Fast Oriented Line Integral Convolution for Vector Field Visualization via the Internet

regular convolution学术语言-回复什么是常规卷积（regular convolution）？常规卷积是一种在信号处理和图像处理领域广泛使用的数学运算。

它被用于处理和分析数据，尤其是在卷积神经网络（CNN）中，起到了至关重要的作用。

常规卷积基于滤波器（也称为卷积核）与输入信号之间的运算，用来提取输入信号的特征。

常规卷积的过程可以概括为以下几个步骤：1. 输入信号（也称为输入图像）：常规卷积的第一个步骤是选择一个输入信号或图像。

输入信号可以是一个二维矩阵（即灰度图像）或一个三维矩阵（即彩色图像）。

例如，在处理图像时，我们可以选择一张大小为28x28像素的灰度图像作为输入信号。

2. 卷积核（滤波器）的选择：常规卷积的下一步是选择一个卷积核（也称为滤波器）。

卷积核是一个小的二维矩阵，其大小通常小于输入信号的大小。

卷积核包含了一组权重，这些权重将作为卷积操作的参数。

例如，我们可以选择一个3x3的卷积核来对输入信号进行卷积操作。

3. 卷积操作：在常规卷积中，卷积核与输入信号进行逐元素乘法，然后将乘积相加。

具体而言，卷积核的每个元素与输入信号的对应元素相乘，然后将所有乘积相加得到一个新的值。

这个值将作为输出信号的一个元素。

通过将卷积核在输入信号上按步长（stride）滑动，将整个输入信号进行遍历，就可以得到输出信号的所有元素。

卷积操作的结果可以看作是将卷积核的某种局部特征应用于输入信号的结果。

4. 边界处理：在进行卷积操作时，可能会遇到输入信号的边界问题。

边界处理可以采用多种方法，例如，可以使用填充（padding）来扩展输入信号的边界，或者可以使用截断（truncate）来处理边界问题。

5. 输出信号：最终，卷积操作的结果将得到一个输出信号。

输出信号的大小通常会因为卷积核的大小、步长和边界处理方式而不同。

输出信号可能会被用作下一层的输入信号，或者作为最终的输出结果。

总结起来，常规卷积是通过将选择的卷积核在输入信号上滑动进行逐元素乘法和求和操作来提取输入信号的特征。

惯导拟合路径惯导（Inertial navigation）是一种常见的导航技术，通过专用设备和传感器测量车辆、飞行器、船舶等对象的加速度和角速度，从而实现对其运动状态的实时监测和估计。

