Black Knight An Autonomous Vehicle for Competition
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七日杀黑暗降临md500
《七日杀·黑暗降临》MD-500直升飞机MOD
“黑暗降临”是一个完成度很高的七日杀mod,目前在官方论坛mod专区中人气最高最活跃。
mod风格偏生存、建家,也有很多战斗养成要素,难度适中,特别适合怀旧党,因为添加了很多老版本七日杀的设定。
补丁类型:游戏MOD
整理时间:2019-12-03
大小:3.26MB
补丁制作:bdubyah
补丁语言:多国
版本:v1.0
“MD-500直升飞机MOD”是一款飞行载具mod,增加了MD-500直升飞机作为新的载具可以使用,5级工业进行制造,想来体验一下就来3DM下载吧!
MOD说明
1、添加了一个直升飞机载具:MD-500
2、需要油猴5级才能制造;
3、最多可容纳4人,高油耗,飞行速度为25,耐久为5000,具有大范围灯光;
4、操作方式:“W”上升,“A”和“D”旋转,“S”加速下降,“C”向前移动,“空格”向后翻转。
使用说明
1、将文件放入Steam\steamapps\common\7 Days To Die\Mods 文件夹下即可;
2、如果没有该文件夹就自行创建一个。
专题02 备战2021年中考英语时事热点语篇重大题型专练热点导读一、阅读理解Upcycling is the process of changing old materials into something useful and often beautiful. It is different from recycling. When you recycle something, old materials need to be broken down so that their base materials can be remade into a new product, often of inferior quality. When you upcycle an object, you aren’t breaking down the material. You’re simply making it into something else. Also, the upcycled object is typically of the same, or even better quality.The idea of upcycling isn’t new. Some of the best examples of modern-day upcycling come from the 1930s to 1940s when people didn’t have many material resources. In those days, people found new purposes for old things over and over until they were no longer useful. For example, old coats would be turned into shoes and an old door would be made into a new table.Nowadays, economising is still a big reason why some people upcycle. An even bigger reason for the rebirth of upcycling is that it’s environmentally-friendly. Things shouldn’t just be thrown away when they can be turned into something useful. Upcycling is also more environmentally-friendly than recycling which requires energy or water to break down materials. Upcycling just requires your own creativity and effort.Upcycling can provide you wi th something that’s both creative and practical. Why don’t you support the idea by checking your house or recycling bin and creating objects yourself? Take action right now!1.Compared with recycling, the main difference with upcycling is that ________.A.it’s environmentally-friendly B.upcycled objects are more usefulC.upcycled objects are of inferior quality D.old materials don’t need to be broken down2.Why did people upcycle in the old days?A.To make life interesting. B.To save materials and money.C.To show their creativity. D.To protect the environment.3.The underlined word “economising” means “________” in Chinese.A.节约B.创新C.增产D.发展4.Match the first three paragraphs with the three subtitles:a. Reasons for upcyclingb. Upcycling in the old timesc. Differences between upcycling and recyclingA.Pl—c; P2—a; P3—b B.P1—c; P2—b; P3—aC.P1—b; P2—a; P3—c D.P1—a; P2—b; P3—c5.What’s the writer’s main purpose in writing this passage?A.To advise people to recycle. B.To warn people not to waste.C.To encourage people to upcycle. D.To show people the history of upcycling.答案1-5.DBABC短文大意本文主要介绍了升级回收,同时还介绍了两种升级回收的方法。
河南省平顶山市叶县高级中学2024-2025学年高二上学期9月月考英语试卷一、听力选择题1.What did the woman buy for her mum?A.A hat.B.A coat.C.A T- shirt.2.What does the man like doing?A.Travelling alone.B.Joining a guided tour.C.Backpacking with friends. 3.Why is the woman broke at the end of the month?A.She likes shopping.B.She doesn't work hard.C.She earns little money. 4.What time will the man’s party probably start?A.At 7: 30 p.m.B.At 8: 00 p.m.C.At 11: 00 p.m.5.Where are the speakers probably?A.In a hospital.B.In the police office.C.On the street.听下面一段较长对话,回答以下小题。
6.What should the woman do to order checks?A.Wait in a line.B.Fill in a form.C.Check the mail.7.When will the woman probably get the check?A.In two days.B.In four days.C.In a week.听下面一段较长对话,回答以下小题。
8.What is the man’s attitude towards art class?A.Favourable.B.Unconcerned.C.Worried.9.What does the woman mean about talent?A.She wants to be a painter too.B.She knows how to draw and paint.C.She hopes she could have some kind of talent.10.What are the speakers mainly talking about?A.The man’s hobby.B.The talent of the woman.C.The woman’s favourite class.听下面一段较长对话,回答以下小题。
