基于深度卷积神经网络的视觉里程计研究

视觉里程计利用视频信息来估计相机运动的位姿参数，实现对智能体的定位。传统视觉里程计方法需要特征提取、特征匹配/跟踪、外点剔除、运动估计、优化等流程，解算非常复杂，因此，提出了基于卷积神经网络的方法来实现端对端的单目视觉里程计。借助卷积神经网络对彩色图片自动学习提取图像帧间变化的全局特征，将用于分类的卷积神经网络转化为帧间时序特征网络，通过三层全连接层输出相机的帧间相对位姿参数。在KITTI数据集上的实验结果表明，提出的Deep-CNN-VO模型可以较准确地估计车辆的运动轨迹，证明了方法的可行性。在简化了复杂模型的基础上，与传统的视觉里程计系统相比，该模型的精度也有所提高。     

Structural,morphological, dielectric and magnetic properties of Zn-Zr co-doping yttrium iron garnet

In this study, yttrium iron garnet co-doped with Zn and Zr atoms with a chemical formula Y₃Zn_xZr_xFe_(5−2x)O₁₂ (x = 0.0-0.3) has been successfully prepared by the solid-state reaction method. The effects of doping concentration on the microstructure, crystal structure, magnetic properties, and dielectric properties of Y₃Zn_xZr_xFe_(5−2x)O₁₂ were investigated. The microstructure analysis indicates that co-doping of YIG with Zn and Zr can effectively reduce the grain size of the ceramic. The crystal structure results reveal that the doping concentration of Zn–Zr has substantial influence on the lattice parameters of YIG, such as, increases the lattice constant, crystal cell size, and interplanar spacing. However, the second phase of ZrO₂ appears once x ≥ 0.15. Additionally, the dielectric properties of YIG ferrite can be regulated using this Zn–Zr co-doping method. Zn–Zr co-doping can improve the dielectric stability and reduce the dielectric loss at high temperature. The magnetization measurement shows that the saturation magnetization is stabilized at x < 0.15, and the magnetic loss is decreased with the increase in the doping concentration. Overall, the findings show that the ceramic with x = 0.1 exhibits better properties included high saturation magnetization (24.607 emu/g), low magnetic loss (0.0025 @ 1 MHz), and relatively low dielectric loss (496 @ 400°C).     

Cross-Layer Optimization of Dynamic Packet Assignment for Video Transmission Over IEEE 802.11e Networks

Video transmission over IEEE 802.11e wireless networks still shows poor performance for large bandwidth demand and frequently changed environments. Thus, several enhancements of IEEE 802.11e were proposed. On the other hand, big frames and simultaneous sending of adjacent frames always cause packet dropping for buffer overflow. In the past, we proposed an IEEE 802.11e enhancement named DFAA and a content aware mechanism to solve the above problems. The motivation of this paper is to find a proper way to integrate these two mechanisms. A DFAA enhancement (DFAA-E) is proposed to make up the insufficiency of content aware mechanism. Experiments results show that the combination of DFAA-E and content aware mechanism improves the video decoded quality greatly. And its performance can be further enhanced by selecting the suitable settings of certain parameters.     

Coexistence of three ferroelectric phases and enhanced piezoelectric properties in BaTiO3–CaHfO3 lead-free ceramics

Perovskite ferroelectrics possess the fascinating piezoelectric properties near a morphotropic phase boundary, attributing to a low energy barrier that the results in structural instability and easy polarization rotation. In this work, a new lead-free system of (1-x)BaTiO₃-xCaHfO₃ was designed, and characterized by a coexistence of ferroelectric rhombohedral-orthorhombic-tetragonal (R-O-T) phases. With the increase amount of CaHfO₃ (x), a stable coexistence region of three ferroelectric phases (R-O-T) exists at 0.06 ≤ x ≤ 0.08. Both large piezoelectric coefficient (d₃₃～400 pC/N), inverse piezoelectric coefficient (d₃₃^*～547 pm/V) and planar electromechanical coupling factor (k_p～58.2%) can be achieved for the composition with x = 0.08 near the coexistence of three ferroelectric phases. Our results show that the materials with the composition located at a region where the three ferroelectric R-O-T phases coexist would have the lowest energy barrier and thus greatly promote the polarization rotation, resulting in a strong piezoelectric response.     