惯导有着广泛的应用，比如飞行器导航、船舶导航、自动驾驶等领域。

在这篇文章中，我们将探讨惯导在路径规划与导航中的应用，重点讨论惯导拟合路径的原理和技术。

首先，让我们来了解一下惯导拟合路径的基本原理。

惯性导航系统通过测量车辆的加速度和角速度，在给定的初始条件下，可以通过积分计算车辆相对于初始位置的位移和旋转角度。

基于这些测量值和计算结果，我们可以构建车辆或飞行器的运动轨迹，并且通过惯导拟合路径的技术来实现相对准确的路径规划和导航。

具体来说，惯导拟合路径的过程可以分为几个步骤。

首先，需要获取车辆或飞行器的初始位置和姿态信息，这可以通过GPS、惯性测量单元（IMU）或其他传感器来实现。

然后，我们需要对车辆的运动状态进行估计，这可以通过对加速度、角速度的测量数据进行数学模型的建立和参数估计来实现。

接下来，我们可以通过对测量数据和模型之间的比较，实现对车辆的位置和姿态进行估计和预测。

最后，通过对估计结果进行路径规划和导航引导，实现对车辆轨迹的有效控制和调整。

惯导拟合路径的优势在于其具有较高的实时性和精度。

与传统的导航方法相比，惯导拟合路径可以实时监测车辆的位置和姿态，在短时间内对运动状态进行估计和预测。

这使得惯导拟合路径在应对实时变化的环境和需求时具有明显的优势。

此外，惯导拟合路径还可以通过与其他导航系统（如GPS）的组合使用，进一步提高导航的准确性和稳定性。

当然，惯导拟合路径也存在一些挑战和限制。

首先，由于惯性传感器本身的误差、漂移等问题，惯导拟合路径存在着累积误差的问题。

这意味着随着时间的增加，惯导拟合路径的精度会逐渐下降。

其次，惯导拟合路径对初始条件具有较高的敏感性。

初始位置和姿态的不准确性会导致拟合路径的偏移和误差。

此外，由于惯导系统无法感知和纠正地球自转等因素的影响，惯导拟合路径在长时间和长距离的导航中可能出现明显的漂移。

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Combine flexibility in Remote I/O configurationwith the speed and determinism of EtherCAT.•The EtherCAT Coupler Unit is the link between the EtherCAT MachineControl network and the NX-series I/O Units. With I/O Units ranging frombasic I/O's to high-speed synchronous models, the NX-series is the perfectmatch for the Sysmac Machine Automation Controllers.Features•Up to 63 NX-IO Units can be connected to one EtherCAT Coupler Unit. Standard and high-performance units can be mixed.*1•High-speed remote I/O control is possible at the fastest communication cycle of 125 μs.*2•Each Coupler plus its I/O form just a single EtherCAT node on the network.•I/O control and safety control can be integrated by connecting Units for safety.•The Coupler supports the EtherCAT Distributed Clock (DC) and propagates this to synchronous I/O units.•The node address can be fixed by rotary switches, or set by software. Choose the method that best suits your way of engineering.•Slave configuration by Sysmac Studio can be done centrally via the controller, or on-the-spot using the Coupler's built-in USB port.*1Input per Coupler Unit: Maximum 1024 bytes, Output per Coupler Unit: Maximum 1024 bytes*2NX7-@@@@ and NX-ECC203 combinedSysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products. EtherCAT is a registered trademark of Beckhoff Automation GmbH for their patented technology. EtherNet/IP TM is the trademarks of ODVA. Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.System ConfigurationSystem Configuration of Slave TerminalsThe following figure shows an example of the system configuration when an EtherCAT Coupler Unit is used as a Communications Coupler Unit.*1.The connection method for the Sysmac Studio depends on the model of the CPU Unit or Industrial PC.*2.An EtherCAT Slave Terminal cannot be connected to any of the OMRON CJ1W-NC @81/@82 Position Control Units even though they canoperate as EtherCAT masters.*3.For whether NX Units can be connected to the CPU Unit or Communications Coupler Unit to be used, refer to the user's manual for the CPUUnit or Communications Coupler Unit to be used.EtherCAT master *2Sysmac Studio Support SoftwareOrdering InformationApplicable standardsRefer to the OMRON website () or ask your OMRON representative for the most recent applicable standards for each model.*1.This depends on the specifications of the EtherCAT master. For example, the values are as follows when the EtherCAT Coupler Unit isconnected to the built-in EtherCAT port on an NJ5-series CPU Unit: 500 μs, 1,000 μs, 2,000 μs, and 4,000 μs. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the specifications of the built-in EtherCAT ports on NJ/NX-series CPU Units.*2.This depends on the Unit configuration.Recommended EtherCAT Communications CableUse a straight STP (shielded twisted-pair) cable of category 5 or higher with double shielding (braiding and aluminum foil tape) for EtherCAT.Cable with Connectors*1.Standard type cables length 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15 and 20 m are available.Rugged type cables length 0.3, 0.5, 1, 2, 3, 5, 10 and 15 m are available.For details, refer to Cat.No.G019.*2.The lineup features Low Smoke Zero Halogen cables for in-cabinet use and PUR cables for out-of-cabinet use. Although the LSZH cable issingle shielded, its communications and noise characteristics meet the standards.*3.Cables colors are available in blue, yellow, or Green.