各种骑士介绍英文作文初中英文:As a medieval history enthusiast, I have always been fascinated by the various types of knights that existed during that time. From the chivalrous and honorable knights of Arthurian legend to the ruthless and cunning knights of the Crusades, each type of knight had their own unique characteristics and qualities.One type of knight that stands out to me is the Templar Knight. These knights were members of the Order of the Knights Templar, which was founded in 1119 to protect Christian pilgrims traveling to Jerusalem. Templar Knights were known for their bravery and loyalty, and they were also skilled in combat and strategy.Another type of knight that I find interesting is the Black Knight. These knights were mercenaries who fought for whoever paid them the most money. They were known for theirruthless tactics and lack of loyalty, and they often switched sides during battles. Despite their reputation, the Black Knights were skilled fighters and were feared by many.中文:作为一个中世纪历史爱好者,我一直对那个时代存在的各种骑士类型感到着迷。
红绿灯的发展史英语作文The Evolution of Traffic LightsThe humble traffic light has been a ubiquitous feature of our urban landscapes for over a century, guiding the flow of vehicles and pedestrians through the intricate dance of modern transportation. From its humble beginnings as a simple signal system to the sophisticated, integrated networks we rely on today, the history of the traffic light is a testament to the ingenuity and adaptability of human engineering.The earliest known precursor to the modern traffic light dates back to the 1860s, when the British Parliament installed a gas-powered signal system to manage the growing congestion in the streets of London. This primitive device, operated by a police officer, used red and green signal lamps to direct the flow of horse-drawn carriages and pedestrians. While effective in its time, this system had significant drawbacks, including the risk of explosions and the need for constant human intervention.It wasn't until the late 19th century that the first electric traffic signal was developed. In 1868, American inventor J.P. Knight patented atraffic signal that used red and green gas lamps, operated by a hand-cranked mechanism. This system, installed in the city of London, represented a significant step forward, but it still required a human operator to change the signals.The true breakthrough came in 1914, when the city of Cleveland, Ohio, installed the first automated, electrically-powered traffic signal. Designed by James Hoge, this system used red and green electric lights to control the flow of traffic, with the signals changing automatically on a timed cycle. This innovation revolutionized the way cities managed their roads, allowing for more efficient and consistent traffic control without the need for constant human supervision.As the 20th century progressed, the traffic light continued to evolve, incorporating new technologies and responding to the changing needs of a rapidly urbanizing world. In the 1920s, the introduction of the three-color signal, with the addition of a yellow "caution" light, made the system more intuitive and safer for drivers. The 1930s saw the development of the first synchronized traffic light networks, allowing for the coordination of signals across multiple intersections to optimize traffic flow.The advent of the computer age in the latter half of the 20th century ushered in a new era of traffic light technology. Sophisticated controlsystems, powered by complex algorithms and real-time data, now allow for the dynamic adjustment of signal timings based on traffic conditions, reducing congestion and improving overall efficiency. The integration of traffic lights with other transportation technologies, such as vehicle-to-infrastructure (V2I) communication, has further enhanced the ability of these systems to adapt and respond to the ever-changing needs of modern urban mobility.Today, the traffic light is a ubiquitous and indispensable feature of our cities, guiding the flow of millions of vehicles and pedestrians every day. Its evolution has been a testament to the ingenuity and foresight of engineers, urban planners, and policymakers, who have worked tirelessly to develop and refine these systems to meet the growing demands of our increasingly complex transportation networks.As we look to the future, the traffic light is poised to undergo even more dramatic transformations. The rise of autonomous vehicles, for example, will likely require a rethinking of traditional traffic control systems, as these self-driving cars may be able to communicate and