融合UWB与INS的消防员室内定位与NLOS检测算法

融合超宽带（UWB）和惯性导航系统（INS）能够实现消防员室内精确定位。为实现UWB的非视距（NLOS）误差检测,设计一种双级EKF框架。该框架以松耦合形式实现UWB/INS的数据融合,通过INS获取的初始位置估计坐标以检测UWB测量值的NLOS误差,根据检测结果计算残差矩阵来动态调整融合滤波器的测量噪声矩阵,以达到缓解NLOS误差的目的。实验结果表明,与三角不等式原理检测算法和无NLOS检测的UWB/INS简单融合算法相比,所提NLOS检测算法具备良好的检测能力、较强的稳定性及较高的定位精度。     

自主导航巡逻机器人的行走系统研究

研制了巡逻机器人的行走系统，包括导航系统和双电机驱动系统和控制系统。首先介绍了巡逻机器人的导航系统，包括循线子系统和超声波测障子系统，然后研究了机器人的驱动系统，包括转速检测子系统和驱动电路子系统，最后介绍了行走系统的控制系统结构。根据实验结果证明系统性能良好。     

When adults without university education search the Internet for health information: The roles of Internet-specific epistemic beliefs and a source evaluation intervention

In the present research, N = 48 adults without university education were tasked to conduct two web searches on unfamiliar health-related issues. Three research objectives were examined: the predictive value of individuals’ Internet-specific epistemic beliefs for their navigation behavior and post-search decisions in Web Search Task 1; the effects of a short source evaluation intervention on individuals’ navigation behavior and post-search decisions in Web Search Task 2; and the effects of the source evaluation intervention on individuals’ Internet-specific epistemic beliefs. Results showed that beliefs concerning the justification by multiple sources were positively related to the time spent on reliable objective web pages and to the likelihood to make a post-search decision that was in accordance with the objective pages. Beliefs that the Internet is a reliable knowledge resource were also positively related to the time spent on objective pages as well as to greater certainty in the post-search decision. Second, in Web Search Task 2, the intervention group spent more time on objective web pages, was more likely to make a decision that was in accordance with these pages, and was more certain of their decision than the control group. Third, one week after the intervention, individuals possessed stronger beliefs concerning the justification by multiple sources than before. In conclusion, the present research indicates that both adaptive Internet-specific beliefs and a short source evaluation intervention have positive effects on non-university educated adults’ online health information seeking and that their Internet-specific epistemic beliefs can be fostered through such an intervention.     

基于多线程的惯导逻辑仿真器设计

针对惯导系统在载机静止状态下无法提供动态参数的问题,对惯导子系统进行数字仿真。在航电系统仿真中,采用1553 B总线与总线控制器和其他航电、非航电设备交联,通过以太网接收外部激励数据,采用多线程技术实现主备2个惯导并发运行,设计一种惯导逻辑仿真系统。阐述系统硬件结构和软件设计,建立惯导姿态仿真模型和位置仿真模型,实现惯导各种逻辑子过程。在某型飞机航电仿真系统中的联调证明,该仿真器能够准确接收外部激励源飞行信息、故障状态,经过结算后周期性地向总线控制器输出飞机位置数据、姿态数据等动态参数,执行某型飞机航电设计文档中相关惯导逻辑,并向总线控制器反馈惯导子系统状态。     

The Information Navigation System

Abstract

Today's instruction and reference librarians face new challenges as the gatekeepers to information. The information explosion requires that we create strategies for our customers to navigate through a maze of material. This paper describes a reference tool developed at The Johns Hopkins University Applied Physics Laboratory to meet the information needs of our researchers and offers practical advice to other librarians interested in providing a similar service.     

广西郁江老口航运枢纽工程泄水闸坝门型设计方案选择

介绍了广西郁江老口航运枢纽工程对泄水闸坝闸门门型的选型设计.文中提出了平板闸门和弧形闸门的比较方案,通过对泄流能力、环境影响、施工条件及后期运行管理务件的分析,最终推荐采用了弧形闸门方案.     

