Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i...Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.展开更多
Objective To construct reference standards for detection and quantification of Klebsiella pneumoniae(K.pneumoniae)with SYBR Green I-based real-time PCR assay.Methods Primers were designed based on the published sequen...Objective To construct reference standards for detection and quantification of Klebsiella pneumoniae(K.pneumoniae)with SYBR Green I-based real-time PCR assay.Methods Primers were designed based on the published sequence of the phoE gene of K.pneumoniae.The standard was prepared by cell culture,PCR and T-A clone methods,and was identified by colony PCR and DNA sequencing.Results The standard curve showed a very good linear negative regression between threshold cycle(Ct)and Log starting quantity of copy number.The detection range was from 5.2 to 5.2×106 copies per reaction,and the detection limit was 6 copies per reaction.The coefficients of variance(CVs)of three parallel experiments were in the range of 0.05%-0.91%.Conclusion The reference standards have high stability and reproducibility.They can be used in the quantitative detection of K.pneumoniae.展开更多
为了探究Vector 3D Tiles格式在三维矢量地物表达方面的效果和性能,研究了一套Vector 3D Tiles格式生产和表达工具,用于在Cesium平台上对矢量数据进行可视化展示。主要工作包括两部分:一是将数据从传统的矢量格式转换为Vector 3D Tiles...为了探究Vector 3D Tiles格式在三维矢量地物表达方面的效果和性能,研究了一套Vector 3D Tiles格式生产和表达工具,用于在Cesium平台上对矢量数据进行可视化展示。主要工作包括两部分:一是将数据从传统的矢量格式转换为Vector 3D Tiles格式,二是在Cesium平台上展示转换后的Vector 3D Tiles数据。为了验证方法可行性,采用广州市地下管线数据开展了实验,对Shapefile、GeoJSON二维矢量格式进行处理,生成Vector 3D Tiles格式后,在Cesium平台上进行三维可视化展示。通过不同格式数据的加载效率和呈现效果比较,证明了矢量切片数据比原始矢量格式加载更快、渲染更平滑。在此基础上,对矢量切片数据基于自定义三维样式的渲染能力进行了验证。展开更多
Traffic sign recognition (TSR, or Road Sign Recognition, RSR) is one of the Advanced Driver Assistance System (ADAS) devices in modern cars. To concern the most important issues, which are real-time and resource effic...Traffic sign recognition (TSR, or Road Sign Recognition, RSR) is one of the Advanced Driver Assistance System (ADAS) devices in modern cars. To concern the most important issues, which are real-time and resource efficiency, we propose a high efficiency hardware implementation for TSR. We divide the TSR procedure into two stages, detection and recognition. In the detection stage, under the assumption that most German traffic signs have red or blue colors with circle, triangle or rectangle shapes, we use Normalized RGB color transform and Single-Pass Connected Component Labeling (CCL) to find the potential traffic signs efficiently. For Single-Pass CCL, our contribution is to eliminate the “merge-stack” operations by recording connected relations of region in the scan phase and updating the labels in the iterating phase. In the recognition stage, the Histogram of Oriented Gradient (HOG) is used to generate the descriptor of the signs, and we classify the signs with Support Vector Machine (SVM). In the HOG module, we analyze the required minimum bits under different recognition rate. The proposed method achieves 96.61% detection rate and 90.85% recognition rate while testing with the GTSDB dataset. Our hardware implementation reduces the storage of CCL and simplifies the HOG computation. Main CCL storage size is reduced by 20% comparing to the most advanced design under typical condition. By using TSMC 90 nm technology, the proposed design operates at 105 MHz clock rate and processes in 135 fps with the image size of 1360 × 800. The chip size is about 1 mm2 and the power consumption is close to 8 mW. Therefore, this work is resource efficient and achieves real-time requirement.展开更多
The automatic detection and identification of electroencephalogram waves play an important role in the prediction, diagnosis and treatment of epileptic seizures. In this study, a nonlinear dynamics index–approximate ...The automatic detection and identification of electroencephalogram waves play an important role in the prediction, diagnosis and treatment of epileptic seizures. In this study, a nonlinear dynamics index–approximate entropy and a support vector machine that has strong generalization ability were applied to classify electroencephalogram signals at epileptic interictal and ictal periods. Our aim was to verify whether approximate entropy waves can be effectively applied to the automatic real-time detection of epilepsy in the electroencephalogram, and to explore its generalization ability as a classifier trained using a nonlinear dynamics index. Four patients presenting with partial epileptic seizures were included in this study. They were all diagnosed with neocortex localized epilepsy and epileptic foci were clearly observed by electroencephalogram. The electroencephalogram data form the four involved patients were segmented and the characteristic values of each segment, that is, the approximate entropy, were extracted. The support vector machine classifier was constructed with the approximate entropy extracted from one epileptic case, and then electroencephalogram waves of the other three cases were classified, reaching a 93.33% accuracy rate. Our findings suggest that the use of approximate entropy allows the automatic real-time detection of electroencephalogram data in epileptic cases. The combination of approximate entropy and support vector machines shows good generalization ability for the classification of electroencephalogram signals for epilepsy.展开更多
