Visual SLAM in dynamic environments based on object detection

A great number of visual simultaneous localization and mapping (VSLAM) systems need to assume static features in the environment. However, moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption. To cope with this challenging topic, a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed. To reduce the influence of dynamic content, we incorporate the deep-learning-based object detection method in the visual odometry, then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system. Experiment with both on the TUM and KITTI benchmark dataset, as well as in a real-world environment, the results clarify that our method can significantly reduce the tracking error or drift, enhance the robustness, accuracy and stability of the VSLAM system in dynamic scenes.     

Compensating military veterans in South Africa

This article outlines the widespread needs of South African military veterans and the possible consequences if the promises made in the recent Military Veterans Act are not met. The first part of the article defines who generally qualifies as a military veteran, how they are typically compensated in various countries with specific reference to neighbouring southern African countries, and what the consequences are when veterans become disenchanted with the state. The second part focuses on South Africa and the recent debates on military veterans and their entitlements. With reference to the findings of a qualitative study conducted among military veterans, parliamentary debates and media reports, an assessment is made of the demands and affordability of promised benefits and the consequences should the state not deliver. The conclusion is reached that heightened expectations are presently frustrated by slow roll-outs, and this is likely to increase the possibility of protest action. This has now the potential to create further tension within the ruling party and civil society, as the pressure on public finances mounts and demands become unsustainable. The effect this may have on political stability will depend on how the government manages this issue.     

How old is too old? An economic approach to replacing military aircraft

The US Air Force is asking when to replace its aging aircraft. We develop a framework to identify economically optimal replacement strategies that recognizes cost trade-offs and incorporates age effects. We also preview a stochastic methodology. We use the framework to identify an optimal strategy, defined by the replacement age, for a generic fleet and conduct a sensitivity analysis. Quantitative illustrations show that the range of strategies that provides close-to-optimal outcomes widens as the operating and support (O&S) cost growth rate decreases and the ratio of the acquisition price to the initial O&S cost increases. A wider range implies more decision-making leeway.     

Estimating defence budget saving from disarmament: the United States’ case

Probing the technology in the production of US national defence by using a dynamic cost‐function model with adjustment costs, this paper evaluates the effect of reducing the level of national defence on the defence budget saving. Our inquiry involves estimating the defence production structure without output data for non‐market goods that are normally unavailable. Our findings include: (i) the United States behaves rationally to minimize cost in the production of national defence; (ii) the adjustment costs are larger in disarmament than in military build‐up; (iii) due to the adjustment costs peculiar to disarmament, the defence budget saving from disarmament appears small, but cutbacks allow great savings on the defence budget.     

A DYNAMIC PANEL DATA MODEL FOR ANALYZING THE RELATIONSHIP BETWEEN MILITARY EXPENDITURE AND GOVERNMENT DEBT IN THE EU

This paper examines the impact of military spending on general government debt in the enlarged European Union (EU) countries. For this purpose, we use panel data analysis and provide estimates from a dynamic Generalized Method of Moments (GMM) panel model. The dynamics are found to be important and the results suggest that military expenditures do have a large positive impact on the share of general government debt in the EU.     

机动飞行条件下基于SIFFBP算法的机载UWB SAR成像

机动飞行条件下,运动误差的幅度较大,频域运动补偿精度难以满足机载超宽带合成孔径雷达(UWB SAR)高精度成像的要求,需要采用精确的时域后向投影(Back Projection,BP)算法,然而原始BP算法的巨大计算量限制了其实际应用。提出了一种基于子图像快速因式分解BP(Sub-image Fast Factorized BackProjection,SIFFBP)算法的机动飞行条件下机载UWB SAR成像方案,并对其子孔径和子图像划分的约束关系进行了推导,给出了算法步骤,并分析了算法的计算量。仿真和实测数据处理结果表明,SIFFBP算法能够在保证处理精度的同时,大幅度提高处理效率,非常适合于机动飞行条件下的机载UWB SAR成像处理。     

Formation of adiabatic shearing band for high-strength Ti-5553 alloy: A dramatic thermoplastic microstructural evolution

By using split Hopkinson pressure bar, optical microscopy and electronic microscopy, we investigate the influence of initial microstructures on the adiabatic shear behavior of high-strength Ti–5Al–5V–5Mo–3Cr (Ti-5553) alloy with lamellar microstructure and bimodal microstructure. Lamellar alloy tends to form adiabatic shearing band (ASB) at low compression strain, while bimodal alloy is considerably ASB-resistant. Comparing with the initial microstructure of Ti-5553 alloy, we find that the microstructure of the ASB changes dramatically. Adiabatic shear of lamellar Ti-5553 alloy not only results in the formation of recrystallized β nano-grains within the ASB, but also leads to the chemical redistribution of the alloying elements such as Al, V, Cr and Mo. As a result, the alloying elements distribute evenly in the ASB. In contrast, the dramatic adiabatic shear of bimodal alloy might give rise to the complete lamination of the globular primary α grain and the equiaxial prior β grain, which is accompanied by the dynamic recrystallization of α lamellae and β lamellae. As a result, ASB of bimodal alloy is composed of α/β nano-multilayers. Chemical redistribution does not occur in ASB of bimodal alloy. Bimodal Ti-5553 alloy should be a promising candidate for high performance armors with high mass efficiency due to the processes high dynamic flow stress and excellent ASB-resistance.     

One size does not fit all: personalized incentives in military compensation

A critical element in implementing a compensation scheme including nonmonetary incentives (NMIs) is recognizing that preferences vary widely across Service members. There are at least three sources of variability: across different population classes, across individuals within a population class, and across NMI packages for a particular individual. Surveys across different military communities, ranks, and years of Service show the difficulty of identifying any NMI that has significant value for even 50% of the active duty force. At the same time, approximately 80% of the surveyed Service members expressed a significant positive value for at least one NMI. Therefore, one-size-fits-all incentive packages will not be nearly as effective as more personalized incentive packages. The authors discuss variability in Service member NMI preferences and outline an approach to implementing personalized NMI packages in military compensation through a sealed-bid reverse auction, where Service members select individual NMIs from a “cafeteria-style” menu of options.     

基于瞬态冲击法的方钢管混凝土柱脱空检测试验

通过对有脱空缺陷的方钢管混凝土柱试件进行瞬态冲击作用下的检测试验,提出了根据振动信号频率变化、频谱峰值和WVD时频分布中频率的时间连续性等特征来进行脱空检测的新方法。基于WVD时频分布特性,提出了使用平均频率作为脱空判别指标。结果表明：当方钢管混凝土柱存在脱空,振动信号的平均频率发生明显降低,频谱图中频率成分简单,归一化频谱峰值高,在WVD时频分布三维图上呈现沿时间轴连续的偏平峰。说明该方法对检测方钢管混凝土柱脱空具有一定的有效性。     

去调频处理中空变相位误差补偿方法

调频连续波具有较长的脉宽和较大的信号带宽,通常采用去调频的处理方式,但是,去调频的处理会引入空变的相位误差。从去调频的处理方式入手,根据发射信号相位误差缓变的特点,提出了依据发射信号相位误差模型补偿空变相位误差的方法,并在理论上对该方法进行了推导。该补偿方法分为两步,从差频信号中去除发射信号相位误差,在残余视频相位误差校正之后,通过与补偿函数相乘去除剩余的相位误差。仿真和实测的实验结果表明,该方法能够克服目标距离的限制,有效地补偿空变相位误差带来的影响,提高脉压水平。提出的误差补偿方法能够很好地平衡系统负载、误差补偿精度和算法开销,具有较强实用性。