*4.For details, contact your OMRON representative.Product nameCommunications cycle inDC Mode *1 *2Current consumptionMaximum I/O power supply current Model EtherCAT Coupler Unit250 to 4,000 μs 1.45 W or lower4 ANX-ECC20110 ANX-ECC202125 to 10,000 μs 1.25 W or lower NX-ECC203ItemAppearanceRecommended manufacturerCable length [m] *1ModelCable with Connectors on Both Ends (RJ45/RJ45)Standard RJ45 plugs type *1Wire gauge and number of pairs: AWG26, 4-pair cable Cable sheath material: LSZH *2Cable color: Yellow *3OMRON0.3XS6W-6LSZH8SS30CM-Y 0.5XS6W-6LSZH8SS50CM-Y 1XS6W-6LSZH8SS100CM-Y 2XS6W-6LSZH8SS200CM-Y 3XS6W-6LSZH8SS300CM-Y 5XS6W-6LSZH8SS500CM-Y Cable with Connectors on Both Ends (RJ45/RJ45)Rugged RJ45 plugs type *1Wire gauge and number of pairs: AWG22, 2-pair cable Cable color: Light blueOMRON0.3XS5W-T421-AMD-K 0.5XS5W-T421-BMD-K 1XS5W-T421-CMD-K 2XS5W-T421-DMD-K 5XS5W-T421-GMD-K 10XS5W-T421-JMD-K Cable with Connectors on Both Ends (M12 Straight/M12 Straight)Shield Strengthening Connector cable *4M12/Smartclick ConnectorsWire Gauge and Number of Pairs: AWG22, 2-pair Cable Cable color: BlackOMRON0.5XS5W-T421-BM2-SS 1XS5W-T421-CM2-SS 2XS5W-T421-DM2-SS 3XS5W-T421-EM2-SS 5XS5W-T421-GM2-SS 10XS5W-T421-JM2-SS Cable with Connectors on Both Ends (M12 Straight/RJ45)Shield Strengthening Connector cable *4M12/Smartclick Connectors Rugged RJ45 plugs typeWire Gauge and Number of Pairs: AWG22, 2-pair Cable Cable color: BlackOMRON0.5XS5W-T421-BMC-SS 1XS5W-T421-CMC-SS 2XS5W-T421-DMC-SS 3XS5W-T421-EMC-SS 5XS5W-T421-GMC-SS 10XS5W-T421-JMC-SSCables / ConnectorsWire Gauge and Number of Pairs: AWG24, 4-pair Cable*We recommend you to use above cable and connector together.Wire Gauge and Number of Pairs: AWG22, 2-pair Cable*We recommend you to use above cable and connector together.Note:Connect both ends of cable shielded wires to the connector hoods.Optional ProductsAccessoriesEnd Cover (NX-END01)An End Cover is connected to the end of the EtherCAT Slave Terminal.One End Cover is provided together with the EtherCAT Coupler Unit.ItemAppearanceRecommended manufacturerModelCables-Hitachi Metals, STAR-C5E SAB 0.5 × 4P CP *-Kuramo Electric Co.KETH-SB *-SWCC Showa Cable Systems Co.FAE-5004 *RJ45 Connectors-Panduit CorporationMPS588-C *ItemAppearanceRecommended manufacturer ModelCables-Kuramo Electric Co.KETH-PSB-OMR *-JMACS Japan Co., Ltd.PNET/B *RJ45 Assembly ConnectorOMRONXS6G-T421-1 *Product nameSpecificationModelUnit/Terminal Block Coding PinsPins for 10 Units(30 terminal block pins and 30 Unit pins)NX-AUX02Product NameSpecificationModelNo. of terminals Ground terminal mark Terminal current capacity Terminal Block8Present10 ANX-TBC082General Specification*Refer to the OMRON website (/) or consult your OMRON representative for the most recent applicable standards for each model.SpecificationsEtherCAT Coupler Unit NX-ECC201/NX-ECC202/NX-ECC203*1.Refer to the NX-series Safety Control Units User’s Manual (Cat. No. Z930) for the number of Safety Control Units that can be connected.*2.This function was added or improved for a version upgrade. Refer to the NX-series EtherCAT Coupler Unit User’s Manual (Cat. No. W519) forinformation on version upgrades.*3.The range of node addresses that can be set depends on the model of the built-in EtherCAT port. For the node address ranges that can beset for a built-in EtherCAT port, refer to the user's manual for the built-in EtherCAT port on the connected CPU Unit or Industrial PC.*4.This depends on the specifications of the EtherCAT master. For example, the values are as follows when the EtherCAT Coupler Unit isconnected to the built-in EtherCAT port on an NJ5-series CPU Unit: 500 μs, 1,000 μs, 2,000 μs, and 4,000 μs. For the specifications of the built-in EtherCAT port, refer to the user's manual for the built-in EtherCAT port on the connected CPU Unit or the Industrial PC.*5.This depends on the Unit configuration.*6.There are restrictions in the communications cycles that you can set for some of the NX Units. If you use any of those NX Units, set acommunications cycle that will satisfy the specifications for the refresh cycles that can be executed by the NX Unit. Refer to the appendix of the NX-series Data Reference Manual (Cat. No. W525-E1-07 or later) to see if there are restrictions on any specific NX Units. For information on the communications cycles that you can set, refer to the user’s manuals for the NX Units.*7.Refer to the NX-series EtherCAT Coupler Unit User’s Manual (Cat. No. W519) for procedures for designing the Unit power supply system andI/O power supply system.*e a voltage that is appropriate for the I/O circuits of the NX Units and the connected external devices.ItemSpecificationEnclosureMounted in a panel Grounding methodGround to 100 Ω or less Operating environmentAmbient operating temperature 0 to 55°CAmbient operating humidity 10% to 95% (with no condensation or icing)AtmosphereMust be free from corrosive gases.Ambient storage temperature −25 to 70°C (with no condensation or icing)Altitude2,000 m max.Pollution degree Pollution degree 2 or less: Meets IEC 61010-2-201.Noise immunity Conforms to IEC61000-4-4. 