基于GPU和UNITY的嵌入式图像实时传输方法

智能化无人矿山对作业现场环境的可视化要求较高,现有的可视化方法仍存在诸多问题:数据采集方式单一,存在监控盲区;数据传输线缆布设困难且易被损坏,传输延时较高;表现形式不够全面立体,并且不能用于VR/AR、SLAM、机器人定位避障等应用场景。为了满足智能矿山建设的可视化需求,本文结合当前传感技术、矿用机器人以及5G技术的发展,探讨了从数据采集、服务器部署到接收显示的详细步骤。针对全景及深度影像这类新型三维数据,提出一种基于GPU和UNITY的嵌入式视频实时传输方法,包括实时编码、异步传输、轻量级的嵌入式流媒体系统、利用UNITY实时处理以及元数据的同步传输。借助UNITY平台,将三维可视化任务从CPU转移至GPU,仿真实验表明,最高渲染帧率为60 fps时,GPU占用率在35%以下。最后,以全景和深度传感器为例进行了测试,对数据编码、位移贴图、纹理纠正进行有效性验证,并从延迟、帧率、CPU占用率3个方面评估性能。结果表明,所提关键技术均可有效提高运行效率、减少资源占用,相比FFplay延时更低。全景影像的可视化代替了视角固定的传统监控,深度数据为智能矿山巡检机器人定位及避障提供实时数据源,传输方法整体向下兼容。不仅解决传统方法视角单一、布线困难的问题,而且考虑到了智能矿山建设过程中的新需求。     

基于嵌入式开发的便携式水域测量系统

基于水下地形测量原理,通过设计全新的船体结构和双动力系统,加载船载的GPS RTK和测深仪,完成了测量船的基本制造装配。通过开发岸基控制模块自动导航软件及基于嵌入式的船载控制模块,实现了遥控测量船的水下地形数据采集和远程控制功能。     

嵌入式跨平台GIS应用中间件设计

为了解决嵌入式GIS跨平台的软件开发问题,针对嵌入式环境的资源有限性和平台多样性特点,设计了一种嵌入式GIS应用中间件——EGIS_MW平台,该平台能够有效屏蔽不同嵌入式软硬件环境的差异,为上层应用程序提供统一高效并且适合嵌入式GIS应用的编程接口。EGIS_MW平台已经在一款支持多种不同软硬件环境的嵌入式导航系统中得到了应用。应用表明该中间件能够很好地满足嵌入式GIS跨平台软件开发的技术需求。     

Rocking vibrations of a rigid embedded foundation in a poroelastic half‐space

This paper presents an analysis of the rocking vibrations of a rigid cylindrical foundation embedded in poroelastic soil. The foundation is subjected to time‐harmonic rocking excitation and is perfectly bonded to the surrounding soil. The soil underlying the foundation base is represented by a homogeneous poroelastic half‐space, whereas the soil along the side of the foundation is modeled as an independent poroelastic stratum composed of a series of infinitesimally thin layers. The behavior of the soil is governed by Biot's poroelastodynamic theory. The contact surface between the foundation base and the poroelastic soil is assumed to be smooth and either fully permeable or impermeable. The dynamic interaction problem is solved by employing a simplified analytical method. Some numerical results for the nondimensional rocking dynamic impedance and nondimensional angular displacement amplitude of the foundation are presented to show the effect of nondimensional frequency of excitation, poroelastic material parameters, hydraulic boundary condition, depth ratio and mass ratio of the foundation. Copyright © 2009 John Wiley & Sons, Ltd.     

