In this paper, the main research works are as follows : 1 ) survey and analysis previous work in auv navigation and summarize : as the cumulate error, the dead - reckoning and inertial navigation systems ca n ' t be used without other modified system ; the acoustic navigation system is used only in small range, and is very expensive. 2 ) two important approaches in geophysical navigation techniques are summarized, one is terrain contour based navigation, this approach is investigated keystone today ; the other is image based navigation, due to no perfect image sensors and image seabed map, this approach has seldom been practised. 3 ) two important terrain contour based navigation algorithms has been applied to auv, one is match algorithm - based terrain contour match ( tercom ) ; the other is kalman filter - based sandia inertia terrain - aided navigation ( sitan )
主要研究內容包括:一、總結分析了當前水下導航的常用方法和不足之處,指出基於航位推算的導航方法,存在著最大的問題就是導航誤差的積累問題,如果沒有修正系統,這種方法很難滿足使用要求;其次指出基於聲學的導航方法,造價昂貴,導航范圍有限,難以滿足自主水下航行器大范圍導航的需求;二、總結了當前水下地形輔助導航的主要技術路線,一是基於地形高程的匹配方法,這是當前研究的重點;二是基於地形圖像的匹配方法,由於缺乏良好的圖像傳感器,和可用的海
底圖像地圖,目前這種方法還有待研究發展;三、將兩種地形高程匹配的常用方法應用到自主水下航行器上:以相關演算法為前提的地形輪廓匹配( tercom )方法和以卡爾曼
濾波為基礎的桑迪亞慣性地形輔助導航( sitan )方法,前者演算法簡單可靠,但是導航精度不高,後者雖然精度比較高,但存在著演算法較為復雜、有可能發散和出現奇異值等問題。
This paper studies to get the image of thenar by using a video camera, and carries on the necessary image processing by software with the information captured, and gets the ideal image to provide the image data basis for follow - up cad after the processing such as median filtering, sobel or kirsch ' s operator edge detection, image reversal and image enhancement etc. in this paper, the pressed image information of thenar captured by camera have been carried on processing and analyzing, and the result has been compared with that of image acquired by the scanner
本文研究了利用攝像頭獲取腳
底圖像,再通過軟體將所獲信息進行必要的圖像處理,經中值
濾波、 sobel或kirsch運算元邊緣檢測、亮度調整及反置、圖像增強等處理后,得到滿意的圖像為后續的cad提供圖像數據依據。本文對攝像頭採集的足
底受壓圖像信息進行了處理和分析並與掃描儀的圖像處理結果進行了比較,由結果得知攝像頭輸入方法是一種簡單實用的輸入方法,且能很好的滿足設計要求。
In this paper, on the basis of absorption of achievements of the research on auditory physiology, an auditory model simulationg the peripheral auditory system and part of the central auditory system is set up. the model is made of the fitlters presenting the characteristics of the basilar membrane for analyzing the voice signals, the half wave rectification modeling the inner hair cells and energy transfer of nerve fiber
在吸收聽覺生理學研究成果基礎上,建立了一個模擬外圍聽覺系統和部分中樞聖經系統功能的聽覺模型。模型由表徵基
底膜的頻率分析的帶通
濾波器組、內毛細胞的半波整流特性和神經纖維的能量轉換特性組成,該模型可以作為前端處理來提取語音信號的自相關圖譜。
A brief introduction is given to the treatment of the zeya dam foundation, principles of seepage control and design of the concrete face rockfill dam of the zeya reservoir. as for the excavation of the sand - gravel zones, except the toe slab and its 1 / 9 bottom width down stream, the alluvial layers are excavated to the micro - weathered rocks, while the other sections remain unexcavated. regarding to the treatment of the fracture zones, concrete filling is used for the toe slabs and semi - permeable materials are used for other section. according to the construction characteristics, a filter is placed in the down stream embankment foot. to improve the integrity of the dam foundation and anti - seepage capability consolidation grouting and curtain grouting are adopted. as a result safety, economic benefit, convenience in construction and good performace are achieved
簡要論述澤雅水庫面板堆石壩壩基處理和防滲的原則及設計要點.趾板基礎和堆石體各區砂礫石基礎開挖,除趾板與其下游1 / 9
底寬范圍以及壩腳挖除沖積層至弱風化(局部微風化)基巖外,其餘部分均予以保留.斷層破碎帶處理,趾板部位採用混凝土塞,其它部位採用半透水料置換,並根據本工程特點在下游壩腳加設了反
濾層.為提高壩基的整體性和防滲性能,對趾板進行了固結和帷幕灌漿.達到了安全、經濟、便於施工的目的,運行情況良好,可為面板堆石壩的設計和研究提供參考與借鑒
The trial biofilters were placed in the fish culture zone in kau sai at the end of april
試驗用的生物過
濾器已於四月
底投放入?西魚類養殖區。
Strainer covers for bilge wells
艙
底排水井的過
濾器蓋
Water shutoff agent dsz - a is composed of inorganic particle. its specialities are low cost, easily flow, high strength and long valid period. the agent suits non - selective water shutoff in sand formation. dsz - a not only can plug high water - bearing formation, but also can plug case leakage. dsz - a has been applied on site and gotten good effect. it is a agent which has wide prospect
井下護泵除砂裝置主要用於產液氣量高,出砂能力大,利用常規裝置、常規方法很難治理的井.它的設計是建立在丟手封隔器卡封的基礎上,將液體攜砂能力由地層進入泵管轉變為先過
濾(雙層激光割縫篩管部分) ,再在除砂器內靜態沉澱、由單流閥排入井
底等一系列除砂護泵優點.本文著重介紹了井下護泵除砂裝置的工作原理與應用情況
We at manhing also manufacture aquarium and pet accessories, namely fishi - ng battery air pump, 9 differents item of undergravel filters ( 5 - 70gallons ), bio filter - s and accessories
我們還有生產其他之水族及寵物用品。釣魚電池氣泵、缸
底過
濾版由5生70卡倫合共9個不同型號、生物過
濾器材及其他產品等!
Maria could stand it no longer, and hurried away to the stove, where she filled a quart - bowl with soup, putting into it the lion s share of chopped meat and vegetables which her ladle scraped from the bottom of the pot
瑪利亞再也受不了了,急忙到爐邊盛滿了一大缽湯,把用勺子從鍋
底濾出的她家大部分的肉末和蔬菜放了進去。
The protection of environment is warranted also by an absolute filtration of the exhaust air
排氣的徹
底過
濾也同時保護了環境。
Gravity ball check valves are converted to foot valves by replacing the union nut and end connector on the receiving end ? seat end ? of the body with an f. v. screen housing assembly
重力球形止回閥可以變為底閥,只需在接受埠-閥體的閥座埠,用一個f . v .濾網殼組件更換管接頭螺母和埠連接件即可。