To address the problem of low pose estimation accuracy of traditional filtering algorithm for mobile robots in non-Gaussian noises, a pose estimation algorithm based on the combination of iterative unscented Kalman filter (IUKF) and maximum correntropy (MC), named as MCIUKF, was proposed for the application of simultaneous localization and mapping(SLAM). MC is used to deal with non-Gaussian noise, a cost function based on MC is constructed, and then the Levenberg-Marguardt method (LM) is used to optimize the cost function. On this basis, the iterative updating process of state and covariance is derived, and the updating steps of IUKF are improved. The simulation shows that the proposed algorithm has better estimation accuracy than traditional filtering algorithm in the non-Gaussian noise environments, and has favorable stability.

通过计算碧口水库汛期水位动态控制域的上、下限,分析碧口水库实施汛期水位动态控制和原设计汛限水位控制相比增加的防洪和兴利效益.兴利方面,碧口水库主汛期年平均可增加0.08亿kW·h发电量、147万元的售电收入;防洪方面,增加了碧口水库的调节能力,提高了水库自身和下游的防洪标准,发生致灾洪水时减轻下游洪灾损失.汛期水位动态控制作为一种非工程措施,一方面可以提高水库洪水资源利用率,另一方面可以提高水库的防洪能力,有效缓解水库兴利与防洪的矛盾.

本文通过对南庄煤矿矿井瓦斯抽放系统分析,得出结论:该矿瓦斯抽放泵站安装了两台CBF610水环真空泵、两台2BEC72水环真空泵和一台2BEC80水环真空泵,三台运行两台备用.目前抽放能力不足,尚需配备一台2BEC80水环真空泵,并且至少更换顺槽两趟瓦斯抽放支管路.

In the light of the concrete situation of the tunnel of 62511 working face,and based on field observation and causal analysis,this paper analyzes the factors influencing the driving speed in semi-coal-rock roadway from equipment management environment,support parameters,procedures and techniques.

This paper describes the design of a portable common document playback system that uses S3C2440 as the core and WindowsCE 5.0 as the operation system, and introduces the advantages of the system.

本文描述了以S3C2440为内核、以Windows CE5.0为操作系统的便携式常见文档播放系统的设计。本系统可将文件从USB存储设备中读取出来，并将其内容以RGB视频信号送出到显示终端进行显示。该文档播放系统可以实现word文档（.doc）、Power-point（.ppt/.pps）、Excel（.xls）、Adobe Reader(.pdf)、图片（.jpg/.bmp/.jif）等常见文件的读取播放。该系统体积小巧、携带方便、使用广泛。