链轨节用钢15B36Cr的开发与试制

淮钢采用90 t顶底复吹转炉-LF-RH-200 mm×200 mm连铸-连轧工艺流程试生产了2炉Φ60 mm链轨节用钢15B36Cr(/%:0.30～0.37C、0.15～0.30Si、1.20～1.50Mn、≤0.040P、≤0.0505、0.20～0.40Cr、≤0.25Ni、≤0.35Cu、≤0.06Mo、0.0005～0. 0030B)。通过加严影响淬透性化学成分,控制出钢碳≥0.08%,转炉有效挡渣和下渣检测系统控制下渣,LF炉铝粒和电石渣面脱氧,RH最低真空度处理20～30 min,结晶器电磁搅拌、末端电磁搅拌和连铸低过热度保护浇铸等工艺措施,15B36Cr钢的化学成分稳定控制在内控范围内,除了B粗以外,其他类型非金属夹杂物级别全部控制在1.0以内,淬透性控制在较窄的范围内,试制钢种关键技术指标达到客户和预期设计要求。     

苏6井区下石盒子组高分辨率层序地层学特征

以高分辨率层序地层学理论和技术方法为指导，在苏里格气田苏6井区地表露头、钻井岩心、测井、地震资料综合研究的基础上，通过基准面旋回结构、叠加样式的沉积动力学分析，将该井区下石盒子组划分为2个长期、5个中期和14个短期旋回层序；并较为详细地讨论了各期旋回层序特征；建立了以长期旋回层序界面和最大洪泛面为等时年代地层框架，以中期旋回层序为等时地层单元的高分辨率层序地层格架；通过分析，认为下石盒子组盒₈下段天然气储、盖条件最为有利；有利于储层发育的河道砂体主要出现在长、中期上升半旋回的中、下部，层序界面上相当短期旋回级别的单河道砂体是下石盒子组天然气勘探开发的主要目标。     

水泥浆失水制约下套管与井眼间隙的研究

通过对水泥浆失水规律的室内试验分析以厦对注水泥顶替过程中水泥浆失水桥堵套管与井眼间隙问题的研究，建立了顶替过程中滤失层不发生水泥浆失水而桥堵环形空间的临界失水量计算模型，提出了调配水泥浆失水性能和确定合理套管井眼间隙的具体方法，对注水泥现场施工和井身结构设计具有一定的指导意义。     

Performance study of iSCSI-based storage subsystems

iISCSI is emerging as an end-to-end protocol for transporting storage I/O block data over IP networks. By exploiting the ubiquitous Internet infrastructure, iSCSI greatly facilitates remote storage, remote backup, and data mirroring. This article evaluates the performance of two typical iSCSI storage subsystems by measuring and analyzing block-level I/O access performance and file-level access performance. In the file-level performance study, we compare file access performance in an NAS scheme with that in an iSCSI-based SAN scheme. Our test results show that Gigabit Ethernet-based iSCSI can reach very high bandwidth, close to that of a direct FC disk access in block I/O access. However, when the iSCSI traverses through longer distance, throughput relies heavily on the available bandwidth between the initiator and the target. On the other hand, the file-level performance shows that iSCSI-based file access (SAN scheme) provides higher performance than using NFS protocol in Linux and SMB protocol in Windows (NAS scheme). However, the advantage of using iSCSI-based file accesses decreases as the file size increases. The obtained experimental results shed some light on the performance of applications based on iSCSI storage.     

Optimal Block Design for Asynchronous Wake-Up Schedules and Its Applications in Multihop Wireless Networks

In this paper, we consider the problem of designing optimal asynchronous wake-up schedules to facilitate distributed power management and neighbor discovery in multihop wireless networks. We first formulate it as a block design problem and derive the fundamental trade-offs between wake-up latency and the average duty cycle of a node. After the theoretical foundation is laid, we then devise a neighbor discovery and schedule bookkeeping protocol that can operate on the optimal wake-up schedule derived. To demonstrate the usefulness of asynchronous wake-up, we investigate the efficiency of neighbor discovery and the application of on-demand power management, which overlays a desirable communication schedule over the wake-up schedule mandated by the asynchronous wake-up mechanism. Simulation studies demonstrate that the proposed asynchronous wake-up protocol has short discovery time which scales with the density of the network; it can accommodate various traffic characteristics and loads to achieve an energy savings that can be as high as 70 percent, while the packet delivery ratio is comparable to that without power management.