一种基于特征信息的车牌识别方法

根据中国车辆牌照本身的现有特征信息,提出一种车牌识别方法.采用全局动态阈值法进行二值化处理图像,牌照定位算法简单迅速,字符分割参考垂直投影间隔和字符的纵横比.实验结果表明,这种方法具有良好的环境适应性和鲁棒性.     

High-pressure eclogites in northern Jiangsu – southern Shandong province, eastern China

Abstract Eclogites are distributed for more than 500 km along a major tectonic boundary between the Sino-Korean and Yangtze cratons in central and eastern China. These eclogites usually have high-P assemblages including omphacite + kyanite and/or coesite (or its pseudomorph), and form a high-P eclogite terrane. They occur as isolated lenses or blocks 10 cm to 300 m long in gneisses (Type I), serpentinized garnet peridotites (Type II) and marbles (Type III). Type I eclogites were formed by prograde metamorphism, and their primary metamorphic mineral assemblage consists mainly of garnet [pyrope (Prp) = 15–40 mol%], omphacite [jadeite (Jd) = 34–64 mol%], pargasitic amphibole, kyanite, phengitic muscovite, zoisite, an SiO₂ phase, apatite, rutile and zircon. Type II eclogites characteristically contain no SiO₂ phase, and are divided into prograde eclogites and mantle-derived eclogites. The prograde eclogites of Type II are petrographically similar to Type I eclogites. The mantle-derived eclogites have high MgO/(FeO + Fe₂O₃) and Cr₂O₃ compositions in bulk rock and minerals, and consist mainly of pyrope-rich garnet (Prp = 48–60 mol%), sodic augite (Jd = 10–27 mol%) and rutile. Type III eclogites have an unusual mineral assemblage of grossular-rich (Grs = 57 mol%) garnet + omphacite (Jd = 30–34 mol%) + pargasite + rutile. Pargasitic and taramitic amphiboles, calcic plagioclase (An₆₈), epidote, zoisite, K-feldspar and paragonite occur as inclusions in garnet and omphacite in the prograde eclogites. This suggests that the prograde eclogites were formed by recrystallization of epidote amphibolite and/or amphibolite facies rocks with near-isothermal compression reflecting crustal thickening during continent–continent collision of late Proterozoic age. Equilibrium conditions of the prograde eclogites range from P > 26 kbar and T= 500–750°C in the western part to P > 28 kbar and T= 810–880°C in the eastern part of the high-P eclogite terrane. The prograde eclogites in the eastern part are considered to have been derived from a deeper position than those in the western part. Subsequent reactions, manifested by (1) narrow rims of sodic plagioclase or paragonite on kyanite and (2) symplectites between omphacite and quartz are interpreted as an effect of near-isothermal decompression during the retrograde stage. The conditions at which symplectites re-equilibrated tend to increase from west (P < 10 kbar and T < 580°C) to east (P > 9 kbar and T > 680°C). Equilibrium temperatures of Type II mantle-derived eclogites and Type III eclogite are 730–750°C and 680°C, respectively.     

水下智能潜器的神经网络运动控制

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。     

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.     

Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

High-resolution measurements of chromophoric dissolved organic matter in the Mississippi and Atchafalaya River plume regions

Chromophoric dissolved organic matter (CDOM) was measured in the spring and summer in the northern Gulf of Mexico with the ECOShuttle, a towed, instrumented, undulating vehicle. A submersible pump mounted on the vehicle supplied continuously flowing, uncontaminated seawater to online instruments in the shipboard laboratory and allowed discrete samples to be taken for further analysis. CDOM in the northern Gulf of Mexico was dominated by freshwater inputs from the Mississippi River through the Birdfoot region and to the west by discharge from the Atchafalaya River. CDOM was more extensively dispersed in the high-flow period in the spring but in both time periods was limited by stratification to the upper 12 m or so. Thin, subsurface CDOM maxima were observed below the plume during the highly stratified summer period but were absent in the spring. However, there was evidence of significant in situ biological production of CDOM in both seasons.The Mississippi River freshwater end member was similar in spring and summer, while the Atchafalaya end member was significantly higher in the spring. In both time periods, the Atchafalaya was significantly higher in CDOM and dissolved organic carbon (DOC) than the Mississippi presumably due to local production and exchange within the coastal wetlands along the lower Atchafalaya which are absent along the lower Mississippi. Nearshore waters may also have higher CDOM due to outwelling from coastal wetlands. High-resolution measurements allow the differentiation of various water masses and are indicative of rapidly varying (days to weeks) source waters. Highly dynamic but conservative mixing between various freshwater and marine end members apparently dominates CDOM distributions in the area with significant in situ biological inputs (bacterial degradation of phytoplankton detritus), evidence of flocculation, and minor photobleaching effects also observed. It is clear that high-resolution measurements and adaptive sampling strategies allow a more detailed examination of the processes that control CDOM distributions in river-dominated systems.     

自行式海底作业车的研究

理论分析和试验研究是本文写作基础，它详细地总结了大洋多金属结核资源开发而研究自行式海底作业车取得中期成果，它对我国大洋采矿和其它海底工程车辆的发展有着重要的文献价值和指导意义。     

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

A Study on the Dynamic Analysis of A Tracked Vehicle for Ocean Mining on the Deep Seabed

1 .IntroductionOnthedeepseabed ,30 0 0～ 50 0 0mbelowthePacificOcean ,manganesenodulesaresolidifiedandspread ,andmanycountriesintheworldarestudyinghowtominethem .AccordingtoYamazakietal.( 1 998)andAmannetal.( 1 991 ) ,theenvironmentofthedeepseabedisdifferentfromthedrylandinmanyways .Inparticular,thesurfaceoftheseabedisverysoft.Inordertoensuretheperformanceofrunningofamanganesenodulemineronsuchasoftsurface ,thetrackedvehiclemaybeapplied .Ac cordingtoHongandChoi ( 2 0 0 1 ) ,astudyisbeingdone…     

地图误差对地图匹配质量的影响

高精度的数字地图是正确匹配车辆位置的基础。详细分析了地图数据的地理误差和拓扑误差的误差形式,路网数据模型的常见误差因素和改进策略,最后介绍了不同地图匹配算法对地图质量的敏感性和可行性。根据可能出现的误差对现有数字地图和匹配算法加以改进,弥补了原有数字地图带来的不精确缺陷。跑车实验证明,考虑了数字地图误差影响的匹配算法可以明显提高定位精度,减小车辆定位误差。