(EKF slam) 有详细实验报告

标准数据集，做分类和聚类用的比较多，适合机器学习和数据挖掘课程使用

地震数据segy与matlab互相转换的方便工具

CANOpen应用层和通讯协议，基于CiA301的中文翻译，整理好了书签，学习CANopen必备资料。CANopen应用层和通信协议目录1适用范围2参考资料2.规范性引用2.2信息参考3缩写和定义·非·垂8888831缩写3.2定义…标准帧扩展帧.999CAN-工DCOB-ID·········实体FSA,,,设备域9逻辑设备,++Node-ID+++++,.,+·+···对象9虚拟设备建模…104.1设备域模型104.2通信参考模型.4.2.1简述14.2.2 CANopen应用层………….114.2.2.1概述··::············::··114.2.22服务原语1142.2.3应用层服务124.3 CANopen设备模型43.1简述..124.4通信协议分类··;·······∴134.4.1简述4.4.2主/从协议6··134.4.3客户端/服务器协议1444.4生产者/消费者协议-推/拉模式144.45对象字典网络系统模型1545.1设备协议154.5.2应用协议155物理层5.1OS参考模型.∴…16介质相关接口53物理介质连接.54物理信令…166数据链路层186.1简述…∴186.2AN帧类型·4···:·;··4·44···.···:·4·4·4··4··+∴187应用层.197.1数据类型和编码规则..197.1.1数据类型和编码规则简述.19⊙CA2011-保留所有权利CANopen应用层和通信协议7.1.2数据类型定X位序207.1.3位序列7.1.3.1位序列定义7.1.3.2位序列的传输语法……207.1.4基本数据类型217.1.4.1简述217.1.4.27.1,4.3 Boolean.……7.1.4.4Void.7.1. 4.5 Unsigned interge222222111127.1.4.6 Signed Integer....7.1.4.7浮点数.··+·“·4·“··+:···;4······+······7.1.5复合数据类型237.1.6扩展数据类型7.1.6.1简述7.1.6.2八进制字符…27.1.6.3可显示字符串7.1.6.4 Unicode字符串7.1.6.5时间2223444247.1.6.6时间差.47.1.6.7域247.2通信对象247.2.1简述247.2.2过程数据对象(PDO).257.2.2.1简述257.2.2.2传输模式267.2.2.3触发模式.….267.2.2.4PD0服务7.2.2.5PD0协议287.2.3寻址PD0MPD0)7.2.3.1简述.287.2.3.2MPD0寻址模式297.2.3.3PD0服务297.2.3.4MD0协议307.2.4服务数据对象(SD)7.2.4.1简述317.2.4.2SD0服务7.2.4.3S00协议…43服务器49服务器49客户端服务器.…537.25同步对象(SYNC)597.2.5.1简述597.2.5.2SYNC服务597.2.5.3同步协议…7.2.6时间戳对象(TIME)7.2.6.1简述607.2.6.2TIME服务607.2.6.3TIME协议和“……………617.2.7应急对象(EMCY617.2.7.1应急对象的使用617.2.7.2应急的对象服务…ccⅰA2011-保留所有权利CANopen应用层和通信协议7.2.7.3应急对象协议…1547.28网络管理···.·:4·········7.2.8.1简述7.2.8.2NM服务7.2.8.3NMT协议6973网络初始化和系统 