2 kV (power supply line)Overvoltage category Category II: Meets IEC 61010-2-201.EMC immunity level Zone BVibration resistance Conforms to IEC 60068-2-6.5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz, acceleration of 9.8 m/s 2, 100 min each in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total)Shock resistanceConforms to IEC 60068-2-27. 147 m/s 2, 3 times each in X, Y, and Z directions Applicable standards *cULus: Listed (UL 508 or UL61010-2-201), ANSI/ISA 12.12.01,EU: EN 61131-2, C-Tick or RCM, KC Registration, NK, and LRItemSpecificationNX-ECC201NX-ECC202NX-ECC203Number of connectable NX Units 63 Units max.*1Send/receive PDO data sizes Input: 1,024 bytes max. (including input data, status, and unused areas)Output: 1,024 bytes max. (including output data and unused areas)Mailbox data size Input: 256 bytes Output: 256 bytesMailboxEmergency messages and SDO requestsRefreshing methods *2•Free-Run refreshing •Synchronous I/O refreshing •Time stamp refreshing•Free-Run refreshing•Synchronous I/O refreshing •Time stamp refreshing •Task period prioritized refreshingNode address setting rangeWhen the settable node address range for the built-in EtherCAT port is 1 to 512*3•Set on switches: 1 to 199•Set with the Sysmac Studio: 1 to 512When the settable node address range for the built-in EtherCAT port is 1 to 192*3•Set on switches: 1 to 192•Set with the Sysmac Studio: 1 to 192I/O jitter performanceInputs: 1 μs max.Outputs: 1 μs munications cycle in DC Mode250 to 4,000 μs *4 *5125 to 10,000 μs *3 *4 *6Unit power supply *7Power supply voltage24 VDC (20.4 to 28.8 VDC)NX Unit power supply capacity10 W max.Refer to Installation orientation and restrictions for details.NX Unit power supply efficiency 70%Isolation methodNo isolation between NX Unit power supply and Unit power supply terminals Current capacity of power supply terminals4 A max.I/O powersupply *7Power supply voltage5 to 24 VDC (4.5 to 28.8 VDC) *8Maximum I/O power supply current4 A 10 A Current capacity of power supply terminals4 A max.10 A max.NX Unit power consumption1.45 W max. 1.25 W max.Current consumption from I/O power supply 10 mA max. (for 24 VDC)Dielectric strength 510 VAC for 1 min, leakage current: 5 mA max. (between isolated circuits)Insulation resistance100 VDC, 20 M Ω min. (between isolated circuits)EtherCAT Communications Specifications*The EtherCAT Coupler Unit conforms to EtherCAT standards. Check the specifications of the EtherCAT master being connected for the configurable topology. However, note that only NX-ECC203 EtherCAT Coupler Units (Ver. 1.5 or later) is compatible with a ring topology.Version InformationNote:Some Units do not have all of the versions given in the above table. If a Unit does not have the specified version, support is provided by theoldest available version after the specified version. Refer to the user's manuals for the specific Units for the relation between models and versions.*1For the NX-ECC202, there is no unit version of 1.1 or earlier.*2For the NX-ECC203, there is no unit version of 1.2 or earlier.ItemSpecificationCommunications standard IEC 61158 Type 12Physical layer 100BASE-TX (IEEE 802.3)Modulation Baseband Baud rate 100 MbpsTopologyDepends on the specifications of the EtherCAT master. *Transmission mediaCategory 5 or higher twisted-pair cable (Recommended cable: double-shielded cable with aluminum tape and braiding)Transmission distance Distance between nodes: 100 m or lessModel number of EtherCAT Coupler UnitUnit version Corresponding versionsUsing an NX-series CPU Unit Using an NJ-series CPU Unit Using an NY-series Industrial PC Unit version of CPU UnitSysmac StudioversionUnit version of CPU Unit Sysmac Studioversion Unit version of Industrial PCSysmac StudioversionNX-ECC201Ver. 1.2Ver. 1.10Ver. 1.13Ver. 1.07Ver. 1.08Ver. 1.12Ver. 1.17Ver. 1.1Ver. 1.06Ver. 1.07Ver. 1.0Ver. 1.05Ver. 1.06NX-ECC202Ver. 1.2*1Ver. 1.07Ver. 1.08NX-ECC203Ver. 1.7Ver. 1.41Ver. 1.41Ver. 1.41Ver. 1.6Ver. 1.25Ver. 1.25Ver. 1.25Ver. 1.5Ver. 1.19Ver. 1.19Ver. 1.19Ver. 1.4Ver. 1.16Ver. 1.16Ver. 1.17Ver. 1.3*2Ver. 1.13Ver. 1.13External InterfaceEtherCAT Coupler Unit NX-ECC20@Terminal BlockApplicable Terminal Blocks for Each Unit ModelSymbol NameFunction(A)NX bus connectorThis connector is used to connect each Unit.(B)IndicatorsThe indicators show the current operating status of the Unit.(C)Communications connectors These connectors are connected to the communications cables of the EtherCAT network.There are two connectors, one for the input port and one for the output port.