illustrated for each map. In conclusion, only one map has an analytical capability that is achieved by means of deprecated synchronous loading of data.
文摘针对现有数字矢量信号分析仪上位机软件调制信号种类少、分析功能不完善、流畅性差的问题,文中提出一种基于Qt5.12的多线程信号生成和分析的高性能软件架构,设计了一种利用星座映射表进行快速调制的通用调制解调结构体和一种基于环形缓冲器结构的多相分解成型滤波方法用于基带信号处理。所设计算法对生成信号解调的EVM小于0.1%,对软件无线电生成信号解调的平均EVM小于2.95%。程序使用互斥锁和线程同步保证内存安全,软件生成处理10亿个码元并绘制多域图像用时3 h 27 min 12 s,图像刷新率为72 f/s,全程运行流畅。测试结果表明,该软件算法准确度高、性能优异,可应用于实际信号测量分析。