boot-up∴747.3.1简化的MMT启动∴747.3.2NT状态机.757.3.2.1概述7.3.2.2MMT状态767.3.2.3MT状态转换7.3.3通用预定义连接集7.3.4特定预定义连接集…787.3.5受限CAN-IDs7974对象字典7.4.1常规结构·++·“+“797.42索引和子索引的使用.807.4.3对象代码的使用7.4.4数据类型的使用.817.4.5访问权限的使用∴817.4.6类别和条目类别的使用.7.4.7数据类型条目的使用827.4.7.1简述7.4.7.2对象字典条目的组织结构7.4.8预定义复合数据类型规范7.4.8.1PD0通讯参数记录规格847.4.8.2PD0映射参数记录规格7.4.8.3SD0参数记录规格857.4.8.4身份记录规格857.4.8.50S调试记录规格.857.4.8.60S命令记录规格通信协议规范867.51对象及其条目说明规范∴867.5.2通信协议对象的详细规范877.5.2.1对象1000:设备类型1877.5.2.2对象1001h:错误寄存器7.5.2.3对象10021:制造商状态寄存器7.5.24对象1003:预定义错误域897.5.2.5对象1005:COB-ID同步消息∴917.5.2.6对象1006:通信循环周期.927.5.27对象1007:同步窗长度.927.5.28对象1008:制造商设备名称7.5.2.9对象1009:制造商的硬件版本937.5.2.10对象100A1:制造商软件版本947.5.2.11对象1000:监护周期947.5.2.12对象100D:生存周期因子7.5.2.13对象1010:保存参数957.5.2.14对象1011:恢复缺省参数977.5.2.15对象10121:时间戳对象COB-ID1007.5.2.16对象1013:高分辨率时间戳1017.5.2.17对象1014: EMCY COB-ID1017.5.2.18对象1015:EMCY抑制时间.1027.5.2.19对象1016:消费者心跳超时.103⊙CA2011-保留所有权利CANopen应用层和通信协议7.52.20对象1017:生产者心跳超时………1047.5.221对象1018:对象身份1057.5.2.22对象1019:同步计数器溢出值7.5.2.23对象1020:验证配置1077.5.2.24对象1021:存储EDS1087.5.2.25对象1022:存储格式1097.5.2.26对象1023:0S命令7.5.2.27对象1024:0s命令模式…·;·中1117.5.2.28对象10251:0s调试接口.1127.5.2.29对象1026:0S提示符命令接口.1137.5.2.30对象1027:模块列表1147.5.231对象1028:应急消费对象7.5.2.32对象1029:错误行为对象.1177.5.2.33对象1200127F:SD0服务器参数1187.5.234对象128012F:SD0客户端参数.1217.5.235对象1400~15FF1:RPD0通信参数1237.5.2.36对象160017FF:RPD0映射参数.1267.5.2.37对象180019FB:TPD0通信参数1297.5.238对象1A00"1BF:TPD0映射参数1347.5.2.39对象1FA011FCF:对像扫描仪列表1367.5.2.40对象1FD0^1FFR:对象分配列表…138附件A(更多信息)140注译版木记录142CA2011-保留所有权利CANopen应用层和通信协议1适用范围本规范定义了 CANopen应用层。包括数据类型、编码规则、对象字典以及 CANopen通信服务协议。此外,本规范也定义了 CANopen网络管理服务协议本规范规定了 CANopen通信协议,例如物理层、通信对象标识符预定义连接集、应急对象( Emergency)、时间戳和同步通笮对象⊙CA2011-保留所有权利CANopen应用层和通信协议2参考资料2.1规范性引用/EN61131-3EN61131-3,可编程控制器一一第3部分:编程语言/IS07498-1/IS07498-1,信息技术-开放系统互连-基本参考模型:基本模型/IS08859/IS08859,信息技术——8位单字节编码图形字符集ISol!898-1/Is011898-1,道路车辆—控制器区域网络(CAN)——第1部分:数据链路层和物理信令/IS0ll898-2/IS0118982,道路车辆——控制器区域网络(CAN)—一第2部分:高速介质访问单元/IS01l8983ⅠS0118983,道路车辆——控制器区域网络CAN——第3部分:低速度、容错的介质相关接口。