(D)Peripheral USB port This port is used to connect to the Sysmac Studio Support Software.(E)Terminal block The terminal block is used to connect external devices.The number of terminals depends on the type of Unit.(F)Rotary switches These rotary switches are used to set the 1s digit and 10s digit of the node address of the EtherCAT Coupler Unit as an EtherCAT slave. The address is set in decimal.(G)DIP switchThe DIP switch is used to set the 100s digit of the node address of the EtherCAT Coupler Unit as an EtherCAT slave.Symbol NameFunction(A)Terminal number indications The terminal numbers (A1 to A8 and B1 to B8) are displayed.The terminal number indicators are the same regardless of the number of terminals on the terminal block, as shown above.(B)Release holes Insert a flat-blade screwdriver into these holes to connect and remove the wires.(C)Terminal holes The wires are inserted into these holes.(D)Ground terminal markThis mark indicates the ground terminals. Only the NX-TBC082 has this mark.Unit modelCurrent capacity ofUnit's power supply terminals Terminal BlocksUnit power supplyI/O power supplyModelNo. of terminalsGround terminalmark Terminal currentcapacity NX-ECC201 4 A NX-TBC0828Present 10 A NX-ECC202 or NX-ECC2034 A10 ANX-TBC0828Present10 A(B)(D)(E)Eight-terminal Block(A)NX-TBC082Applicable WiresUsing FerrulesIf you use ferrules, attach the twisted wires to them.Observe the application instructions for your ferrules for the wire stripping length when attaching ferrules.Always use plated one-pin ferrules. Do not use unplated ferrules or two-pin ferrules.The applicable ferrules, wires, and crimping tool are given in the following table.*1.Some AWG 14 wires exceed 2.0 mm 2 and cannot be used in the screwless clamping terminal block.When you use any ferrules other than those in the above table, crimp them to the twisted wires so that the following processed dimensions are achieved.Using Twisted Wires/Solid WiresIf you use the twisted wires or the solid wires, use the following table to determine the correct wire specifications.*1Secure wires to the screwless clamping terminal block. Refer to the Securing Wires in the USER'S MANUAL for how to secure wires.*2With the NX-TB @@@1 Terminal Block, use twisted wires to connect the ground terminal. Do not use a solid wire.<Additional Information> If more than 2 A will flow on the wires, use plated wires or use ferrules.Terminal typesManufacturerFerrule model Applicable wire (mm 2 (AWG))Crimping toolTerminals other than ground terminalsPhoenix Contact AI0,34-80.34 (#22)Phoenix Contact (The figure in parentheses is the applicable wire size.)CRIMPFOX 6 (0.25 to 6 mm 2, AWG 24 to 10)AI0,5-80.5 (#20)AI0,5-10AI0,75-80.75 (#18)AI0,75-10AI1,0-8 1.0 (#18)AI1,0-10AI1,5-8 1.5 (#16)AI1,5-10Ground terminalsAI2,5-102.0 *1Terminals other than ground terminalsWeidmuller H0.14/120.14 (#26)Weidmueller (The figure in parentheses is the applicable wire size.)PZ6 Roto (0.14 to 6 mm 2, AWG 26 to 10)H0.25/120.25 (#24)H0.34/120.34 (#22)H0.5/140.5 (#20)H0.5/16H0.75/140.75 (#18)H0.75/16H1.0/14 1.0 (#18)H1.0/16H1.5/14 1.5 (#16)H1.5/16TerminalsWire typeWire sizeConductor length(stripping length)Twisted wires Solid wire Classification Current capacity Plated Unplated Plated UnplatedAll terminals except ground terminals2 A max.Possible Possible Possible Possible0.08 to 1.5 mm 2AWG28 to 168 to 10 mmGreater than2 A and 4 A or less Not Possible Possible*1NotPossible Greater than 4 A Possible *1NotPossibleGround terminals ---Possible PossiblePossible *2Possible*22.0 mm 29 to 10 mm1.6 mm max.2.0 mm max.(Ground terminals)(Ground terminals)Conductor length (stripping length)Dimensions(Unit: mm)EtherCAT Coupler Unit● EtherCAT Coupler Unit Only*The dimension is 1.35 mm for Units with lot numbers through December 2014.● With Cables Connected*1.*2.•• 1.5NX-ECC 11End Cover*This is the shape for Units with lot numbers through December 2014.Related Manuals Man. No Model Manual ApplicationDescription W519NX-ECC20@NX-series EtherCAT Coupler Unit User’s ManualLeaning how to use anNX-series EtherCATCoupler Unit andEther-CAT Slave Terminals The following items are described: the overall system and configuration methods of an EtherCAT Slave Terminal (which consists of an NX-series EtherCAT Coupler Unit and NX Units), and information on hardware, setup, and functions to setup, control, and monitor NX Units through EtherCAT.2020.6In the interest of product improvement, specifications are subject to change without notice. OMRON CorporationIndustrial Automation Company/(c)Copyright OMRON Corporation 2020 All Right Reserved.。

