Mining Spatial Associations with Limited Sensory Information

Abstract

Human navigation in an unknown environment requires an understanding of the spatial relationships of the terrain. For example, a soldier who is on a reconnaissance mission in a new city needs to “know” the spatial layout of the surroundings with high confidence. Oftentimes, this understanding must be acquired within a very short amount of time and with limited sensory inputs. The soldier would benefit from a digital avatar that draws inferences about the spatial layout of the city based on an initial set of observations and guides the soldier either in further exploring the environment or in making decisions based on these inferences. In this paper, we present and evaluate an inductive approach to learning spatial associations using sensory data that is available from the simulation environment of a computer game, Unreal Tournament. We study two kinds of spatial relationships between nodes on a level of a game map: nodes that are placed near each other to satisfy some spatial requirement and nodes that are placed near each other to satisfy the design preferences of a level architect. We show that we can infer both kinds of relationships using an association rule mining algorithm. Furthermore, we show how to use an ontology to distinguish between these relationships in order to discover different types of spatial arrangements on a specific map. We discuss how the inferred associations can be used to control an avatar that makes recommendations for navigating unexplored areas on a map. We conclude with some thoughts on the applicability of our methods to scenarios in the real world, beyond the simulation environment of a game, and on how the learned associations can be represented and queried by a simple question-answer type system.     

Drag derived altitude aided navigation method

The navigation problem of the lifting reentry vehicles has attracted much research interest in the past decade.This paper researches the navigation in the blackout zone during the reentry phase of the aircraft,when the communication signals are attenuated and even interrupted by the blackout zone.However,when calculating altitude,a pure classic inertial navigation algorithm appears imprecise and divergent.In order to obtain a more precise aircraft altitude,this paper applies an integrated navigation method based on inertial navigation algorithms,which uses drag derived altitude to aid the inertial navigation during the blackout zone.This method can overcome the shortcomings of the inertial navigation system and improve the navigation accuracy.To further improve the navigation accuracy,the applicable condition and the main error factors,such as the atmospheric coefficient error and drag coefficient error are analyzed in detail.Then the damping circuit design of the navigation control system and the damping coefficients determination is introduced.The feasibility of the method is verified by the typical reentry trajectory simulation,and the influence of the iterative times on the accuracy is analyzed.Simulation results show that iterative three times achieves the best effect.     

由太阳和地磁参数构成的信鸽导航原理仿真

根据信鸽导航理论和相关试验结果的分析,确定太阳高和地磁场参数的组合可以形成信鸽导航的环境基础.通过分析信鸽对太阳高度角、地磁倾角参数的可能利用过程,结合信鸽飞行路径的特点,确认了信鸽方向判断原理和逐渐趋紧的过程,并在此基础上,通过计算机程序对信鸽导航过程和分型线路进行了模拟,结果较为符合信鸽的飞行特点,并对信鸽导航的初步原理进行了分析和解释.     

基于计算机视觉/GPS/MG姿态测量的盲人行走组合导航方法研究

电子导盲辅助装置(ETA)是解决盲人出行困难的重要手段,而导航是ETA的关键技术.现有的ETA主要用GPS来定位定向,但在城市环境中经常存在GPS信号遮挡导致导航信息丢失的问题.针对该问题,利用视觉导航短时间内定位精度高,输出连续的优点以及 MG(Magnetic Gravity)姿态测量可补偿姿态积累误差的优点,提出一种基于视觉、GPS和MG姿态测量的盲人行走组合导航算法.该方法构建系统误差模型并以Kalman滤波为框架.仿真和实验结果表明,提出的组合导航算法准确度优于单独的导航算法,满足盲人户外安全出行导航的需求.     

试论现代图书馆开展网络资源导航服务

计算机科学技术飞速发展，网络资源丰富杂乱，纸质资源捉襟见肘，通过阐述现代图书馆开展网络资源导航的必要性和可能性，找到现代图书馆的定位和方向，最后阐述现代图书馆开展网络资源导航的意义和价值。     

Matching suitable feature construction for SAR images based on evolutionary synthesis strategy

In the paper,a set of algorithms to construct synthetic aperture radar（SAR）matching suitable features are frstly proposed based on the evolutionary synthesis strategy.During the process,on the one hand,the indexes of primary matching suitable features（PMSFs）are designed based on the characteristics of image texture,SAR imaging and SAR matching algorithm,which is a process involving expertise;on the other hand,by designing a synthesized operation expression tree based on PMSFs,a much more flexible expression form of synthesized features is built,which greatly expands the construction space.Then,the genetic algorithm-based optimized searching process is employed to search the synthesized matching suitable feature（SMSF）with the highest effciency,largely improving the optimized searching effciency.In addition,the experimental results of the airborne synthetic aperture radar ortho-images of C-band and P-band show that the SMSFs gained via the algorithms can reflect the matching suitability of SAR images accurately and the matching probabilities of selected matching suitable areas of ortho-images could reach 99±0.5%.     

工程方法确定翼面载荷研究

提供一种使用翼面载荷测试的弯、扭矩确定气动载荷分布的工程方法。实例表明这种方法是一种比较简单易行的方法,可以得到工程上较为满意的结果。可供强度工作者参考使用。     

大航向角误差情况下飞行中对准研究

为了解决飞行器在大航向角误差的情况下进行飞行中对准的难题,将一种线性大航向角误差模型应用于飞行器飞行中对准的过程.详细推导了线性大航向角误差模型,设计了飞行器在大航向角误差情况下进行飞行中对准的卡尔曼滤波模型,并进行了数字仿真.仿真结果表明,线性大航向角误差模型应用于飞行器飞行中对准,能够很好地解决飞行器在大航向角误差情况下进行对准的难点,并给出了适合于大航向角误差模型的机动方式.最后,提出了线性大航向角误差模型在工程应用中的几点建议     

RELATIONSHIPS FOR MOTION DESCRIBED IN ANY TWO ROTATIONAL REFERENCE FRAMES

In this paper the definitions of the relative derivatives of a vector with respect to time in any reference frame by using the notation of vectrix are proposed. It is further shown that with the help of vectrix one can treat the relative derivatives more clearly and more rigorously when multiple reference frames are concerned. Very useful relationships between the first order relative derivatives described in any two reference frames are derived. Relationships for the second order relative derivatives are also presented in detail. A new concept called "rotation induced acceleration" which is caused by the rotation of two reference frames when motion is necessarily described in them is presented. The result obtained in this paper is the generalization of the acceleration theorem given in conventional theoretical mechanics.     

一种扩展的比例导引规律及其弹道方程的构建

在传统的动力学微分方程的基础上提出了一种扩展的比例导引法 ,并给出了该导引规律下的相对弹道方程。文中的推理过程表明 ,这种导引规律对导弹、目标的运动速度几乎没有限制 ,理论上说明运用该制导规律的导弹将能对付高机动大速度目标 ,其弹道方程的建立 ,使得研究该制导规律下的弹道特性成为可能。