/IS010646/IS010646,信息技术通用多八位编码字符集(LCS)2.2信息参考/IEEE754/TEEE754,标准的二进制的浮点运算/IEC62390IEC TR62390,常规的白动化设备一协议的准则3缩写和定义3.1缩写ARQ自动重复请求CAN控制局域网CAN IDCAN标识符COB通信对象COB-IDCOB标识符CRC循环冗余校验CSDOClicnt-SDODAM目的地址模式FSA有限状态机LLO逻辑链路控尙LSB最低位/字节MAC介质访问控制MDI介质相关接口MPDO多路复用PD0MSB最高位/字节网络管理NODE-ID节点标识符OSI开放系统互连PDO过程数据对象PLS物理层的信令ccⅰA2011-保留所有权利CANopen应用层和通信协议PMA物理介质连接RPDO接收PDORTR远程传输请求SAM源地址模式SDO服务数据对象SSDOServer-SDoSYNC同步对象TPDO发送PDO3.2定义标准帧/IS01898-1/屮定义的最多可包含8个字节数据和11位标识符的消息扩展帧/IS011898-1/中定义最多可包含8个字节数据和29位标识符的消息CAN-ID/IS011898-1/中定义的CAN数据和远程帧标识符COB-ID包含CAN-1D和附加控制位的标识符实体特指事物如人、地点、过程、概念、组织或事件FSA若干计算行为组成的模式作为一个状态,一个启动状态,输入一个字母,映射输入符号和当前状态到下一状态的转换功能:以一个宁符串输入作为启动状态的计算起始;依赖传递函数变换到新状态(译者注:无法按字面翻译,译者定义为表示有限个状态以及在这些状态之间的转移和动作等行为的数学模型,即有限状态机)。设备域1.自动化系统中独立联网的物理实体,在特定的上下文和分隔符中使用自身接口执行指定的功能2.在自动化系统中向其他实体扶行控制、操纵和/或传感功能和相关接口的实体。逻辑设备根据改备域模型所组织的一系列对象和行为,描述了该设备的数据和行为使网络所理解Node-ID网络范围内每个 CANopen设备的独特标识对象封装了状态和行为有明确界限和身份的实体虚拟设备能够像域设备一样完成所属功能事件的软件实体,⊙CA2011-保留所有权利9CANopen应用层和通信协议4建模4.1设备域模型如图1所示,设备域至少包含一个 CANopen设备。其中每个 CANopen设备至少带有一个包含数据链路层(见本章第6节)和物理层(见本章第5节)的网络接凵、一个node-1D、至少一种通信状态机(FSA)。通信状态机不仅带有NMT从状态机(见7.3.2),还包括应急状态机(见7.27)等共他附加状态机。这些附加状态机定义于所谓的框架协议内,不属于本协议范围。一个 CANopen设备至少包含一个多至8个逻辑设备,且不可分割于多个设备域。每个逻辑设备可包含一个逻辑设备状态机(可选)和多个虚拟设备。逻辑设备不可分割于多个 CANopen设备。逻辑设备定义于所谓的设备协议中(见4.5.1),不在本协议的范围内。每个虚拟设备包含一个虚拟设备状态机且不可分割于多个逻辑设备。虚拟改备定义于所请的应用协议(请参阅子句452),不在本协议范围内。设备域的最小化结构如图2所示。Field deviceCANopen device (Node-ID)CANopen device (Node-ID)CommunicationCommunicationCommunicationCommunicationFSA●●FSAFSAFSA1st logical device1st logical deviceLogical deviceLogical deviceLogical deviceLogical device●自FSAFSAFSAFSAVirtual deviceVirtual deviceVirtual deviceVirtual deviceDevice●●DeviceDevice●●●DeviceFSAFSAFSAFSA8th logical device8th logical deviceLogical device●●Logical devicLogical device@●●Logical deviceFSAFSAFSAFSAVirtual deviceVirtual deviceVirtual deviceVirtual deviceDevice鲁●●DeviceDeviceDeviceFSAFSAFSAFSA图1:设备域模型ccⅰA2011-保留所有权利