FeaturesBack to back gate-source Zener diodes Guaranteed R DS(ON) at 4.0V gate drive Low threshold Low on-resistanceIndependent N- and P-channelsElectrically isolated N- and P-channels Low input capacitance Fast switching speedsFree from secondary breakdowns Low input and output leakageApplicationsHigh voltage pulsers Amplifiers BuffersPiezoelectric transducer drivers General purpose line drivers Logic level interfaces►►►►►►►►►►►►►►►►General DescriptionThe Supertex TC6215 consists of high voltage, low threshold N-channel and P-channel MOSFETs in an 8-Lead SOIC (TG) package. Both MOSFETs have integrated back to back gate-source Zener diode clamps and guaranteed R DS(ON) ratings down to 4.0V gate drive allowing them to be driven directly with standard 5.0V CMOS logic.These low threshold enhancement-mode (normally-off) transistors utilize an advanced vertical DMOS structure and Supertex’s well-proven silicon-gate manufacturing process. This combination produces devices with the power handling capabilities of bipolar transistors and with the high input impedance and positive temperature coefficient inherent in MOS devices. Characteristic of all MOS structures, these devices are free from thermal runaway and thermally-induced secondary breakdown.Supertex’s vertical DMOS FETs are ideally suitedto a wide range of switching and amplifying applications where very low threshold voltage, high breakdown voltage, high input impedance, low input capacitance, and fast switching speeds are desired.N- and P-ChannelEnhancement-Mode Dual MOSFET-G indicates package is RoHS compliant (‘Green’)GP SP GN SNDP DP DN DNYY = Year Sealed WW = Week Sealed L = Lot Number= “Green” Packaging 8-Lead SOIC (TG)(top view)Absolute Maximum Ratings are those values beyond which damage to the device may occur. Functional operation under these conditions is not implied. Continuous operation of the device at the absolute rating level may affect device reliability. All voltages are referenced to device ground.* Distance of 1.6mm from case for 10 seconds.8-Lead SOIC (TG)Package may or may not include the following marks: Si orPin ConfigurationN-Channel Switching Waveforms and Test CircuitVOUTPUT 10V0V0VVDDInputOutputNotes:All DC parameters 100% tested at 25°C unless otherwise stated. (Pulsed test: 300µs pulse at 2% duty cycle.)All AC parameters sample tested.1.2.DD0V -10V0V V DDInputOutputNotes:All DC parameters 100% tested at 25°C unless otherwise stated. (Pulsed test: 300µs pulse at 2% duty cycle.)All AC parameters sample tested.1.2.Block DiagramSN GN SPGPDPDPDN DN 8-Lead SOIC(top view)P-Channel Output Characteristics-4.0-3.5-3.0-2.5-2.0-1.5-1.0-0.50.0-50-45-40-35-30-25-20-15-10-5V DS (volts)I D (a m p e r e s )V =-10VV =-8V V =-7VV =-6VV =-5VV =-4VV =-3VV =-2VP-Channel Saturation Characteristics-2.2-2.0-1.8-1.6-1.4-1.2-1.0-0.8-0.6-0.4-0.20.0-10-9-8-7-6-5-4-3-2-1V DS (volts)I D (a m p e r e s )V GS =-10V V GS =-8V V GS =-6V V GS =-5VV GS =-4VV GS =-3VV GS =-2VN-Channel Output Characteristics0.00.51.01.52.02.53.03.54.04.505101520253035404550V DS (volts)I D (a m p e r e s )V GS =10V V GS =8V V GS =7VV GS =6VV GS =5VV GS =4VV GS =3VV GS =2VN-Channel Saturation Characteristics0.00.51.01.52.02.53.03.54.012345678910V DS (volts)I D (a m p e r e s )V GS =10V V GS =8V V GS =6VV GS =5VV GS =4VV GS =3VV GS =2VTypical Performance CurvesSupertex inc. does not recommend the use of its products in life support applications, and will not knowingly sell them for use in such applications unless it receives an adequate “product liability indemnification insurance agreement.” Supertex inc. does not assume responsibility for use of devices described, and limits its liability to the replacement of the devices determined defective due to workmanship. No responsibility is assumed for possible omissions and inaccuracies. Circuitry and specifications are subject to change without notice. For the latest product specifications refer to the Supertex inc. website: http//.©2008 All rights reserved. Unauthorized use or reproduction is prohibited.1235 Bordeaux Drive, Sunnyvale, CA 94089(The package drawing(s) in this data sheet may not reflect the most current specifications. For the latest package outline information go to /packaging.html .)8-Lead SOIC (Narrow Body) Package Outline (TG)4.90x3.90mm body, 1.75mm height (max), 1.27mm pitchSide ViewView A-AJEDEC Registration MS-012, Variation AA, Issue E, Sept. 2005.* This dimension is not specified in the original JEDEC drawing. The value listed is for reference only.Drawings are not to scale.Supertex Doc. #: DSPD-8SOLGTG, Version H101708.Note:This chamfer feature is optional. A Pin 1 identifier must be located in the index area indicated. The Pin 1 identifier can be: a molded mark/identifier;an embedded metal marker; or a printed indicator.1.。