This paper presents a novel method of generating a set of texture tiles from samples, which can be seamlessly tiled into arbitrary size textures in real-time. Compared to existing methods, our approach is simpler and ...This paper presents a novel method of generating a set of texture tiles from samples, which can be seamlessly tiled into arbitrary size textures in real-time. Compared to existing methods, our approach is simpler and more advantageous in eliminating visual seams that may exist in each tile of the existing methods, especially when the samples have elaborate features or distinct colors. Texture tiles generated by our approach can be regarded as single-colored tiles on each orthogonal direction border, which are easier for tiling and more suitable for sentence tiling. Experimental results demonstrate the feasibility and effectiveness of our approach.展开更多
With the dramatic development of spatial data in- frastructure, CyberGIS has become significant for geospatial data sharing. Due to the large number of concurrent users and large volume of vector data, CyberGIS faces ...With the dramatic development of spatial data in- frastructure, CyberGIS has become significant for geospatial data sharing. Due to the large number of concurrent users and large volume of vector data, CyberGIS faces a great chal- lenge in how to improve performance. The real-time visual- ization of vector maps is the most common function in Cyber- GIS applications, and it is time-consuming especially when the data volume becomes large. So, how to improve the effi- ciency of visualization of large vector maps is still a signif- icant research direction for GIScience scientists. In this re- search, we review the existing three optimization strategies, and determine that the third category strategy （i.e., parallel optimization） is appropriate for the real-time visualization of large vector maps. One of the key issues of parallel optimiza- tion is how to decompose the real-time visualization tasks into balanced sub tasks while taking into consideration the spatial heterogeneous characteristics. We put forward some rules that the decomposition should conform to, and design a real-time visualization framework for large vector maps. We focus on a balanced decomposition approach that can assure efficiency and effectiveness. Considering the spatial hetero- geneous characteristic of vector data, we use a ＂horizontal grid, vertical multistage＂ approach to construct a spatial point distribution information grid. The load balancer analyzes the spatial characteristics of the map requests and decomposes the real-time viewshed into multiple balanced sub viewsheds.Then, all the sub viewsheds are distributed to multiple server nodes to be executed in parallel, so as to improve the real- time visualization efficiency of large vector maps. A group of experiments have been conducted by us. The analysis results demonstrate that the approach proposed in this research has the ability of balanced decomposition, and it is efficient and effective for all geometry types of vector data.展开更多
基金Supported by Ministerial Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.
基金supported by the National High Technology Research and Development Program of China(863Program,No.2006AA06Z408)
文摘Objective To construct reference standards for detection and quantification of Klebsiella pneumoniae(K.pneumoniae)with SYBR Green I-based real-time PCR assay.Methods Primers were designed based on the published sequence of the phoE gene of K.pneumoniae.The standard was prepared by cell culture,PCR and T-A clone methods,and was identified by colony PCR and DNA sequencing.Results The standard curve showed a very good linear negative regression between threshold cycle(Ct)and Log starting quantity of copy number.The detection range was from 5.2 to 5.2×106 copies per reaction,and the detection limit was 6 copies per reaction.The coefficients of variance(CVs)of three parallel experiments were in the range of 0.05%-0.91%.Conclusion The reference standards have high stability and reproducibility.They can be used in the quantitative detection of K.pneumoniae.
文摘为了探究Vector 3D Tiles格式在三维矢量地物表达方面的效果和性能,研究了一套Vector 3D Tiles格式生产和表达工具,用于在Cesium平台上对矢量数据进行可视化展示。主要工作包括两部分:一是将数据从传统的矢量格式转换为Vector 3D Tiles格式,二是在Cesium平台上展示转换后的Vector 3D Tiles数据。为了验证方法可行性,采用广州市地下管线数据开展了实验,对Shapefile、GeoJSON二维矢量格式进行处理,生成Vector 3D Tiles格式后,在Cesium平台上进行三维可视化展示。通过不同格式数据的加载效率和呈现效果比较,证明了矢量切片数据比原始矢量格式加载更快、渲染更平滑。在此基础上,对矢量切片数据基于自定义三维样式的渲染能力进行了验证。
文摘Traffic sign recognition (TSR, or Road Sign Recognition, RSR) is one of the Advanced Driver Assistance System (ADAS) devices in modern cars. To concern the most important issues, which are real-time and resource efficiency, we propose a high efficiency hardware implementation for TSR. We divide the TSR procedure into two stages, detection and recognition. In the detection stage, under the assumption that most German traffic signs have red or blue colors with circle, triangle or rectangle shapes, we use Normalized RGB color transform and Single-Pass Connected Component Labeling (CCL) to find the potential traffic signs efficiently. For Single-Pass CCL, our contribution is to eliminate the “merge-stack” operations by recording connected relations of region in the scan phase and updating the labels in the iterating phase. In the recognition stage, the Histogram of Oriented Gradient (HOG) is used to generate the descriptor of the signs, and we classify the signs with Support Vector Machine (SVM). In the HOG module, we analyze the required minimum bits under different recognition rate. The proposed method achieves 96.61% detection rate and 90.85% recognition rate while testing with the GTSDB dataset. Our hardware implementation reduces the storage of CCL and simplifies the HOG computation. Main CCL storage size is reduced by 20% comparing to the most advanced design under typical condition. By using TSMC 90 nm technology, the proposed design operates at 105 MHz clock rate and processes in 135 fps with the image size of 1360 × 800. The chip size is about 1 mm2 and the power consumption is close to 8 mW. Therefore, this work is resource efficient and achieves real-time requirement.
