精确定位的

Its main tasks are to deal with binary images, gray scale processing, and the use of Sobel, Canny, Roberts, Laplacan operator of four digital image edge detection, the results show that: Roberts operator more precise positioning, but more sensitive to noise, Sobel operator son of gray-scale images with low noise gradient has a better detection of the effect of Laplacian can be detected in the vast majority of the edge did not appear at the same time the basic pseudo-edge, the edge can be precisely targeted, Canny operator is the traditional first-order differential operator in one of the best operator to detect the best edge detection, edges clear, make clear at a glance.

主要工作包括图像的二值处理，灰度处理，并运用Sobel、Canny、Roberts、Laplacan四个算子实现数字图像边缘检测，结果表明：Roberts 算子定位比较精确，但对噪声比较敏感，Sobel算子对灰度渐变低噪声的图像有较好的检测效果，拉普拉斯算子可以检测出绝大部分边缘，同时基本没有出现伪边缘，可以精确定位边缘，Canny算子是传统一阶微分算子中最好的算子之一，检测边缘检测的效果最好，边缘轮廓清晰，使人一目了然。问题补充：摘要英文翻译，不要在线翻译的，是在线等！急啊！！！！谢谢！！！！

Its main tasks are to deal with binary images, gray scale processing, and the use of Sobel, Canny, Roberts, Laplacan operator of four digital image edge detection, the results show that: Roberts operator more precise positioning, but more sensitive to noise, Sobel operator Gradient gray son of low-noise images have a better detection of the effect of Laplacian can be detected in the vast majority of the edge did not appear at the same time the basic pseudo-edge, the edge can be precisely targeted, Canny operator is the traditional first-order differential operator in one of the best operator to detect the best edge detection, edges clear, make clear at a glance

主要工作包括图像的二值处理，灰度处理，并运用Sobel、Canny、Roberts、Laplacan四个算子实现数字图像边缘检测，结果表明：Roberts 算子定位比较精确，但对噪声比较敏感，Sobel算子对灰度渐变低噪声的图像有较好的检测效果，拉普拉斯算子可以检测出绝大部分边缘，同时基本没有出现伪边缘，可以精确定位边缘，Canny算子是传统一阶微分算子中最好的算子之一，检测边缘检测的效果最好，边缘轮廓清晰，使人一目了然。不要在线翻译的那种！在线等！！急！！！谢谢！！！

At the same time, combining with the actual condition of delivery pipeline of our country and some prevalent leak detection and location methods, this paper raised a method, which is based on wavelet analysis and negative- pressure-wave to detect and locate the leakage. Jobs in the paper are as follows:As affected by gas density, pressure, specific heat and pipe material, the velocity of negative-pressure-wave improved depending on the energy conservation. At one time, taking the affection of velocity of gas flow, the location formula was modified in some degree.When locating the leaks with location formula, the iterative approach algorithm was adopted as a new method to increase the location accuracy level of system.Multi-scale decomposition and reconstruction of wavelet transform is utilized to filter the noise of negative-pressure-wave, which was brought by leakage. With the capacity to detect the signal singularity fast and accurately, wavelet transform was used to catch the break point of pressure signal. The work improved the accuracy of At in location formula, accordingly improved the location accuracy.Wavelet is a suitable tool for signal analysis. The distinct character is that the mother-wavelet is of optional. That means choosing different mother-wavelet will get different analysis result. So we studied how to choose mother-wavelet and its scale for signal singularity detection. The method is to choose a wavelet by regularities of the wavelet and the signal.Finally, a plan, which bases on SCADA system for inspection and detection of natural gas leakage, is proposed in the article.