现代电子技术Modern Electronics Technique2024年3月1日第47卷第5期Mar. 2024Vol. 47 No. 50 引 言汽车智能化是汽车产业一直在追寻的目标，而自动驾驶是汽车智能化不可或缺的一环。

要实现自动驾驶，必须为汽车加上一双眼睛和配套的处理系统，这套处理系统需要像人一样识别交通标志。

交通标志检测的实现方案主要有两大类：一类是基于计算机图形学的方案，比如依据颜色直方图、尺度不变特征变换特征、方向基于双向嵌套级联残差的交通标志检测方法江金懋， 钟国韵（东华理工大学 信息工程学院， 江西 南昌 330013）摘 要： 交通标志检测是自动驾驶领域的一个重要课题，其对于检测系统的实时性和精度都有非常高的要求。

目标检测领域中的YOLOv3算法是业界公认在精度和速度上都处于前列的一种算法。

文中以YOLOv3检测算法作为基础网络，提出一种双向嵌套级联残差单元（bid⁃NCR ），替换掉原网络中顺序堆叠的标准残差块。

双向嵌套级联残差单元的两条残差边采用相同的结构，都是一次卷积操作加上一次级联残差处理，两条边上级联的标准残差块的数量可以调节，从而形成不同的深度差。

然后将两条边的结果逐像素相加，最后再做一次卷积操作。

相较于标准残差块，双向嵌套级联残差单元拥有更强的特征提取能力和特征融合能力。

文中还提出跨区域压缩模块（CRC ），它是对2倍率下采样卷积操作的替代，旨在融合跨区域的通道数据，进一步加强主干网络输入特征图所包含的信息。

实验结果表明：提出的模型在CCTSDB 数据集上mAP （0.5）、mAP （0.5∶0.95）分别达到96.86%、68.66%，FPS 达到66.09帧。

相比于YOLOv3算法，3个指标分别提升1.23%、10.35%、127.90%。

关键词： 交通标志检测； 双向嵌套级联残差单元； 跨区域压缩模块； YOLOv3； 长沙理工大学中国交通标志检测数据集； 特征提取； 特征融合中图分类号： TN911.73⁃34； TP391 文献标识码： A 文章编号： 1004⁃373X （2024）05⁃0176⁃06Traffic sign detection method based on bi⁃directional nested cascading residualsJIANG Jinmao, ZHONG Guoyun(School of Information Engineering, East China University of Technology, Nanchang 330013, China)Abstract ： Traffic sign detection is an important topic in the field of autonomous driving, which has very high requirements for real ⁃time performance and accuracy of the detection system. The YOLOv3 algorithm in the field of target detection is recognized as one of the leading algorithms in terms of accuracy and speed. In this paper, by taking YOLOv3 detection algorithm as the base network, a bi⁃directional nested cascaded residual (bid⁃NCR) unit is proposed to replace the standard residual blocks sequentially stacked in the original network. The two residual edges of the bid⁃NCR unit is of the same structure, both of which are one convolutional operation plus one cascaded residual processing, and the number of cascaded standard residual blocks on the two edges can be adjusted to form different depth differences. The results of the two edges are then added pixel by pixel, and another convolutional operation is performed, finally. In comparison with the standard residual blocks, the bid ⁃NCR unit has stronger feature extraction capability and feature fusion capability. The cross ⁃region compression (CRC) module, which is an alternative to the 2⁃fold downsampling convolutional operation, is proposed. It aims to fuse the channel data across regions to further enhance the information contained in the input feature map of the backbone network. The experimental results show thatthe model proposed in this paper achieves mAP(0.5) and mAP(0.5∶0.95) of 96.86% and 68.66%, respectively, and FPS of 66.09 frames on the dataset CCTSDB. In comparison with YOLOv3 algorithm, the three indicators are improved by 1.23%, 10.35% and 127.90%, respectively.Keywords ： traffic sign detection; bid⁃NCR unit; CRC module; YOLOv3; CSUST Chinese traffic sign detection benchmark(CCTSDB); feature extraction; feature fusionDOI ：10.16652/j.issn.1004⁃373x.2024.05.031引用格式：江金懋，钟国韵.基于双向嵌套级联残差的交通标志检测方法[J].现代电子技术，2024，47（5）：176⁃181.收稿日期：2023⁃09⁃13 修回日期：2023⁃10⁃11176第5期梯度直方图特征[1]等，以上方法最大的问题在于这些人工提取的特征高度依赖于特定的场景，泛化能力很差；另一类是基于深度学习的方案，比如文献[2]提出的基于多尺度卷积神经网络的方案，设计了一个多尺度空洞卷积池化金字塔模块用于采样。

