导航系统依赖传感器感知周围环境。当前,基于单一传感器的导航系统已难以满足各类复杂场景下的导航需求,导航系统正朝传感器多源化方向发展。在多源传感器数据融合过程中,图像数据的处理最消耗时间和资源,对系统性能影响最大。为解决这...导航系统依赖传感器感知周围环境。当前,基于单一传感器的导航系统已难以满足各类复杂场景下的导航需求,导航系统正朝传感器多源化方向发展。在多源传感器数据融合过程中,图像数据的处理最消耗时间和资源,对系统性能影响最大。为解决这些问题,设计智能导航平台的硬件控制终端,利用基于全球卫星导航系统(Global Navigation Satellite System,GNSS)秒脉冲(Pulse Per Second,PPS)的时间同步,实现多源传感器数据融合;设计用于同步定位与地图构建(Simultaneous Localization And Mapping,SLAM)前端ORB(Oriented FAST and Rotated BRIEF)特征提取加速器,加速图像处理过程,提高SLAM系统的实时性。实验结果表明,硬件平台不仅支持GNSS、惯性测量单元(Inertial Measurement Unit,IMU)、视觉和激光雷达的数据采集和融合,还能加速图像ORB特征点提取。在执行图像ORB特征提取任务时,与CPU和GPU平台上的实现相比,该加速器的帧率分别达到了它们的2.7倍和1.8倍,而功耗仅为它们的5.1%和2.9%。展开更多
A novel TU derivative, N-phenyl-N＇-（γ-triethoxysilane）-propyl thiourea （STU）, is prepared and its binary accelerator system is investigated in detail. Compared to the control references, the optimum curing time ...A novel TU derivative, N-phenyl-N＇-（γ-triethoxysilane）-propyl thiourea （STU）, is prepared and its binary accelerator system is investigated in detail. Compared to the control references, the optimum curing time of NR compounds with STU is the shortest, indicating a more nucleophilic reaction occurs. The Py-GC/MS results present that the phenyl iso- thiocyanate fragment still remains in the NPUSTU compounds with or without extracting treatment, but no silane segment can be found in the vulcanizate with extracting treatment. Vibrations of C=S, NH and aromatic ring in FTIR experiments and a new methyne carbon peak, as well as the peaks of phenyl group of STU, in the solid state 13C-NMR experiments are found in the NR/STU vulcanizate with extracting treatment. Moreover, the crosslinking density of vulcanizates with STU evolves to lower level, indicating the sulfur atom of STU does not contribute to the sulfur crosslinking. Therefore, a new vulcanization kinetic mechanism of STU is propounded that the thiourea groups can graft to the rubber main chains as pendant groups by chemical bonds during the vulcanization process, which is in accordance with the experimental observations quite well.展开更多
文摘导航系统依赖传感器感知周围环境。当前,基于单一传感器的导航系统已难以满足各类复杂场景下的导航需求,导航系统正朝传感器多源化方向发展。在多源传感器数据融合过程中,图像数据的处理最消耗时间和资源,对系统性能影响最大。为解决这些问题,设计智能导航平台的硬件控制终端,利用基于全球卫星导航系统(Global Navigation Satellite System,GNSS)秒脉冲(Pulse Per Second,PPS)的时间同步,实现多源传感器数据融合;设计用于同步定位与地图构建(Simultaneous Localization And Mapping,SLAM)前端ORB(Oriented FAST and Rotated BRIEF)特征提取加速器,加速图像处理过程,提高SLAM系统的实时性。实验结果表明,硬件平台不仅支持GNSS、惯性测量单元(Inertial Measurement Unit,IMU)、视觉和激光雷达的数据采集和融合,还能加速图像ORB特征点提取。在执行图像ORB特征提取任务时,与CPU和GPU平台上的实现相比,该加速器的帧率分别达到了它们的2.7倍和1.8倍,而功耗仅为它们的5.1%和2.9%。
基金financially supported by the National Natural Science Foundation of China(Nos.51003031 and 51303026)Science Foundation for Universities and Institutions of Dongguan City(No.2012108102008)the Research Fund for the Doctoral Program of Dongguan University of Technology(No.ZJ121002)
文摘A novel TU derivative, N-phenyl-N＇-（γ-triethoxysilane）-propyl thiourea （STU）, is prepared and its binary accelerator system is investigated in detail. Compared to the control references, the optimum curing time of NR compounds with STU is the shortest, indicating a more nucleophilic reaction occurs. The Py-GC/MS results present that the phenyl iso- thiocyanate fragment still remains in the NPUSTU compounds with or without extracting treatment, but no silane segment can be found in the vulcanizate with extracting treatment. Vibrations of C=S, NH and aromatic ring in FTIR experiments and a new methyne carbon peak, as well as the peaks of phenyl group of STU, in the solid state 13C-NMR experiments are found in the NR/STU vulcanizate with extracting treatment. Moreover, the crosslinking density of vulcanizates with STU evolves to lower level, indicating the sulfur atom of STU does not contribute to the sulfur crosslinking. Therefore, a new vulcanization kinetic mechanism of STU is propounded that the thiourea groups can graft to the rubber main chains as pendant groups by chemical bonds during the vulcanization process, which is in accordance with the experimental observations quite well.