coordinate with one another, reducing the need for centralized signal control. Similarly, the integration of traffic lights with emerging technologies, such as smart city infrastructure and renewable energy sources, could lead to even more efficient and sustainable transportation systems.Regardless of the specific technologies that shape the future of traffic control, one thing is certain: the humble traffic light will continue to play a vital role in the efficient and safe movement of people and goods through our urban landscapes. Its evolution has been a testament to the power of human innovation and the enduring importance of effective transportation infrastructure in shaping the cities of today and tomorrow.。
圣安地列斯车辆对照(The SAN andreas vehicle controls)1. Cross-country and station wagonHuntley - a four-door luxury suvLandstalker - and GTA3 and Vice - like suvs, run and roll up a gust of windPerennial - and GTA3 travel with the same station wagon as Vice, with quick speedRancher - a very beautiful two-door suv that has been converted to LandstalkerRegina - a car that resembles a PerennialRomero - a black hearse. There's a parked in Angel Pines.2. 2 private carsAlpha -- a two-door private car with a head and tailBlista Compact - a vehicle very similar to the Honda CRXBravura - a two-door private car with a head and tailBuccaneer - a car that is very similar to EsperantoCadrona - Bravura's high-speed bulk compact disc carClub - half of the station wagon, half private cars, combinedEsperanto - and GTA3 and Vice - low chassis Caddy carFeltzer - a very common type of car that runs on the groundFortune - the simplest and most common car, can be seen everywhereHermes - looks like a PT Cruiser carHustler - an old ford TMajestic - a high chassis version of EsperantoManana - a private car that feels like cardboardPicador - another car that is very similar to Esperanto Previon - a private car with a performance stand behind itStafford - a Manana that is lengthened and preceded by a guard rackStallion - a simple and convenient private car, but it's not easy to driveTampa - a car similar to the old BravuraVirgo - a Stafford, but with a different front and back Windows 3.4 luxury private carsAdmiral - an expensive but seemingly unfashionable carElegant - a flat 4 private carEmperor - a kind of Elegant, more beautiful, the same performanceEuros - a circular motion car with a head and tailGlendale -- a simple old ChevroletGreenwood - the most basic, most difficult car to driveIntruder - a private car with a head and tailMerit - a simple private car like IntruderNebula - a vintage car like the IntruderOceanic - a 1950s chevyPremier -- it looks like an Intruder, doesn't it make any differencePrimo - it also looks like an Intruder, only the head is roundSentinel - a basic private car in GTA3 and Vice, which is nice and easy to driveStretch - a limoSunrise - a low version of the Emperor and it's not easy to driveTahoma - fast - accelerated private car with a prominent guard in frontVincent - a private car with a flat head and tailWashington - a kind of Vincent, different from the hood decorationWillard - a Sunrise without tiresSpeed carsBuffalo - a very powerful sports car with very strong propulsion Clover - fast limo,It's really like flyingPhoenix - a nice pontiac carSabre - a basic speed car that you can see everywhere in San Andreas5. Street racingElegy - low edge, circular designFlash - high side, it looks very smartJester - same as Elegy, but smallerStratum - a street jeep race carSultan - a racing carUranus - Jester's low version of the car6. High-performance vehiclesBanshee - one of the best cars in the gameBullet - a Banshee with a racing belt and a silver medal at the schoolCheetah - a low chassis that's as fast as a ferrariComet - a porsche sports carHotknife - the all-gold medal at the school has an incredible speedHotring Racer - finished 8-trackInfernus - steal one. You'll always remember itSuper GT - the all-bronze medal of the school, a road racing car, has great destructive powerA more version of Turismo - InfernusWindsor - luxury, athletic performance, high speedThe zr-350, a sports car, can be seen everywhere in San Andreas7. Heavy trucks and USESBenson - a camp-carBoxville - square in the truckBlack Boxville - Black Boxville can be used to stealCement Truck - Cement TruckCombine Harvester - a