同步定位与建图(simultaneous localization and mapping, SLAM)技术是移动机器人研究及应用的关键问题,旨在解决机器人在复杂环境中实现自主定位与地图构建等功能。对SLAM的系统组成、关键技术及应用进行了简要介绍;重点围绕特征点法...同步定位与建图(simultaneous localization and mapping, SLAM)技术是移动机器人研究及应用的关键问题,旨在解决机器人在复杂环境中实现自主定位与地图构建等功能。对SLAM的系统组成、关键技术及应用进行了简要介绍;重点围绕特征点法、滤波法、图优化法、多传感器融合和动态场景5个方面,综述了SLAM系统的关键技术、国内外研究现状及标志性应用进展;并结合代表性系统,比较分析了不同方法之间的优缺点,详细阐述了多传感器融合SLAM系统,同时对复杂场景下的SLAM技术进行了展望。展开更多
The need for developing accurate quenching models requires an extensive experimental database that includes surface heat flux characterization. Quantification of the quenching process permits i) the development of hig...The need for developing accurate quenching models requires an extensive experimental database that includes surface heat flux characterization. Quantification of the quenching process permits i) the development of high-quality heat treated products, ii) the evaluation of new quenchants and quenchant systems, and iii) the evaluation of quenchant quality over usage time. The surface heat transfer coefficient (or heat flux) is rarely measured, calculated or modeled in sufficient detail for real scientific use. Many single-thermocouple based probes are designed for the purpose of measuring the cooling power of a liquid quenchant or for monitoring quenchant quality. Lumped based probes are sufficient for these types of applications. However, the lack of sufficient distributed detail impedes the development of future high-quality heat-treated products. Frankel and his coworkers are developing a new family of transient thermal-rate sensors that will improve both diagnostic and real-time analyzes in heat transfer studies. Analyzes have been performed indicating that there exists a novel, thermal-rate sensor hierarchy that stabilizes predictions when used with analysis. This concept can be used for investigating both (i) direct surface heat transfer effects, and (ii) projective surface analysis based on embedded sensors. This new sensor family includes the ability to measure temperature, T; heat flux, q"; and their temporal derivatives, i.e., dT/dt, d^T/dt2 and dq’Vdt.展开更多
文摘同步定位与建图(simultaneous localization and mapping, SLAM)技术是移动机器人研究及应用的关键问题,旨在解决机器人在复杂环境中实现自主定位与地图构建等功能。对SLAM的系统组成、关键技术及应用进行了简要介绍;重点围绕特征点法、滤波法、图优化法、多传感器融合和动态场景5个方面,综述了SLAM系统的关键技术、国内外研究现状及标志性应用进展;并结合代表性系统,比较分析了不同方法之间的优缺点,详细阐述了多传感器融合SLAM系统,同时对复杂场景下的SLAM技术进行了展望。
文摘The need for developing accurate quenching models requires an extensive experimental database that includes surface heat flux characterization. Quantification of the quenching process permits i) the development of high-quality heat treated products, ii) the evaluation of new quenchants and quenchant systems, and iii) the evaluation of quenchant quality over usage time. The surface heat transfer coefficient (or heat flux) is rarely measured, calculated or modeled in sufficient detail for real scientific use. Many single-thermocouple based probes are designed for the purpose of measuring the cooling power of a liquid quenchant or for monitoring quenchant quality. Lumped based probes are sufficient for these types of applications. However, the lack of sufficient distributed detail impedes the development of future high-quality heat-treated products. Frankel and his coworkers are developing a new family of transient thermal-rate sensors that will improve both diagnostic and real-time analyzes in heat transfer studies. Analyzes have been performed indicating that there exists a novel, thermal-rate sensor hierarchy that stabilizes predictions when used with analysis. This concept can be used for investigating both (i) direct surface heat transfer effects, and (ii) projective surface analysis based on embedded sensors. This new sensor family includes the ability to measure temperature, T; heat flux, q"; and their temporal derivatives, i.e., dT/dt, d^T/dt2 and dq’Vdt.