8个部分共9章，覆盖了人工智能研究的核心内容8个部分9章是：人工智能概述—第1章 第1部分搜索(问题求解)—第2章 第2部分逻辑与推理—第3章 第3部分知识表示—第4章 不确定性推理—第5章 第4部分学习—第6章 第5部分自然语言理解简介—第7章 第6部分规划简介—第8章 第7部分多Agent系统—第9章 第8部分

python实现谱聚类代码并进行可视化，内涵样例数据集和代码

OPNET路由DIjkstra实现跳数与队列延时代价同时考虑http://blog.csdn.net/yanhc519/article/details/17038415

利用FAO Penman-Monteith计算日潜在（可能蒸散发）；算法根据《GBT 20481-2006 气象干旱等级》编写；可用IPCC数据作为输入测试；

【实例简介】主要是星型网络结构的组网数据传输。其中涉及到zigbee组网的一些关键技术。

程序实现功能：自动化处理中国地面气候资料日值数据集（V3.0），合并气温, 湿度, 风速, 日照, 降水, 蒸发, 气压, 地温数据, 提取关键列数据，将合并后的数据进行连接，进行标准化处理, 保存为逗号分割文件（.csv）

Two Dimensional Phase Unwrapping Theory Algorithms and Software，扫描文档，清晰度一般。GTWO-DIMENSIONALPHASE UNWRAPPINGTHEORY ALGORITHMSAND SOFTWAREDennis C. ghigliaSandia National LaboratoriesAlbuquerque, New MexMark D. PrittLockheed Martin CorporationGaithersburg, Maryland藏A WILEY-INTERSCIENCE PUBLICATIONJOHN WILEY SONS, INCNew York Chichester Weinheim Brisbane Singapore / Toronto2005060radar interferogram generated byDeathon each pass, The terrain elevations can be computed from thebut the phase differences must fig problem In regions of steeprrupted where there are radar shadow and "layover"effects. Surfaceoccurred between the two passes, which were 24 days apar alsopThis image was acquired as part of a program for the Terrain Modeling Project Officended byEngineering Center. The SAR data was provided by Radarsat Intenational THinterferogram was generated and provided by Vexcel Corporation, Boulder, Coloradop00This text is printed on acid-free paper.Copyright o 1998 by John Wiley Sons, Inc. All rights reservedNo part of this publicationreproduced, stored in a retrievalsystem or transmitted in any form or by any means, elechanical photocopying, recording, scanning or otherwise,xcept as permitted under Sections 107 or 1O% of the 1976of the Publisher or authorization through payment of theontates Copyright Act, without cither theppropriate per-copy fee to the Copyright Clearance Center, 222750-4744. Requests to the Publisher for permission show(978)ood Drive, Danvers, MA 01923, (978)750-8400, faxnc.. 605 Third A venue. New York, NY 10158-0012(212)850-6011fax(212)850-6008,E-Mail:PERMREQ@WILEY.COMTwo-dimensional phase unwrapping: theory, algorithms, andsoftware/Dennis C Ghiglia and Mark D Pritt.SBN0-471-24935-1(cloth: alk. paper)1. Synthetic aperture radar. 2. Signal processing--Mathematics3. Interferometry. I Pritt. Mark D. [L. Title621.367-dc2l97-3803410987654321;4TWO-DIMENSIONALPHASE UNWRAPPINGFOREWORDTwo-dimensional phase unwrapping is the type of problem that is typically thedomain of the mathematician. It is both complex and abstract However, phaseunwrapping is also the core technology that enables radar interferometryOver the past decade interferometry has changed the way that we use radardata. Radar data are now used for precise measurement of surface topography inclouded regions. Additionally, spaceborne radar systems have proved effectivefor measuring surface changes from earthquakes and volcanic eruptions. Theseapplications have created a new class of radar data users primarily involved inmapping and remote sensing applicationIn Two-Dimensional Phase Unwrapping: Theory, Algorithms, and Softwarethe authors unlock the mystery of phase unwrapping in interferometric datarocessing. This text provides a clear, concise treatment of phase unwrappingthat cannot be found in any other source. It presents for the first time therelationship between theory and application. Its uniform treatment of thevarious phase unwrapping techniques makes it a valuable resource for anyengineer or scientist involved in processing or exploitation of interferometricexpect that radar interferometry will increase in importance over the comingdecade with the development of airborne and spaceborne sensor systemsdesigned to optimally exploit this tcchnology. Two- Dimensionsping: Theory, Algorithms, and Software is an important contribution to ourinderstanding of radar interferometry that will bencfit both research intoadvanced techniques and the design of these future sensor systemsJOHN C. CURLANDEPresident and CEOVexcel CorporationPREFACETwo-dimensional phase unwrapping arises most naturally in, but is notrestricted to, interferometric applications. Measured or calculated phasevalues from two or more mutually coherent multidimensional signals are relatedn a nonlinear manner to a desired physical quantity of interest. The nonlinearityis in the form of"wraps"or cycle discontinuities where an underlying two-dimensional phase is wrapped into the interval (T, r. The wrapped phasemust somehow be unwrapped in order to provide an estimate of the underlyingphysical quantity. Estimation of surface topography from interferometricsynthetic aperture radar(SAR)or extremely accurate profiling of mechanicaparts by optical interferometers are two such examplesOriginally developed for military reconnaissance, SAR is now experiencingnew life in civil applications. In fact civilian and commercial interests are rapidlbecoming the drivers of technology. Clever utilization of the coherent SArimagery in interferometric configurations makes possible the measurement ofsurface topography to accuracies much better than the spatial resolution( 0.3meters to several meters)of the SaR images themselves. Indeed, as is commonplace with interferometers, measurement sensitivities are on the order of theoperating wavelength, which is typically a few centimeters for SAR. Imaginggeometries, noise, and other operational factors degrade performance some-what from centimeter-scale accuracies, but nevertheless SAR interferometrymakes possible global topographic mapping in a timely fashion, in daylight or atnight, in all weather conditions, and with unprecedented accuracyinterferometry also can detect deformations of the earths crust on the orderof millimeters, a capability that shows promise for the timely detection ofearthquakes or volcanic eruptionsThese exciting possibilities have led to an explosive growth in the field of phaseunwrapping as indicated by the increasing number of journal publicationsNewcomers to SAR interferometry and related disciplines will eventuallyonfront the phase unwrapping problem and, undoubtedly, will encounter arather bewildering variety of ideas and algorithms, including those based onneural networks, simulated annealing, cellular automata, genetic algorithms,and other unusual constructs. Which of these are good? Which are not? We doThroughout this book we use the notation(-丌,丌 to represent the interval-丌