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Experimental aircraft
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Meteorological data and information on soil conditions at the experimental sites were systematically recorded and kept in databases for use in the analysis of the results of the trials. http://www.fao.org/forestry [...] en/index.html
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Finally, the algorithm was used to tune the plastication controller on-line. A Motorola 68000-based microprocessor was used for data acquisition and control of an Arburg injection molding machine. The experimental set-up and results are discussed in Section VI. Similar results (not reported here) have been obtained for the injection phase.
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12. Also invites the international donor community and financial institutions to support the experimental reimbursable seeding operations trust fund of the United Nations Habitat and Human Settlements Foundation;
12. 又邀请国际捐助界和金融机构支持联合国生境和人类住区基金会的试验性可偿还原始业务信托基金;
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Presently, operators that are trying to optimize two (or more) objective functions, must do so through trial and error selection of the gains. This results in many experimental runs that are usually costly. What is needed is an on-line system that can guide the operator through the gain selection process while keeping down the number of experiments. In addition, this must be done in a manner that can accommodate changing process conditions. The multiobjective optimization problem is well suited to addressing these issues.
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14. Requests the Secretary-General, during the course of the programme budget for the biennium 2004-2005, to commence, on an experimental basis, with the redeployment of posts as necessary to meet the evolving needs of the Organization in attaining its mandated programmes and activities, in accordance with the following principles:
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3. Commends the focus by the Fund on strategic programmes in its three thematic areas and on supporting innovative and experimental activities in implementing its strategy and business plan (2000-2003) within the context of the Beijing Platform for Action and the outcome document of the twenty-third special session of the General Assembly;
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2. Decides that the budget of the International Tribunal for the Prosecution of Persons Responsible for Serious Violations of International Humanitarian Law Committed in the Territory of the Former Yugoslavia since 1991 shall be biennialized, on an experimental basis, for the period 2002-2003, also decides to keep the matter of the biennialization under review, and requests the Secretary-General to report to the General Assembly at its fifty-eighth session on the results of the experiment and the impact on the functioning of the Tribunal;
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6. Takes note of the decision of the Governing Council of UN-Habitat to enable UN-Habitat to undertake from 2007 to 2011 a four-year phase of experimental reimbursable seeding operations and other innovative financing arrangements, as defined in Governing Council resolution 21/10, bearing in mind the provisions of the special annex for the United Nations Habitat and Human Settlements Foundation appended by the Secretary-General to the Financial Regulations and Rules of the United Nations, and taking into consideration the relevant elements of the operational procedures and guidelines;
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2. Decides that the budget of the International Criminal Tribunal for the Prosecution of Persons Responsible for Genocide and Other Serious Violations of International Humanitarian Law Committed in the Territory of Rwanda and Rwandan Citizens Responsible for Genocide and Other Such Violations Committed in the Territory of Neighbouring States between 1 January and 31 December 1994 shall be biennialized, on an experimental basis, for the period 2002-2003, also decides to keep the matter of the biennialization under review, and requests the Secretary-General to report to the General Assembly at its fifty-eighth session on the results of the experiment and the impact on the functioning of the Tribunal;
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1. No one shall be subjected to torture or to cruel, inhuman or degrading treatment or punishment. In particular, no one shall be subjected without his or her free consent to medical or scientific experimentation.
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(MATLAB帮助内容)
Measuring Angle of Intersection
A common task in machine vision applications is hands-free measurement using image acquisition and image processing techniques. Your goal is to measure the angle and point of intersection between two beams using bwtraceboundary, which is a boundary tracing routine.
Contents
Step 1: Load Image
Step 2: Extract the Region of Interest
Step 3: Threshold the Image
Step 4: Find Initial Point on Each Boundary
Step 5: Trace the Boundaries
Step 6: Fit Lines to the Boundaries
Step 7: Find the Angle of Intersection
Step 8: Find the Point of Intersection
Step 9: Plot the Results.
Step 1: Load Image
Read in gantrycrane.jpg and draw arrows pointing to two beams of interest. It is an image of a gantry crane used to assemble a bridge.
RGB = imread('gantrycrane.png');
imshow(RGB);
text(size(RGB,2),size(RGB,1) 15,'Image courtesy of Jeff Mather',...
'FontSize',7,'HorizontalAlignment','right');
line([300 328],[85 103],'color',[1 1 0]);
line([268 255],[85 140],'color',[1 1 0]);
text(150,72,'Measure the angle between these beams','Color','y',...
'FontWeight', 'bold');
Step 2: Extract the Region of Interest
Crop the image to obtain only the beams of the gantry crane chosen earlier. This step will make it easier to extract the edges of the two metal beams.