field car with a farmThe DFT - 30 - a platform for loading trucksDozer - bulldozer, R3 key control frontDumper -- automatic loading and unloading trucks, R3 keys control elevatorsDune - a transport truckFlatbed - a truck that can be found on a construction siteHotdog - Alex's hot dog carLinerunner - the smallest truckMr. Whoopee - ice cream truck, L3 key can hear the bellBig version of Mule - BensonPacker - a type of car with a slope, most suitable for a motorcycle jumpRoadtrian -- the biggest truck, really bigTanker - retractor tank on RS taskTractor - TractorYankee - GTA and Vice's simplest trailerLight trucks and vansBerkley's RC Van - Zero wants you to destroy the carBobcat - a lightweight car with a Bobcat on the backBurrito -- the easiest gangster, no windowForklift -- control the bell with R3 keysMoonbeam -- a stupid football car with Windows everywhereMower -- MowerNewsvan - a small Pony with a satellite antennaPony - a simple van with a window on each sideRumpo -- a more portable PonySadler - another simple two-door truckTug - a tractor that can be found at an airportWalton - a truck with a wooden net behind itYosemite - the larger version of Sadler, is more powerful9. Low chassisBlade - basic car, basically no turbine engineBroadway - a very stylish car, pressing the R3 key to get into the pimp taskRemington - square Cadillac,There is no turbine engineSavanna - a 4-door car with very few turbine enginesSlamvan - a fast circular carTornado - a snow frye with a turbine engineVoodoo - the simplest low-chassis car10. RvBandito - a homemade buggiesBF Injection - a beautiful buggies and four rounds Bloodring Banger - get it after the Blood BowlCaddy - golf cartCamper -- a VolkswagenJourney - a recreational vehicle found in the countryside Kart - a crazy cart that can be found in some car RACES Mesa - a jeepMonster -- 5 Monster cars won after 8-trackPatriot - a military carQuad - an all-terrain vehicle found in Blueberry Hill Sandking - a jeep has huge tiresVortex - a kind of amphibious vehicleBicycles and motorbikesBike - simple BikeBMX - BMX bikeMountain Bike -- Mountain BikeBf-400 - a car with a strong balanceFaggio - a simple motorcycleFcr-900 - the school's silver medal is faster than BF400 and PCJ, but still less than NRGFreeway - all bronze or bronze in the schoolThe NRG - 500 - school all-gold medal, the fastest land car, has one near LS StadiumPcj-600 - a sports carPizzaboy - pizza delivery truckSanchez - another carWayfarer - a patrol car12. Civilian vehiclesBaggage - available at the airport, BaggageBrown Steak - freight train, press R3 to start shippingBus - private group transportationCoach -- like Bus, it's not that differentFreight - Freight train, press R3 to start shipping task, Securicar - cash truckSweeper - scavengerTowtruck - trailer, R3 key to the vehicleTrashmaster - garbage truckUtility Van - PG&E13. R3 task vehicleAmbulance - AmbulanceBarracks - military vans, police dutiesEnforcer - SWAT truck, the police task, into the car free armor FBI Rancher - FBI version of Rancher, police missionFBI Truck - FBI jeep, police missionFiretruck -- fire truckHPV1000 - police motorcycle, police taskPolice - the Police have five free shotgun cartridges entering the carRanger - village police jeep, police missionRhino - armed tank, R3 key control battery, police missionSWAT - SWAT fire suppression vehicles, no police mission, but applicable anywhere14. The planeThe at-400 - manned jet plane can be stolenBeagle - light double helix for travelCropduster - agricultural aircraft, which can be found in Bone CountyDodo - stupid biplane, available at LS airportHydra - a special military aircraft was acquired after completing the Verdant Meadows missionNevada - the old prime aircraftRustler - WWII fighter, all-bronze in driving schoolShamal - private jet, can be found at LS airportSkimmer - water jetStuntplane - single-wing aircraft, full silver for driving schoolVTOL Fighter - hounds15. HelicopterCargobob - looks like a military aircraft carrier helicopterHunter - real military helicopter, pressing R3 key to start the police task, driving school all-gold medalLeviathan -- appears at Verdant MeadowsRaindance - a large helicopterSea Sparrow - a helicopter that can be parked on the water. The L1 key can be used machine gunSparrow - a simple helicopter16. The shipCoastguard - a coastal patrol shipDingy - James Bond type lifeboatJetmax - a round - type high - speed boat, full gold medal fordriving schoolLaunch - an attack shipMarquis -- a pretty good boat, with a bronze medal in the driving schoolPredator - police ship, if you feel unsafe at sea, press L1 to use machine gunReefer - fishing boatSpeeder - a fast boatSquallo - Speeder adjusts 1/10 of the ship, basically almost the same, the driving school full silver medalTropic - a recreational vehicle17. The RC toolRC Bandit - remote control carRC Baron - remotely controlled aircraftRC Goblin - remote control helicopterRC Tiger - remote control tank。
