针对基于点线特征的实时定位与建图(simultaneous localization and mapping,SLAM)算法在位姿识别过程中对定位精度的要求,提出一种改进单目视觉惯性同步定位与建图(monocular visual-inertial SLAM with efficient point-line flow fea...针对基于点线特征的实时定位与建图(simultaneous localization and mapping,SLAM)算法在位姿识别过程中对定位精度的要求,提出一种改进单目视觉惯性同步定位与建图(monocular visual-inertial SLAM with efficient point-line flow features,EPLF-VINS)算法。首先,分析了梯度阈值参数对line segment detection by edge drawing(EDLines)线段提取算法的影响;其次,在点特征正向光流追踪后采用逆向光流追踪剔除错误追踪点,提高光流追踪正确率;然后,在EPLF-VINS算法的线段提取处融合一种自适应调节算法,通过计算逆向光流追踪后的点特征光流追踪成功率实时地调节梯度阈值参数,从而实现根据环境的变化动态调整线段提取,更好地平衡计算成本与定位精度的效果;最后,基于Robot Operating System(ROS)平台分析了改进EPLF-VINS算法与对比算法在EuRoc和TUM-VI数据集上的轨迹精度与效率。研究结果表明,改进EPLF-VINS算法绘制的轨迹曲线更加贴合真实轨迹,在保证实时性的同时具有更高的定位精度。展开更多
Analyses the flow tracing based on power flow, points out that the detachment of reactive power and active power is unrealiable and concludes that the current is the real basic of flow tracing,and proposes the new flo...Analyses the flow tracing based on power flow, points out that the detachment of reactive power and active power is unrealiable and concludes that the current is the real basic of flow tracing,and proposes the new flow tracing model based on current, which devides the current into active current and reactive current, analyses the theory about the matrix to deal with the precision and realization of the flow tracing, and then proposes a new pricing model by fixed rate and marginal rate, which keeps not only economy information such as congestion cost in marginal cost based pricing, but also benefits to make both ends meet.展开更多
Two new methods were presented for power flow tracing(PFT).These two methods were compared and the results were discussed in detail.Both methods use the active and reactive power balance equations at each bus in order...Two new methods were presented for power flow tracing(PFT).These two methods were compared and the results were discussed in detail.Both methods use the active and reactive power balance equations at each bus in order to solve the tracing problem.The first method considers the proportional sharing assumption while the second one uses the circuit laws to find the relationship between power inflows and outflows through each line,generator and load connected to each bus of the network.Both methods are able to handle loop flow and loss issues in tracing problem.A formulation is also proposed to find the share of each unit in provision of each load.These methods are applied to find the producer and consumer's shares on the cost of transmission for each line in different case studies.As the results of these studies show,both methods can effectively solve the PFT problem.展开更多
Three tracing tests from the same injection point executed at low, medium, and high water levels in the karst aquifer near Tianshengan village, Lunan Stone Forest, Yunnan Province, China, have revealed the basic prope...Three tracing tests from the same injection point executed at low, medium, and high water levels in the karst aquifer near Tianshengan village, Lunan Stone Forest, Yunnan Province, China, have revealed the basic properties of underground water flow. They showed the general directions of water flows; tracer concentrations were observed at six successive points allowing for the calculation of apparent dominant flow velocities at these sections towards the Dalongtan karst spring. For the high water level, the discharge between single sections was between two and 10 times greater than that at low water level. For the medium water level, the flow velocity at different sections was between 1.4 and 3.7 times faster than that at low water level; and for high water level, it was between 1.3 and 2.7 times faster than that at medium water level. The fastest water flow appeared at the first section （23 cm/s at medium water level）; and the slowest （0.6 cm/s at low water level） appeared where water flow must cross the Tianshengan fault （north-south direction）, and later, a layer of 20-30 m thickness of quartz sandstone and shale clay-stones. It was also possible to calculate the recovery of the tracer for point 4, Dakenyan, where discharge was measured. At the medium water level, 50% of the injected tracer was detected a half-day after its first appearance and at low water level after more than 3 days. The previously published research illustrates the transport velocities of possible contaminants and their solubilities in water at different hydrological conditions.展开更多
In the electricity market, charging based on the traditional spot electricity price often results in the payment imbalance of electric network, and goes against the development of the power system. So, it is necessary...In the electricity market, charging based on the traditional spot electricity price often results in the payment imbalance of electric network, and goes against the development of the power system. So, it is necessary to modify the spot price. The key of the modification lies in how to calculate the fixed unit transmission cost of each node, that is how to allocate the fixed transmission cost to users.To solve this problem, we develop a power flow tracing algrithm to modify the spot price. We put forward a path searching method based on the graph theory after studying the fundamental principle of power flow tracing and apply the method to the downstream tracing algorithm and upstream tracing algorithm according to the proportional distribution principle. Furthermore, to improve the computational efficiency of the algorithm, we introduce the branch expunction method to optimize the node order. By using the result of power flow tracing to get fixed node transmission cost and introducing it to modify the spot price, we obtain the synthetical price.The application to a 5-bus system prove the algorithm feasible.展开更多
Turbulence, universally exist in nature and human activities, is a kind of three-dimensional, irregular, unsteady flow. Ever since 19th century when people started to investigated turbulent flow technically, they have...Turbulence, universally exist in nature and human activities, is a kind of three-dimensional, irregular, unsteady flow. Ever since 19th century when people started to investigated turbulent flow technically, they have never dropped the po-tent and intuitionistic experimental method. Recently, with the development of aviation and aerospace industry, espe-cially with the increase desire of supersonic and hypersonic flight, the mechanism of high speed and compressible flow has become hot topic of fluid research, resulting in development of measurement method and technique. When encoun-tering compressible high flow, traditional techniques, such as schilieren, shadow and interference, cannot measure fine flow structures. Fortunately, multiple-discipline integration of nano technique, laser technique and imaging technique provides a new design for fluid measurement。Nano-tracer planar laser scattering (NPLS) is a new flow visualization technique, which was developed by the authors’ group in 2005, and it can visualize time correctional flow structure in a cross-section of instantaneous 3D supersonic flow at high spatiotemporal resolution. Many studies have demonstrated that NPLS is a powerful tool to study supersonic turbulence.展开更多