AS1 SERIESINSTRUCTION MANUALCONTROLSOUT LED on receiver (RX)The yellow LED ON indicates the presence of the object into controlled area.POWER ON LED on receiver (RX)The green LED ON indicates the optimal device functioning.The fast blinking of the green LED indicates a critical device alignment. Please refer to “DIAGNOSTICS” paragraph for other indications.POWER ON LED on emitter (TX)The green LED ON indicates the correct device functioning.Please refer to “DIAGNOSTICS” paragraph for other indications.INSTALLATION MODEGeneral information on device positioning• Align the two receiver (RX) and emitter (TX) units, verifying that their distance is inside the device operating distance, in a parallel manner placing the sensitive sides one in front of the other, with the connectors oriented on the same side. The critical alignmentof the unit will be signalled by the fast blinking of the green receiver LED.• Mount the two receiver and emitter units on rigid supports which are not subject to strong vibrations, using specific fixing brackets and /or the holes present on the device lids.Precautions to respect when choosing and installing the device• Choose the device according to the minimum object to detect and the maximum controlled area requested.• In agro-industrial applications, the compatibility of light grid housing material and any chemical agents used in the production process has to be verified with the assistance of the DATASENSOR technical sales support department.• The AREA scan TM light grids are NOT safety devices, and so MUST NOT be used in the safety control of the machines where installed. Moreover the following points have to be considered:- Avoid installation near very intense and / or blinking light sources, in particular near to the receiver unit.- The presence of strong electromagnetic disturbances can jeopardise the correct functioning of the device. This condition has to be carefully evaluated and checked with the DATASENSOR technical sales support department;- The presence of smoke, fog and suspended dust in the working environment can reduce the device’s operating distance.- Strong and frequent temperature variations, with very low peak temperatures, can generate a thin condensation layer on the optics surfaces, compromising the correct functioning of the device.- Reflecting surfaces near the luminous beam of the AREA scan TM device (above, under or lateral) can cause passive reflections able to compromise object detection inside the controlled area.- if different devices have to be installed in adjacent areas, the emitter of one unit must not interfere with the receiver of the other unit.General information relative to object detection and measurement• For a correct object detection and / or measurement, the object has to pass completely through the controlled area. Testing the correct detection before beginning the process is suggested. The resolution is non uniform inside the entire controlled area. For example the resolution in the AS1-HR model depends on the scanning program chosen.CONNECTIONSAS1-HR AS1-SR AS1-HR AS1-SR1 – brown: +24 VDC +24 VDC 1 – brown: +24 VDC+24 VDC2 – white:SEL_RXNot used2 – white:SEL_TX Not used3 – blue: 0 V0 V3 – blue: 0 V 0 V4 – black: Switching output Switching output 4 – black:SYNC SYNCRECEIVER (RX):M12 5-pole connector5 – grey: SYNC SYNCEMITTER (TX):M12 4-pole connectorShielded cables are not foreseen in the standard connection.Ground connection of the two units is not necessary. If desired, this connection can be obtained replacing the screw provided in the packaging with the one indicated in the drawing, which blocks the lid of the connector side of each unit.The respect of the connection shown in the drawing, is necessary if ground connection of the entire system is requested.FUNCTIONING AND PERFORMANCESThe beam interruption due to the passage of an object inside the controlled area causes the closing of the switching output and the variation of the device analogue output signal. Small objects can be detected (reaching dimensions of only 0.5 mm) and with a reduced surface area.In particular:The switching output is always activated when at least one beam is obscured. The status variation is signalled by the yellow receiver LED that turns on.The device presents inputs (both on TX and Rx units) that consent the selection of the resolution and response time.Low response times correspond to worser resolutions and viceversa.The device does not require calibration; periodical checks of the resolution and / or measurement are however suggested.The blinking of the green receiver LED (stability function ) signals the critical alignment of the units and / or the functioning outside or near the maximum operating distance. In optimal conditions the LED remains on continuously.The two units are synchronised via cable (SYNC wire).Precarious connections or induced disturbances on the synchronism line can cause device malfunctioning or a temporary blocking.DIAGNOSTICSRECEIVER UNIT:Segnal StatusCauseActionONSwitching output.Presence of the object in the controlled area.OUT LEDOFFSwitching output.Controlled area free of objects.ONOptimal functioning. Fast blinkingCritical alignment of the unit or/and functioning closed to maximum operating distance.Slow blinkingWrong connections and/or malfunctioning.- Verify the output connections and any short-circuits.- Switch OFF and switch ON the device.- If condition persists, contact Datasensor.POWER ONLEDOFFDevice is not powered.- Verify the connections.- If condition persists, contact Datasensor.EMITTER UNIT:POWER ONLEDPROG. N°SEL_RXSEL_TXRESOLUTIONRESPONSE TIME (msec )1 0V or FLOAT 0V or FLOAT LOW 2.752 0V or FLOAT +24Vdc M/L3 3 +24Vdc 0V or FLOAT M/H 7.754 +24Vdc +24Vdc HIGH 8Resolution figure : the box indicated the area with highest resolutionPROGRAM 1PROGRAM 2PROGRAM 3 - 4Ideal for fast detection on entire controlled area, with low resolution.Ideal for fast detection on entire contolled area, with constant resolution onlimited area.Ideal for detection with high resolution on entirecontrolled area.DIMENSIONS 800-262-4332-------------------------------------------------------------------------------------------------------------------------------------------- DECLARATION OF CONFORMITYIDEC and DATASENSOR jointly declare under their sole responsibility that these products conform to the 2004/108/CE, 2006/95/CE Directives, and successive amendments.-------------------------------------------------------------------------------------------------------------------------------------------- IDEC and DATASENSOR reserve the right to make modifications and improvements without prior notification.826003450 Rev.00。