基金financially supported by the National Natural Science Foundation of China,No.61263011,81000554Program in Sun Yat-sen University supported by Fundamental Research Funds for the Central Universities,No.11ykpy07+1 种基金Natural Science Foundation of Guangdong Province,No.S2011010005309Innovation Fund of Xinjiang Medical University,No.XJC201209
文摘The automatic detection and identification of electroencephalogram waves play an important role in the prediction, diagnosis and treatment of epileptic seizures. In this study, a nonlinear dynamics index–approximate entropy and a support vector machine that has strong generalization ability were applied to classify electroencephalogram signals at epileptic interictal and ictal periods. Our aim was to verify whether approximate entropy waves can be effectively applied to the automatic real-time detection of epilepsy in the electroencephalogram, and to explore its generalization ability as a classifier trained using a nonlinear dynamics index. Four patients presenting with partial epileptic seizures were included in this study. They were all diagnosed with neocortex localized epilepsy and epileptic foci were clearly observed by electroencephalogram. The electroencephalogram data form the four involved patients were segmented and the characteristic values of each segment, that is, the approximate entropy, were extracted. The support vector machine classifier was constructed with the approximate entropy extracted from one epileptic case, and then electroencephalogram waves of the other three cases were classified, reaching a 93.33% accuracy rate. Our findings suggest that the use of approximate entropy allows the automatic real-time detection of electroencephalogram data in epileptic cases. The combination of approximate entropy and support vector machines shows good generalization ability for the classification of electroencephalogram signals for epilepsy.
基金Supported by the National Natural Science Foundation of China(Grant No.60575023)National Research Foundation for the Doctoral Program of Higher Education of China(Grant No.20050359012)+1 种基金the Major Research Project of Natural Science Foundation of Higher Education Institution of Anhui Province(KJ2007A122ZC)Science Research and Development Foundation of Hefei University of Technology of China(Grant No.060504F).
文摘This paper presents a novel method of generating a set of texture tiles from samples, which can be seamlessly tiled into arbitrary size textures in real-time. Compared to existing methods, our approach is simpler and more advantageous in eliminating visual seams that may exist in each tile of the existing methods, especially when the samples have elaborate features or distinct colors. Texture tiles generated by our approach can be regarded as single-colored tiles on each orthogonal direction border, which are easier for tiling and more suitable for sentence tiling. Experimental results demonstrate the feasibility and effectiveness of our approach.
文摘With the dramatic development of spatial data in- frastructure, CyberGIS has become significant for geospatial data sharing. Due to the large number of concurrent users and large volume of vector data, CyberGIS faces a great chal- lenge in how to improve performance. The real-time visual- ization of vector maps is the most common function in Cyber- GIS applications, and it is time-consuming especially when the data volume becomes large. So, how to improve the effi- ciency of visualization of large vector maps is still a signif- icant research direction for GIScience scientists. In this re- search, we review the existing three optimization strategies, and determine that the third category strategy （i.e., parallel optimization） is appropriate for the real-time visualization of large vector maps. One of the key issues of parallel optimiza- tion is how to decompose the real-time visualization tasks into balanced sub tasks while taking into consideration the spatial heterogeneous characteristics. We put forward some rules that the decomposition should conform to, and design a real-time visualization framework for large vector maps. We focus on a balanced decomposition approach that can assure efficiency and effectiveness. Considering the spatial hetero- geneous characteristic of vector data, we use a ＂horizontal grid, vertical multistage＂ approach to construct a spatial point distribution information grid. The load balancer analyzes the spatial characteristics of the map requests and decomposes the real-time viewshed into multiple balanced sub viewsheds.Then, all the sub viewsheds are distributed to multiple server nodes to be executed in parallel, so as to improve the real- time visualization efficiency of large vector maps. A group of experiments have been conducted by us. The analysis results demonstrate that the approach proposed in this research has the ability of balanced decomposition, and it is efficient and effective for all geometry types of vector data.