文摘针对基于点线特征的实时定位与建图(simultaneous localization and mapping,SLAM)算法在位姿识别过程中对定位精度的要求,提出一种改进单目视觉惯性同步定位与建图(monocular visual-inertial SLAM with efficient point-line flow features,EPLF-VINS)算法。首先,分析了梯度阈值参数对line segment detection by edge drawing(EDLines)线段提取算法的影响;其次,在点特征正向光流追踪后采用逆向光流追踪剔除错误追踪点,提高光流追踪正确率;然后,在EPLF-VINS算法的线段提取处融合一种自适应调节算法,通过计算逆向光流追踪后的点特征光流追踪成功率实时地调节梯度阈值参数,从而实现根据环境的变化动态调整线段提取,更好地平衡计算成本与定位精度的效果;最后,基于Robot Operating System(ROS)平台分析了改进EPLF-VINS算法与对比算法在EuRoc和TUM-VI数据集上的轨迹精度与效率。研究结果表明,改进EPLF-VINS算法绘制的轨迹曲线更加贴合真实轨迹,在保证实时性的同时具有更高的定位精度。
文摘Analyses the flow tracing based on power flow, points out that the detachment of reactive power and active power is unrealiable and concludes that the current is the real basic of flow tracing,and proposes the new flow tracing model based on current, which devides the current into active current and reactive current, analyses the theory about the matrix to deal with the precision and realization of the flow tracing, and then proposes a new pricing model by fixed rate and marginal rate, which keeps not only economy information such as congestion cost in marginal cost based pricing, but also benefits to make both ends meet.
文摘Two new methods were presented for power flow tracing(PFT).These two methods were compared and the results were discussed in detail.Both methods use the active and reactive power balance equations at each bus in order to solve the tracing problem.The first method considers the proportional sharing assumption while the second one uses the circuit laws to find the relationship between power inflows and outflows through each line,generator and load connected to each bus of the network.Both methods are able to handle loop flow and loss issues in tracing problem.A formulation is also proposed to find the share of each unit in provision of each load.These methods are applied to find the producer and consumer's shares on the cost of transmission for each line in different case studies.As the results of these studies show,both methods can effectively solve the PFT problem.
文摘Three tracing tests from the same injection point executed at low, medium, and high water levels in the karst aquifer near Tianshengan village, Lunan Stone Forest, Yunnan Province, China, have revealed the basic properties of underground water flow. They showed the general directions of water flows; tracer concentrations were observed at six successive points allowing for the calculation of apparent dominant flow velocities at these sections towards the Dalongtan karst spring. For the high water level, the discharge between single sections was between two and 10 times greater than that at low water level. For the medium water level, the flow velocity at different sections was between 1.4 and 3.7 times faster than that at low water level; and for high water level, it was between 1.3 and 2.7 times faster than that at medium water level. The fastest water flow appeared at the first section （23 cm/s at medium water level）; and the slowest （0.6 cm/s at low water level） appeared where water flow must cross the Tianshengan fault （north-south direction）, and later, a layer of 20-30 m thickness of quartz sandstone and shale clay-stones. It was also possible to calculate the recovery of the tracer for point 4, Dakenyan, where discharge was measured. At the medium water level, 50% of the injected tracer was detected a half-day after its first appearance and at low water level after more than 3 days. The previously published research illustrates the transport velocities of possible contaminants and their solubilities in water at different hydrological conditions.
文摘In the electricity market, charging based on the traditional spot electricity price often results in the payment imbalance of electric network, and goes against the development of the power system. So, it is necessary to modify the spot price. The key of the modification lies in how to calculate the fixed unit transmission cost of each node, that is how to allocate the fixed transmission cost to users.To solve this problem, we develop a power flow tracing algrithm to modify the spot price. We put forward a path searching method based on the graph theory after studying the fundamental principle of power flow tracing and apply the method to the downstream tracing algorithm and upstream tracing algorithm according to the proportional distribution principle. Furthermore, to improve the computational efficiency of the algorithm, we introduce the branch expunction method to optimize the node order. By using the result of power flow tracing to get fixed node transmission cost and introducing it to modify the spot price, we obtain the synthetical price.The application to a 5-bus system prove the algorithm feasible.
文摘Turbulence, universally exist in nature and human activities, is a kind of three-dimensional, irregular, unsteady flow. Ever since 19th century when people started to investigated turbulent flow technically, they have never dropped the po-tent and intuitionistic experimental method. Recently, with the development of aviation and aerospace industry, espe-cially with the increase desire of supersonic and hypersonic flight, the mechanism of high speed and compressible flow has become hot topic of fluid research, resulting in development of measurement method and technique. When encoun-tering compressible high flow, traditional techniques, such as schilieren, shadow and interference, cannot measure fine flow structures. Fortunately, multiple-discipline integration of nano technique, laser technique and imaging technique provides a new design for fluid measurement。Nano-tracer planar laser scattering (NPLS) is a new flow visualization technique, which was developed by the authors’ group in 2005, and it can visualize time correctional flow structure in a cross-section of instantaneous 3D supersonic flow at high spatiotemporal resolution. Many studies have demonstrated that NPLS is a powerful tool to study supersonic turbulence.
