Pose estimation is a basic requirement for the autonomous behavior of robots. In this article we present a robust and fast visual odometry method to obtain camera poses by using RGB-D images. We first propose a motion estimation method based on sparse geometric constraint and derive the analytic Jacobian of the geometric cost function to improve the convergence performance, then we use our motion estimation method to replace the tracking thread in ORB-SLAM for improving its runtime performance. Experimental results show that our method is twice faster than ORB-SLAM while keeping the similar accuracy.

The segmentation of Mycobacterium tuberculosis images forms the basis for the computer-aided diagnosis of tuberculosis. The segmented objects are often broken due to the low-contrast objects and the limits of segmentation method. This will result in decreasing the accuracy of segmentation and recognition. A simple and effective post-processing method is proposed to connect the broken objects. The broken objects in the segmented binary images are connected based on the information obtained from their skeletons. Experimental results demonstrate the effectiveness of our proposed method.

There are often low contrast Mycobacterium tuberculosis (MTB) objects in the MTB images. Based on improved histogram equalization (HE), a framework of contrast enhancement is proposed to increase the contrast of MTB images. Our proposed algorithm was compared with the traditional HE and the weighted thresholded HE. The experimental results demonstrate that our proposed algorithm has better performance in contrast enhancement, artifacts suppression, and brightness preserving for MTB images.

This paper realized the automatic recognition of Mycobacterium tuberculosis in Ziehl-Neelsen stained images by the conventional light microscopy, which can be used in the computer-aided diagnosis of the tuberculosis. We proposed a novel recognition method based on active shape model. First, the candidate bacillus objects are segmented by a method of marker-based watershed transform. Next, a point distribution model of the object shape is proposed to label the landmarks on the object automatically. Then the active shape model is performed after aligning the training set with a weight matrix. The deformation regulation of the object shape is discovered and successfully applied in recognition without using geometric and other commonly used features. During this process, a width consistency constraint is combined with the shape parameter to improve the accuracy of the recognition. Experimental results demonstrate that the proposed method yields high accuracy in the images with different background colors. The recognition accuracy in object level and image level are 92.37% and 97.91% respectively.

Crosstalk between lines plays an important role in the transmission of signal. Hence it is of great significance to establish the transmission lines model accurately to evaluate factors affecting crosstalk coupling between lines and to improve the anti-interference capability of the system. As twisted-pair line is widely used for its unique twist structure which improves the anti-interference performance of cables, this paper presents a method of constructing transmission lines model of the shielded twisted-pair line (STP) with two twisted pairs based on S-parameters. Firstly, the transmission lines model of STP with one twisted pair is established. The establishment of distributed capacitance matrix of this model depends on the dielectric constant of insulation layer that surrounds a conductor, but the dielectric constant is often unknown. In this respect, a method to obtain the distributed capacitance matrix based on the S-parameters of this model is proposed. Due to twisting, there is a great deal of variability between the distribution parameters along the length of the STP. As the spatial distribution of conductors in the cross-section of twisted-pair line vary along with the cable length, the distribution parameters matrices also change as they move. The cable is divided into several segments, and the transmission lines model of STP is obtained with the cascade of each segment model. For the STP with two twisted pairs, the crosstalk between pairs is analyzed based on the mixed mode S-parameters. Combined with the transmission lines model of STP with one twisted pair, that of STP with two twisted pairs is obtained. The terminal response voltage can be calculated from the transmission lines model and cable terminal conditions. The validity of the transmission lines model is verified by the consistency between the terminal responses calculated by the model and by the simulated. As the theoretical and simulation results are compatible, the modeling method for the STP with two twisted pairs can be used for the STP with more twisted pairs. In practical engineering application, S-parameters and mixed mode S-parameters can be obtained by testing. That means the transmission lines model of STP can be established based on the test results.

This paper analyzes the typical functions of digital control circuit and its function modules, and develops a set of digital control circuit equipment based on Advanced RISC Machines (ARM) with typical function modules, including principle design, interference injection trace design, function design, and study the failure mode and threshold of typical function modules. Based on continuous wave (CW) and pulse wave, the direct power injection (DPI) method is used to test the conduction immunity of the digital control circuit, and the failure mode and sensitivity threshold of the digital control circuit are quantitatively obtained. This method can provide experimental verification for the immunity ability of the digital control circuit to different electromagnetic interference.