The precondition for a mobile robot with a fixed camera to autonomously avoid obstacle and implement navigation is to calibrate the camera. In this paper, a new algorithm of camera calibration based on polynomial is p...
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The precondition for a mobile robot with a fixed camera to autonomously avoid obstacle and implement navigation is to calibrate the camera. In this paper, a new algorithm of camera calibration based on polynomial is proposed. It is proved in theory that world coordinates of a ground target can be obtained through the plane image coordinates corresponding to the ground target. Then a method using plane pixel coordinate polynomial to approximate world coordinates of the ground target is put forward, along with the algorithm for confirming the order and the coefficients of the polynomial. Finally, the algorithm is tested on our designed and developed mobile robot CASIA-I.
We address the problem of minimizing dynamic power consumption for single-phase synchronous digital designs, under timing constraints, using an unification of basic retiming and supply voltage scaling. We assume that ...
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ISBN:
(纸本)9781581136777
We address the problem of minimizing dynamic power consumption for single-phase synchronous digital designs, under timing constraints, using an unification of basic retiming and supply voltage scaling. We assume that the number of supply voltages and their values are known for each computation element. Our main objective is then to change the location of registers using basic retiming while maximizing the number of computation elements off critical paths that can operate under a low available supply voltage, and can lead to a maximum dynamic power saving. We address the problem at the system-level. We formulate the problem as a Mixed Integer Linear Program (MILP). The exact optimal solution for the problem is then guaranteed. We also devise an algorithm to compute bounds on the values assigned by basic retiming to each computational element. Besides helping to find the optimal solution to the problem, these bounds also allow to reduce the run-time for finding this solution. The proposed approach can produce converter-free designs and can also minimize short-circuit power consumption. Experimental results have shown that dynamic power consumption can be reduced by factors that range from 2.78% to 37.24% for single-phase designs with minimal clock period. For these experimental results, the run-time for solving the MILP is under 2min.
Much more extensibility of matter element systems i.e. the accumulation , combination and separability of system things, characteristics, values, relationships, structures, component elements and systems is given and ...
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Much more extensibility of matter element systems i.e. the accumulation , combination and separability of system things, characteristics, values, relationships, structures, component elements and systems is given and some reasoning based on the extensibility is offered. The extensibility and reasoning are abundant basis for us to solve system problems, especially to solve contradictory problem. Especially the reasoning based on the extensibility is an useful model of innovation design for products and artificial living agents.
A mathematical semantics is proposed for the notion of architectural connector, in the style defined by Allen and Garlan, that builds on Goguen's categorical approach to General Systems Theory and other algebraic ...
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This paper first analyzes the basic concepts of Cisco router user certification, XTACACS certification protocol and describes the data architecture of user data protocol, then defines a kind of doubly temporal databas...
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This paper first analyzes the basic concepts of Cisco router user certification, XTACACS certification protocol and describes the data architecture of user data protocol, then defines a kind of doubly temporal databases and log-in transaction processing based on network management property, at last, introduces implementation technology and method.
This paper presents a current controlled AC/DC converter for high frequency power architecture. The proposed converter employs a resonant network, a bi-direction shunt switch, an output transformer, synchronous rectif...
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This paper presents a current controlled AC/DC converter for high frequency power architecture. The proposed converter employs a resonant network, a bi-direction shunt switch, an output transformer, synchronous rectifiers and an output filter. The resonant network is designed in such a way that it provides an AC current source at its output while drawing near sinusoidal input current. The operating principle of the circuit is given, and the steady state analysis is performed. It is shown that the converter has very high input power factor, low total harmonic distortion and fast transient response. Experimental and simulation results of a prototype converter converting the input AC voltage of 28 V RMS at 1 MHz, to 1.6 V DC at 20 A are given to verify the proof of concept, and analytical work reported in this paper.
This paper presents the time-domainvolume integral equation (TDVIE) method to analyzescattering from nonlinear penetrable objects, whichare illuminated by the transverse magnetic (TM) in-cident pulse. The time-domain ...
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This paper presents the time-domainvolume integral equation (TDVIE) method to analyzescattering from nonlinear penetrable objects, whichare illuminated by the transverse magnetic (TM) in-cident pulse. The time-domain volume integral equa-tion is formulated in terms of two-dimensional (2D)Green's function, and solved by using the march-on-in time (MOT) technique. Some numerical results aregiven to validate this method, and comparisons aremade with the results obtained by using the finite-difference time-domain (FDTD) method.
In this paper, we describe a mechanism for adaptive transmission of multimedia data, which is based on real time protocols. The proposed mechanism can be used for multicast multimedia data over heterogeneous networks,...
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