% you can obtain the coordinates of the rectangular region using
% pixel information displayed by imtool
start_row = 34;
start_col = 208;
cropRGB = RGB(start_row:163, start_col:400, :);
imshow(cropRGB)
% Store (X,Y) offsets for later use; subtract 1 so that each offset will
% correspond to the last pixel before the region of interest
offsetX = start_col-1;
offsetY = start_row-1;
Step 3: Threshold the Image
Convert the image to black and white for subsequent extraction of the edge coordinates using bwtraceboundary routine.
I = rgb2gray(cropRGB);
threshold = graythresh(I);
BW = im2bw(I,threshold);
BW = ~BW; % complement the image (objects of interest must be white)
imshow(BW)
Step 4: Find Initial Point on Each Boundary
The bwtraceboundary routine requires that you specify a single point on a boundary. This point is used as the starting location for the boundary tracing process.
To extract the edge of the lower beam, pick a column in the image and inspect it until a transition from a background pixel to the object pixel occurs. Store this location for later use in bwtraceboundary routine. Repeat this procedure for the other beam, but this time tracing horizontally.
dim = size(BW);
% horizontal beam
col1 = 4;
row1 = min(find(BW(:,col1)));
% angled beam
row2 = 12;
col2 = min(find(BW(row2,:)));
Step 5: Trace the Boundaries
The bwtraceboundary routine is used to extract (X, Y) locations of the boundary points. In order to maximize the accuracy of the angle and point of intersection calculations, it is important to extract as many points belonging to the beam edges as possible. You should determine the number of points experimentally. Since the initial point for the horizontal bar was obtained by scanning from north to south, it is safest to set the initial search step to point towards the outside of the object, i.e. 'North'.
boundary1 = bwtraceboundary(BW, [row1, col1], 'N', 8, 70);
% set the search direction to counterclockwise, in order to trace downward.
boundary2 = bwtraceboundary(BW, [row2, col2], 'E', 8, 90,'counter');
imshow(RGB); hold on;
% apply offsets in order to draw in the original image
plot(offsetX boundary1(:,2),offsetY boundary1(:,1),'g','LineWidth',2);
plot(offsetX boundary2(:,2),offsetY boundary2(:,1),'g','LineWidth',2);
Step 6: Fit Lines to the Boundaries
Although (X,Y) coordinates pairs were obtained in the previous step, not all of the points lie exactly on a line. Which ones should be used to compute the angle and point of intersection? Assuming that all of the acquired points are equally important, fit lines to the boundary pixel locations.
The equation for a line is y = [x 1]*[a; b]. You can solve for parameters 'a' and 'b' in the least-squares sense by using polyfit.
ab1 = polyfit(boundary1(:,2), boundary1(:,1), 1);
ab2 = polyfit(boundary2(:,2), boundary2(:,1), 1);
Step 7: Find the Angle of Intersection
Use the dot product to find the angle.
vect1 = [1 ab1(1)]; % create a vector based on the line equation
vect2 = [1 ab2(1)];
dp = dot(vect1, vect2);
% compute vector lengths
length1 = sqrt(sum(vect1.^2));
length2 = sqrt(sum(vect2.^2));
% obtain the larger angle of intersection in degrees
angle = 180-acos(dp/(length1*length2))*180/pi
angle =
129.4971
Step 8: Find the Point of Intersection
Solve the system of two equations in order to obtain (X,Y) coordinates of the intersection point.
intersection = [1 ,-ab1(1); 1, -ab2(1)] \ [ab1(2); ab2(2)];
% apply offsets in order to compute the location in the original,
% i.e. not cropped, image.
intersection = intersection [offsetY; offsetX]
intersection =
143.0917
295.7494
Step 9: Plot the Results.
inter_x = intersection(2);
inter_y = intersection(1);
% draw an X at the point of intersection
plot(inter_x,inter_y,'yx','LineWidth',2);
text(inter_x-60, inter_y-30, [sprintf('%1.3f',angle),'{\circ}'],...
'Color','y','FontSize',14,'FontWeight','bold');
interString = sprintf('(%2.1f,%2.1f)', inter_x, inter_y);
text(inter_x-10, inter_y 20, interString,...
'Color','y','FontSize',14,'FontWeight','bold');
Copyright 1993-2005 The MathWorks, Inc.
Published with MATLAB® 7.8
MATLAB and Simulink are registered trademarks of The MathWorks, Inc. Please see www.mathworks.com/trademarks for a list of other trademarks owned by The MathWorks, Inc. Other product or brand names are trademarks or registered trademarks of
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