Localization,Exploration, and Navigation Based on Qualitative Angle Information

Abstract

Three of the major problems in building autonomous mobile robots are localization, exploration, and navigation. This paper investigates how well different qualitative methods based on angle information, most of them originally invented for representation of spatial knowledge, are suited for addressing these problems. It combines results from discrete and computational geometry with methods from qualitative spatial reasoning, gaining some new insights on the complexity of robot navigation. It turns out that essentially only with panoramas (special roundviews) the qualitative localization problem can be solved in a satisfactory manner. The exploration problem (qualitative map building), remains difficult for all considered approaches.     

Taxonomy of Human Wayfinding Tasks: A Knowledge-Based Approach

Abstract

Although the term “Wayfinding” has been defined by several authors, it subsumes a whole set of tasks that involve different cognitive processes, drawing on different cognitive components. Research on wayfinding has been conducted with different paradigms using a variety of wayfinding tasks. This makes it difficult to compare the results and implications of many studies. A systematic classification is needed in order to determine and investigate the cognitive processes and structural components of how humans solve wayfinding problems. Current classifications of wayfinding distinguish tasks on a rather coarse level or do not take the navigator's knowledge, a key factor in wayfinding, into account. We present an extended taxonomy of wayfinding that distinguishes tasks by external constraints as well as by the level of spatial knowledge that is available to the navigator. The taxonomy will help to decrease ambiguity of wayfinding tasks and it will facilitate understanding of the differentiated demands a navigator faces when solving wayfinding problems.     

大尺寸测量系统配置中包络性与可达性分析

构建了包络性和可达性分析的原理与公式，定量判定当前测量设备空间位置是否合理，为实现在大尺寸测量方案规划阶段对测量设备的可行空间进行快速有效的规划提供依据。阐述了大尺寸测量系统总体架构与阶段任务划分，定义了包络性与可达性的输入输出关系。论述了包络性与可达性的原理与公式，包括可测量体素和外包络体的定义、数学模型和推导公式以及判定公式。最后，在CATIA环境下开发包络性和可达性分析工具，并以机翼翼肋为例，对该翼肋上待测关键特征进行包络性和可达性仿真分析。仿真结果表明，该包络性与可达性分析的原理与公式是可行的。     

某型直升机惯导失效导致载机异常抖动故障分析

简要介绍了某型直升机惯导在空中失效后出现载机抖动的故障现象，分析了惯导部件的工作原理，找出了故障发生的机理和原因，并制定了相应整改措施。     

自由飞行下基于IPS算法的碰撞风险研究

自由飞行是解决空域拥挤问题的一种有效飞行模式。随着通信、导航、监视（ CNS ）技术的不断进步和自由飞行理论的不断完善,自由飞行将会使飞机由被动指挥向自选最优路径转变,能够明显提高空域的容量和飞行的效率。在评估自由飞行环境下飞机运行的安全性时,需要行之有效的碰撞风险评估方法。首先考虑通信、导航、监视（CNS）性能对飞机定位误差的影响,在执行飞行冲突解脱命令过程中引入相互作用粒子系统（IPS）,提出一种自由飞行下飞机碰撞风险评估算法,最后结合目标安全水平寻找最优最小安全间距。算例表明,算法能够快速有效计算自由飞行下飞机间碰撞风险,具有可行性。     

CCSDS空间网络互联协议发展及启示

空间互联网将是由各种区域网构成的复杂异构网络,为了使其能够逐步实现自动化运行,网络效益得到最大程度的发挥,须做好网络互联的顶层规划与设计,并开发具体的标准技术.根据近年CCSDS (Consultative Committee for Space Data Systems,空间数据系统咨询委员会)发布的建议书,以及相关工作组的项目规划情况,介绍了SSI(Solar System Internetwork,太阳系互联网)体系结构、IPoC(IP over CCSDS space links,在CCSDS空间链路之上承载IP),以及DTN(Delay Tolerant Networking,容延迟网络)等标准项目.从CCSDS空间网络互联技术的发展历程不难得出结论:我国未来空间网络互联应注重区域网之间互联的顶层设计;区域网内部各子网之间的互联技术应选择以航天任务需求牵引为主;DTN将在区域网之间互联以及区域网从简单到复杂发展中都发挥重要作用.     