时事热点 2022年中考英语阅读理解专题05 5G时代Passage 1(2021·内蒙古通辽市·中考真题)Whether from news reports or social media articles, you may know that 5G is coming.5G is the 5th generation network. It is a new network after 1G, 2G, 3G and 4G. It can connect everyone and everything together. 5G networks will cover many cities in China soon. 5G means super-fast data speed. One can download a two-hour movie for fewer than 10 seconds, and it is making our lives more and more convenient.5G will make self-driving cars possible. For safety, self-driving cars need super-fast data transmission (传输)to communicate with their nearby environment. 5G is just what makes self-driving cars achieve this. Even airplanes will become “smart” in the near future. Passengers will be able to use 5G networks in the air to connect to the Internet and can order for food and drinks.5G will be a big help for students who take online classes. Many people live in poor areas in the world where there are no schools. But with 5G, this will change. Students all over the world will be able to see places like the Great Wall without leaving their rooms.It will be also easier for doctors to treat patients remotely by 5G. It means caring for patients from far away.The facts listed above are only a part of what 5G will make possible and popular. Just as in the early days of the Internet in the 1990s, few could see how it could change our life and the world. The same will surely be true of 5G. With 5G, many things do not seem like dreams any more. Now let’s get ready to say goodbye to 4G and welcome the coming of 5G.1.How long may it take to download a two-hour movie with 5G?A.15 seconds. B.8 seconds. C.10 minutes. D.2 hours.2.The underlined word “remotely” means “________” in Chinese.A.快速地B.高效地C.远程地D.科学地3.5G will make the following things more and more popular EXCEPT ________.A.self-driving cars B.”smart” airplanes C.online classes D.hospitals without doctors4.About 5G, ________ is NOT mentioned in the passage.A.to be used freely B.super-fast data speedC.to connect everyone and everything together D.to make life more convenient than 4G5.From the last paragraph, we can know that ________.A.4G is no more used in our daily life nowB.the writer is worried about the coming of 5GC.with 5G, some of our dreams will come true for sure one dayD.in the 1990s, all the people believed that the Internet would change our lifePassage 2(2021·四川达州市·中考真题)In 1987 a small company named Huawei was started in Shenzhen. After more than 30 years of development, the company has now beaten Apple and become the world’s second largest make r of smartphones. It has also become t he world’s supplier (供应者) of 5G. In China and even in the world, Huawei is a wonder. Although it started producing mobile phones not many years ago, it has become one of the most famous phone companies.But recently, Huawei faces some difficulties. The US government made a law to stop its sales in America. American officials said Huawei gave information that it collected to the Chinese government. At the same time, the US government planned to stop selling parts and services to Huawei. They believed that Hu awei’s business would be hurt this way.