一种IPTV机顶盒的软件在线升级方案设计与实现

介绍了一种基于嵌入式Linux系统的IPTV机顶盒的软件在线升级实现方案。该方案的机顶盒Flash中，除存储了运行正常业务的内核和文件系统外，额外存储了一套内核和文件系统，从而构成双操作系统，以支持网络在线升级。利用嵌入式Linux系统的引导加载系统功能和MTD技术，在一款使用MIPS处理器的机顶盒上，实现了安全可靠且灵活的在线升级功能。     

型钢连接装配式低矮剪力墙抗震性能试验研究

采用带锚筋的锚板、腹板、端板以及加劲板作为连接件,能够通过干式连接方法将上下预制剪力墙构件连为整体。为研究该新型全装配式剪力墙的受力性能和抗震性能,设计了2个剪跨比为0.783的试件和1个相同剪跨比及配筋率的现浇整体墙体,并进行了低周往复拟静力试验,分析了该全装配式剪力墙的承载能力、刚度、延性性能和耗能能力等。研究结果表明:现浇整体墙体和全装配式剪力墙的破坏形式均为受剪破坏,全装配式剪力墙的极限位移角大于现浇整体墙体极限位移角,分别为1/77和1/133,轴压比为0.3时平均延性系数3.47,低于现浇整体墙体平均延性系数4.62;但该全装配式剪力墙具有较高的承载能力和耗能能力。型钢与剪力墙的锚筋需采用穿孔塞焊的形式连接,避免锚筋与锚板焊接的位置发生剪断的现象。     

基于GPS导航的嵌入式软件设计与实现

采用GPS定位技术 ,在WindowsCE的嵌入式环境中设计并实现了一套可广泛应用于智能交通系统 (ITS)和基于位置服务 (LBS)等系统中的具有定位导航服务功能的导航软件     

Stresses due to vertical subsurface loading for an inhomogeneous cross‐anisotropic half‐space

In this article, we present the solutions for the stresses induced by four different loads associated with an axially loaded pile in a continuously inhomogeneous cross‐anisotropic half‐space. The planes of cross‐anisotropy are parallel to the horizontal surface of the half‐space, and the Young's and shear moduli are assumed to vary exponentially with depth. The four loading types are: an embedded point load for an end‐bearing pile, uniform skin friction, linear variation of skin friction, and non‐linear parabolic variation of skin friction for a friction pile. The solutions for the stresses due to the pile load are expressed in terms of the Hankel integral and are obtained from the point load solutions of the same inhomogeneous cross‐anisotropic half‐space which were derived recently by the authors (Int. J. Rock Mech. Min. Sci. 2003; 40 (5):667–685). A numerical procedure is proposed to carry out the integral. For the special case of homogeneous isotropic and cross‐anisotropic half‐space, the stresses predicted by the numerical procedure agree well with the solutions of Geddes and Wang (Geotechnique 1966; 16 (3):231–255; Soils Found. 2003; 43 (5):41–52). An illustrative example is also given to investigate the effect of soil inhomogeneity, the type and degree of soil anisotropy, and the four different loading types on the vertical normal stress. The presented solutions are more realistic in simulating the actual stratum of loading problem in many areas of engineering practice. Copyright © 2004 John Wiley & Sons, Ltd.     

嵌入式GIS的三维地形显示算法研究

本文论述了基于嵌入式G IS的三维地形显示的一系列理论和算法。首先介绍了三维地形显示的基本算法步骤,接下来针对嵌入式系统的特点,提出了三个改进方面,分别是递归细分、坐标变换和内存调度。在论文的最后,给出了实验结果并进行了总结。     

嵌入式Web服务器的Android空间数据离线解决方法

针对移动GIS应用商业开发组件难以进行自由定制与分发的问题,该文提出一种基于嵌入式Web服务器的Android移动端空间数据离线解决方法,该方法通过在Android设备中移植开源的NanoHTTPD服务器实现了地图瓦片服务和矢量要素服务,并通过编码读取bundle切片数据包和扩展Spatialite空间数据库的方式,解决了切片数据和矢量要素数据的存储,然后利用Webview控件内嵌HTML5页面加Leaflet地图库完成了前端功能实现,并进行了实际应用展示。该方案的实现可节省Android端移动GIS应用开发成本,具有推广意义。