An indoor localization system in a multiblock workspace

As service robots and other ubiquitous technology have evolved, an increasing need for the autonomous navigation of mobile objects has arisen. In a large number of localization schemes, the absolute-position estimation method, which relies on navigation beacons or landmarks, has been widely used as it has the advantages of being economical and accurate. However, only a few of these schemes have expanded their application to complicated workspaces, or those that have many rooms or blocks. As the navigation of mobile objects in complicated workspaces is vital for ubiquitous technology, multiblock navigation is necessary. This article presents methodologies and techniques for the multiblock navigation of the indoor localization system with active beacon sensors. This new indoor localization system design includes ultrasonic attenuation compensation, dilution-of-precision analysis, and a fault detection and isolation algorithm using redundant measurements. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

A learning classifier system for mazes with aliasing clones

Maze problems represent a simplified virtual model of the real environment and can be used for developing core algorithms of many real-world application related to the problem of navigation. Learning Classifier Systems (LCS) are the most widely used class of algorithms for reinforcement learning in mazes. However, LCSs best achievements in maze problems are still mostly bounded to non-aliasing environments, while LCS complexity seems to obstruct a proper analysis of the reasons for failure. Moreover, there is a lack of knowledge of what makes a maze problem hard to solve by a learning agent. To overcome this restriction we try to improve our understanding of the nature and structure of maze environments. In this paper we describe a new LCS agent that has a simpler and more transparent performance mechanism. We use the structure of a predictive LCS model, strip out the evolutionary mechanism, simplify the reinforcement learning procedure and equip the agent with the ability to Associative Perception, adopted from psychology. We then assess the new LCS with Associative Perception on an extensive set of mazes and analyse the results to discover which features of the environments play the most significant role in the learning process. We identify a particularly hard feature for learning in mazes, aliasing clones, which arise when groups of aliasing cells occur in similar patterns in different parts of the maze. We discuss the impact of aliasing clones and other types of aliasing on learning algorithms.     

Web浏览预测的Markov模型综述

Web访问模式挖掘研究的一个重要议题是Web浏览预测,Markov模型是一种经典的Web浏览预测模型.本文首先介绍了基本Markov浏览预测模型,包括基本Markov浏览行为模型,模型的学习训练及其在Web浏览预测问题中的应用;然后重点分析了扩展的Markov浏览预测模型,包括一序组合预测模型、高序模型、混合模型、隐Mark-ov模型、连续时间Markov模型等,综述了各种扩展模型所考虑的浏览预测问题的本质出发点、模型的学习方法及预测方法,最后分析了Markov浏览预测模型有待进一步研究的问题.     

Improving pedestrians’ navigation safety at night by enhancing legibility of foreground and background information on the display

Traffic intersections are dangerous areas for pedestrians at night, primarily when people use their mobile phones while walking; pedestrians’ line of sight switches between their phones and the environment, which causes inattentional blindness during emergencies. The salience of the foreground and background information is different by the lightness conditions; therefore, identifying the lightness level of the foreground and background is critical. In this study, the brightness of urban traffic intersection scenes in the nighttime was analyzed, and improved color tones of the navigation interface for enhancing information recognition were identified. Moreover, identify the balance of visual attention by adjusting lightness and color treatment between foreground and background information. A glance legibility experiment indicated that a warm color tone with contrast and gamma correction under a lighting value of 65 in the LAB color mode is the optimal recognition combination. The results of this study indicated that low gamma under high lighting effectively reduced glare-related distractions and resulted in the lowest error rate in background information recognition. This paper proposes increasing the visual attention of urban pedestrians during nighttime navigation through the balancing of the lighting of the foreground interface and the color treatment of the background. Navigating at nighttime can be safer when their attention toward the environment increases and decreases attention distraction.