“We have never received such a request from the Chinese government and we have never tried to get into other systems to collect information,” Ren Zhengfei, Huawei’s president said. “The law would have little effect o n our company. Huawei has enough ability to deal with the problems,” Ren added.In an interview several years ago, Ren Zhengfei said, “I started Huawei with only £4000 at the beginning, but now it has become a 100 billion company. The experience was not as romantic as you imagine.”Facing the law of the US, Huawei is growing. Huawei’s smartphone sales around the world rose 50 percent compared with a year earlier in the first three months of 2019. At the same time, sales from both Samsung and Apple fell. So far Huawei has grown into the world’s largest telecommunication equipment supplier (供应商),selling in 170 countries. It may beat Samsung as the largest smartphone maker in the near future.6.How many kinds of smartphones are mentioned in total in this passage?A.One. B.Two. C.Three. D.Four.7.Which of the following sentences is TRUE according to the passage?A.Huawei collected the information for the Chinese government.B.Ren Zhengfei started Huawei with only £4000 in 1987.C.Huawei has beaten Samsung, a South-Korea phone maker so far.D.Huawei has developed its business smoothly.8.What does the underlined word “romantic” in Paragraph 4 mean in Chinese?A.浪漫的B.现实的C.成功的D.麻烦的9.The last paragraph mainly tells us ________.A.Huawei has become one of the most famous phone companies.B.Huawei has become the largest maker of smartphones in the world.C.Huawei has got into some systems of the US.D.Huawei is full of hope and must succeed in the future.Passage 3(2021·广东广州市·秀全中学九年级一模)Some people like the freedom of driving their own cars. But others find driving to be inconvenient or even dangerous. Fortunately, the driverless cars we've seen in movies and TV shows are on the way here.The first driverless car to hit the screen was Herbie, a cute talking car from the 1968 comedy The Love Bug. Herbie could drive by himself and even talk to his human friends He didn't have any advanced technology—just magic.KITT was another driverless car that appeared on the 1980s TV show Knight Rider. KITT used advanced Al to drive itself and help its rider Michael Knight catch criminals.While the driverless cars of today can't talk to us, they do have many similarities to the ones we've seen onscreen. Nearly every major car company is working on their own autonomous, vehicle(A V). Tesla, for example. has developed a driver-assistance system for its cars called Tesla Autopilot.Tesla Autopilot can complete many of the tasks hat human drivers usually do. It can make sure that your car is centered in the correct lane, as well as park itself and stop if it thinks that a crash might happen. However, it is not fully self-driving.Google's sister company Waymo seems to be leading the way in the AV area. Its self-driving cars are already being used for taxi services in the US city of Phoenix. It is the only self-driving car service that operates without human backup drivers. It uses common cameras as well as laser radar to determine distance, which allows the cars to get around without risk of crashing.Although companies are making great progress in developing A V. there is still a lot of work to be done. Year after year, companies promise that fully self-driving cars will become widely available. But nearly all of these promises have fallen through.One of the problems is that designing a self-driving car that is safe and easy to use is much harder than people realize. Self-driving cars have to analyze millions of data-points in order to prevent accidents and choose the correct route. Humans are used to doing this—but designing an Al that can work like human mind to make a decision quickly is very difficult.However, as new technologies like 5G develop, fully self-driving cars will come closer to reality.10.What were Herbie and KITT?A.They were interesting TV shows. B.They were driverless cars onscreen.C.They were cars using advanced AI D.They were owners of driverless cars11.Tesla Autopilot can________.A.talk to his human friends clearly B.stop to avoid a crash happeningC.do all the tasks as human drivers D.fly for a short while if necessary12.What does "It" in Paragraph 6 refer to?A.The company of Google. B.The US city of Phoenix.C.The self-driving car service D.A car with backup drivers.13.How might the future of the fully self-driving cars be according to the passage?A.It will be too hard to design a self-driving car that is safe and easy to useB.Designing an Al that can make a decision like human mind is impossible.C.Fully self-driving cars that are widely used must come to reality years later.D.New technologies will speed up the development of fully self-driving cars.Passage 4(2021·陕西宝鸡市·九年级一模)If you look at the top of you r phone, you’ll usually see a little symbol that says 3G or 4G. The “G” stands for the “generation” of y our mobile network. But the symbols will become things of the past after 5G networks fully arrive.Shanghai vice-mayor Wu Qing made the first 5G video call on a Huawei Mate X Smartphone. Shanghai has also become the first city in China to start testing 5G networks. About 100 times faster than 4G networks, 5G will let people download and upload data faster than ever before. But 5G won’t just bring faster m obile Internet. People can use it for many other things as well.For example, 5G will help to make self-driving cars safer. Today’s self-driving test cars have oneproblem-when they found something in front, that is too late to stop at once. When the car “sees” something in front, it sends this information to a data center and receives instructions. However, it will be some time before it sends and receives this information. With this kind of lag(滞后), the cars might crash because they don’t receive instruction in time. With 5G, this lag will be greatly lowed, making the cars safer.5G could also be used to power the Internet of Things(IOT), that is, a large online network that connects all things and people. Fast Internet speeds will be the key to developing this technology. The IOT could be used in a lot of ways. For example, with IOT, your refrigerator could automatically place an order online for eggs when it finds that there are no eggs left inside.14.According to the passage, people in Shanghai ________.A.have used 5G networks B.have tested 5 in Nokia CompanyC.have tested 5G networks under the leadership of Wu D.have succeeded in working by 5G15.The writer uses self-driving cars as an example to ________.A.explain how 5G’s fast speed can be helpful B.warn about dangers of self-driving carsC.explain how self-driving cars work D.tell us the reason why Shanghai people like to use self-driving by 5G16.What can we infer(推测) according to the passage?A.5G is widely used in China now. B.5G networks will make our lives more convenient. C.There are no symbols at the top of our phones. D.5G can’t be faster than 4G.17.The last paragraph tells us IOT means________.A.a robot that can do houseworkB.an online store where you can buy everythingC.a large online network that connects things and peopleD.5G can give us free eggs when we have no eggs in our refrigeratorsPassage 5(2021·江苏九年级一模)Do you know 5G? It is the fifth generation of mobile network technology. These new networks are coming.China just issued commercial licenses (发放商用牌照)for 5G on June 6, 2020. This means that China’s telecom companies were soon able to offer 5G networks for mobile phone users.Each mobile network generation is faster and more powerful than the one before it. 1G let us talk to each other. 2G let us send messages. 3G gave us data and the Internet. And 4G made all of thes e things faster. What’s special about 5G?5G has a very short delay between sending and receiving information. Now, 4G takes about 100 to 200 milliseconds(毫秒)to send and receive data. But 5G will get it down to 1 millisecond or less—this is almostreal-time.This big change will not only make our mobile Internet faster, but also deeply change dur lives. Read on to find out how.5G+entertainment5G networks are about 100 times faster than 4G. This means you can download a movie in seconds using 5G. Also, virtual reality (VR)games will become more popular with 5G. The short delay of 5G will make the games feel even more real.5G+transportation5G will also bring us safer self-driving cars. These cars can send signals (信号)to each other. They also talk to traffic lights and road sensors (传感器). 5G will allow cars to react even faster than human drivers.5G+smart homes5G also makes the Internet of things possible. Internet of things is a large network that connects everything to the Internet. Smart homes are part of it. For example, your toaster can automatically(自动地)start making breakfast after your alarm rings. And if its sensor feels the air becoming dry, a smart sprinkler could water your plants by itself.18.What does the underlined word “delay” in Paragr aph 4 probably mean in Chinese?A.传输B.延时C.断开D.