Mobile Robot Localization Technique Based on Map Learning

室内移动机器人的定位问题一直是移动机器人学的研究热点和难点,目前没有统一的室内移动机器人定位标准和通用解决方案。本文提出的方法,把未知环境中的同步定位与环境建模问题分解成为基于人工路标的地图学习和基于已学习地图的定位两个阶段,这种方法降低了导航系统适应未知环境的难度,同时在定位阶段也不需要对未知环境的路标(特征)进行重复的预测、观测和更新,从而降低了算法的复杂度。特别的,当机器人发生"诱拐"现象和"路标迷失"现象时,本文提出的算法仍然能保持良好的定位性能,仿真实验证明了上述算法的有效性。 &nbsp

Mobile Robot Map Building Based on Ultrasonic Sensors

超声波传感器是实现距离测量的最廉价的传感器,然而方向性差,不利于建立环境的特征模型。本文针对超声波传感器的移动机器人环境建模方法进行比较研究,在Triangular-based方法进行改进生成环境障碍物信息的模型,在此基础上进一步采用最小二乘方法提取环境的直线特征,有效的得到环境的特征模型。实验结果证明了上述算法的有效性。 &nbsp

Research progress in crosslinking modification of aqueous pressure-sensitive adhesives

综述了交联改性水性压敏胶的研究进展,包括水性丙烯酸酯和聚氨酯类压敏胶。简述了水性压敏胶中常用的几种交联体系(包括酮羰基交联体系、离子交联体系、丙烯酰胺衍生物交联体系、异氰酸酯类交联体系、环氧类交联体系等),并对其性能进行了介绍。最后对水性压敏胶交联体系的发展方向进行了展望。The research progress in crosslinking modification of aqueous pressure-sensitive adhesives was summarized, including the aqueous acrylate pressure-sensitive adhesives and the aqueous polyurethane pressure-sensitive adhesives. The several common crosslinking systems （ketone carbonyl-, chelate metal acetylacetonates-, acrylamide-, isocyanate-, epoxy-crosslinking systems） in the aqueous pressure-sensitive adhesives were simply described. And their properties were introduced. Finally, the future development direction of aqueous pressure-sensitive adhesives crosslinking systems was expected

基于莫尔光纤光栅的F-P LD双模自激注入锁定

提出一种基于莫尔光纤光栅的F-P（法布里-珀罗）半导体激光器双波长自激注入锁定生成拍频信号以获得所需毫米波的实验方案。实验结果表明,在11.7nm波长调谐范围内可获得边模抑制比约为30dB的双波长输出,该双波长输出可产生高达168GHz的拍频信号。该高频毫米波信号生成方案的系统结构简单,成本低廉

JUNO Sensitivity on Proton Decay p→νˉK+p\to \bar\nu K^+ Searches

The Jiangmen Underground Neutrino Observatory (JUNO) is a large liquid scintillator detector designed to explore many topics in fundamental physics. In this paper, the potential on searching for proton decay in $p\to \bar\nu K^+$ mode with JUNO is investigated.The kaon and its decay particles feature a clear three-fold coincidence signature that results in a high efficiency for identification. Moreover, the excellent energy resolution of JUNO permits to suppress the sizable background caused by other delayed signals. Based on these advantages, the detection efficiency for the proton decay via $p\to \bar\nu K^+$ is 36.9% with a background level of 0.2 events after 10 years of data taking. The estimated sensitivity based on 200 kton-years exposure is $9.6 \times 10^{33}$ years, competitive with the current best limits on the proton lifetime in this channel

JUNO sensitivity on proton decay p → ν K + searches*

The Jiangmen Underground Neutrino Observatory (JUNO) is a large liquid scintillator detector designed to explore many topics in fundamental physics. In this study, the potential of searching for proton decay in the $p\to \bar{\nu} K^+$ mode with JUNO is investigated. The kaon and its decay particles feature a clear three-fold coincidence signature that results in a high efficiency for identification. Moreover, the excellent energy resolution of JUNO permits suppression of the sizable background caused by other delayed signals. Based on these advantages, the detection efficiency for the proton decay via $p\to \bar{\nu} K^+$ is 36.9% ± 4.9% with a background level of $0.2\pm 0.05({\rm syst})\pm$$0.2({\rm stat})$ events after 10 years of data collection. The estimated sensitivity based on 200 kton-years of exposure is $9.6 \times 10^{33}$ years, which is competitive with the current best limits on the proton lifetime in this channel and complements the use of different detection technologies