生长在Si上的GaAs外延膜中有关深能级缺陷与其形貌间的关联研究

由于在GaAs和Si单晶材料间有着很大的格子常数及线性热膨胀系数差别，所以在St上生长的GaAs异质外延薄膜（GaAs／Si）中会存在着界面失配形变与高密度的结构缺陷。我们的实验显示，GaAs／Si外延膜的无序与其生长条件有关，尤其与其［As］／［Ga］比密切相关。与GaAs／Si无序相关的失配位错、线位错及畴区的形貌已用扫描电子显微镜作了观察;与深能级相关的缺陷与其形貌间的关联也已用实验说明。对于高有序GaAs／Si外延膜来说，其与离域相关的主发光峰的强度对温度的变化服从阿兰纽斯方程，而对低有序的GaAs／Si外延膜来说，其与局域相关的主发光峰的强度对温度的变化关系则遵循对无定型半导体才成立的另一种方程。     

集中式平台自由销售代码共享研究与应用

在对目前世界范围内,航空公司之间普遍采用的代码共享合作方式进行分析的基础上,结合中国民航的实际情况,提出了同时使用中国民航传统集中式订座系统平台,系统内两家航空公司之间自由销售模式的代码共享系统解决方案,并对该设计方案的高灵活性、低成本消耗等特点进行了具体的分析。     

全球精密单点定位性能评估

随着中国北斗三号卫星导航系统（BDS-3）全面建成与开通，北斗卫星导航系统已步入了新发展阶段，基于BDS-3实现全方位、多层次、高精度应用已成为地学研究中一项基本任务。利用全球最新均匀分布的10个MGEX跟踪站，分别从24 h内接收到的卫星数、卫星位置精度因子（PDOP）、卫星数据解算完整率和双频非组合精密单点定位（PPP）静态/动态定位精度等方面系统深入地评估了BDS-3在全球范围内的可用性。结果表明，测站对卫星跟踪能力与配备的接收机类型和区域位置有强相关性，单BDS-3卫星在全球范围内具有较强的连续定位能力，当使用SEPT POLARX5和JAVAD TRE_3接收机的情况下，数据解算完整率可达100%。此外，水平方向和高程方向定位精度分别优于2 cm和3 cm，并且在联合使用BDS-2和BDS-3定位的条件下，可使得静态定位精度在东、北和高程方向进一步提升37.6%,25.3%和38.9%。     

LARES successfully launched in orbit: Satellite and mission description

On February 13th 2012, the LARES satellite of the Italian Space Agency (ASI) was launched into orbit with the qualification flight of the new VEGA launcher of the European Space Agency (ESA). The payload was released very accurately in the nominal orbit. The name LARES means LAser RElativity Satellite and summarises the objective of the mission and some characteristics of the satellite. It is, in fact, a mission designed to test Einstein's General Relativity Theory (specifically ‘frame-dragging' and Lense-Thirring effect). The satellite is passive and covered with optical retroreflectors that send back laser pulses to the emitting ground station. This allows accurate positioning of the satellite, which is important for measuring the very small deviations from Galilei–Newton's laws. In 2008, ASI selected the prime industrial contractor for the LARES system with a heavy involvement of the universities in all phases of the programme, from the design to the construction and testing of the satellite and separation system. The data exploitation phase started immediately after the launch under a new contract between ASI and those universities. Tracking of the satellite is provided by the International Laser Ranging Service. Due to its particular design, LARES is the orbiting object with the highest known mean density in the solar system. In this paper, it is shown that this peculiarity makes it the best proof particle ever manufactured. Design aspects, mission objectives and preliminary data analysis will be also presented.