其中，主要进行了以下几方面的工作：针对泄漏产生的负压波在管道中的传播速度受媒介的密度、压力、比热及材质等因素的影响，而非声波在空气中传播的速度，本文利用能量守恒原理，对其进行了修正；考虑到管内气体流速对压力波速的影响，对原始的负压波定位公式进行了一定程度的改进，并在利用定位公式进行泄漏点定位时采用逐步迭代逼近算法，提高了系统的定位精度；利用小波变换的多分辨率分解和重构技术，对采集到的管道发生泄漏时产生的负压波信号进行了降噪处理；并利用小波变换技术对信号奇异点的快速、准确的识别能力，对经上述消噪后的负压波信号进行了奇异点捕捉，精确捕捉的结果提高了定位公式中上下游站点采集到的负压波奇异点的时间差△t的精度，从而进一步提高了定位的精度；考虑到小波变换是一种基波可变的信号分析工具，也就是说，不同的小波基波对信号分析的结果将有很大差别，这势必影响最终的处理结果，因此，我们又对比分析了本课题中小波基及尺度的选择问题，依据规则性系数相似性原理对母小波的选择进行了探索性研究；最后，还提出了基于SCADA的泄漏检测与定位系统的软件开发构想及系统的嵌入方案。

A new concept on the continuously distributed directional image/field and the method to compute it in the fingerprint images are proposed,which exhibits not only good continuity,well gradualness,and excellent robustness to the noises,but very high precision,as well.

本文提出了指纹连续分布方向图的概念及其算法，连续分布方向图具有很好的连续性、渐变性、抗噪性和较高的精确度；对经典的PoincaréIndex计算公式和指纹奇异点检测算法进行了改进，改进后的PoincaréIndex不仅能精确表示向量场的旋转角度，而且还能精确表示向量场的旋转方向，能够在像素级水平精确定位指纹奇异点(core点和delta点)。

As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

Integrating C-type of traveling wave location method with AC signal injection method, a compositive location method for single-phase earth fault in 35kV distribution network is proposed, in which firstly the fault is presumedly located by C-type of traveling wave location method to preliminarily determine the position where fault occurs; then the fault is accurately located by AC signal injection method.

基于C型行波法和交流信号注入法提出35 kV配电网单相接地故障的综合定位方法：首先采用C型行波法进行初步定位，确定故障距离和故障所在区段，然后用交流信号注入法进行精确定位。

Data pre-processing technologies such as singular points elimination, registration and radius compensation are studied. Base on chord high difference algorithm, a new one called chord high difference-ratio algorithm is proposed to improve veracity and robusticity of singular points elimination. Then, a registration algorithm based on local surface reconstruction is proposed, which avoids infaust influence coming from single reference point error.

在弦高差法的基础上，提出了全新的弦高差—比法，提高了异常点剔除的准确性和柔韧性；提出了一种基于局部图形重构的重定位方法，该方法通过对特征球的最小二乘拟合，消除了单一参考点的精度对重定位的影响；在此基础上对重定位的误差进行了详细的分析，给出了精确的误差值，从数学的角度保证了重定位的精度；在三角网格法的基础上提出了基于Delaunay三角剖分的半径补偿新方法，有效改善了补偿矢量的计算效率和准确性。

They control pretty well every function in the vehicle other than driving it: engine performance, brake pressure, gear changes and transmission management, air conditioning, and GPS-enabled locators.

它们精确地控制着除驾驶以外的一切功能：引擎性能，刹车压力，挡位变化和传动管理，空调以及 GPS 精确定位器等。

P1 is a new-generation leak detection correlator, used to precisely locate leaking points ,adopting high-accuracy piezoelectricity porcelain acceleration transducer which let it suitable for detecting leaking points in all types of tubings including plastic pipe.

P1 高精度数字相关仪是新一代漏点定位相关仪，用于精确定位供水管道的漏点。采用高灵敏度压电陶瓷加速度传感器，适用于所有管材包括塑料管的漏点定位。

The approach comprises following steps: grouping available measurements in various possible subsets, solving target position in Cartesian co-ordinate corresponding to each measurement subset, selecting several subsets with higher accuracy of position location, fusing the data of target-position corresponding to subsets selected by step .

本文围绕双／多基地系统的配置，利用各站可能获得的观测量怎样实现对目标的精确定位与跟踪这个问题来展开研究的，并以探索双／多基地系统的定位与跟踪性能为目的，对双／多基地系统的定位方法和定位精度、定位跟踪算法及其性能等方面进行了深入的分析和研究。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。