卡顿19.5G will change people’s lives in many ways EXCEPT ________.A.entertainment B.transportation C.smart homes D.health20.What’s the main idea of the passage?A.Mobile phone users can use 5G networks.B.Each mobile network generation has their own advantages.C.5G will change our lives in many ways.D.5G will bring us safer self-driving cars.Passage 6(2021·湖北随州市·九年级一模)Whether from news reports or social media articles, you may know that 5G is coming.5G is the 5th generation network. It is a new network(网络) after 1G, 2G, 3G and 4G and it can connect everyone and everything together. 5G networks will cover many cities in China soon. 5G means super-fast data(数据) speed, one can download a two-hour movie for fewer than 10 seconds, and it is making our lives more and more convenient.5G will make self-driving cars possible. For safety, self-driving cars need super-fast data transmission(传输) to communicate with their nearby environment. 5G is just what makes self-driving cars achieve this. Even airplanes will become “smart” in the near future. Passengers will be able to use 5G networks in the air to connect t o the Internet or place orders for food and drinks.5G will be a big help for students who take online classes. Many people live in poor areas in the world where there are no schools. But with 5G, this will change. Students all over the world will be able to see places like the Great Wall without leaving their rooms.It will be also easier for doctors to treat patients remotely by 5G. It means caring for patients from far away.The facts listed above are only a part of what 5G will make possible and popular. Just as in the early days ofthe Internet in the 1990s, few could see how it could change the world. The same will surely be true of 5G. With 5G, many things do not seem like dreams anymore. Now let’s get ready to say goodbye to 4G and welcome the coming of 5G.21.How long may it take to download a two-hour movie with 5G?A.15 seconds. B.8 seconds. C.10 minutes. D.2 hours.22.The underlined word “remotely” means ________ in Chinese.A.快速地B.高效地C.远程地D.科学地23.5G will make the following things more and more popular EXCEPT ________.A.self-driving cars B.“smart” airplanes C.online classes D.hospitals without doctors 24.About 5G, ________ is NOT mentioned in the passage.A.to be used freely B.super-fast data speedC.to connect everyone and everything together D.to make life more convenient than 4GPassage 7(2021·广东河源市·九年级一模)Nowadays, 5G may be one of the hottest topics. After 3G and 4G, 5G (from “the fifth-generation mobile networks”) becomes the latest generation of mobile communications. China announced the start of 5G in 2019 and now we can use 5G in many cities. As we can see, 5G has brought some great changes.As a result of the increased size of networks, data transfer (数据传递) becomes much faster. 5G is 10 to 100 times faster than the speed of the 4G network. It may make many new uses possible. For example, you candownl oad a film in just 3 seconds. This used to take a few minutes with a 4G network. What’s more, there will be enough capacity (容量) for everyone to chat online and watch movies on their phones. Scientists say 5G will help the development of self-driving cars and the “5G man-like robot” as well. Most importantly, 5G will help us build the Internet of Things ( IoT, 物联网).For example, on a hot summer day, you could turn on your air conditioning with IoT before you go home. All of these things need very fast Internet speeds. 5G will be the key.Our technology seems to develop so fast. Some big companies like Huawei and Samsung have started to produce 5G products. 5G technology will make some amazing cha nges. Let’s wait and see what it will bring. 25.From the first paragraph, we know that ________.A.3G, 4G and 5G are the newest generations of mobile communicationsB.5G has become real and brought some great changesC.China was the earliest country to announce the start of 5GD.people now use 5G and will use 6G next year26.The underlined word “announced” probably means ________ in Chinese in this passage.A.通知B.计划C.研发D.宣布27.Data transfer becomes much faster because ________.A.the size of networks is increasedB.5G is used in many citiesC.some big companies have started to produce 5G productsD.5G man-like robots will be built28.________ with 5G.A.Man-like robots will be invented B.Self-driving cars will be seenC.The Internet of Things will be built D.The electronic keys will be found29.The passage is mainly about _________.A.the speed of 5G networks B.the great changes 5G will bringC.the building of IoT D.the use of 5G in different countriesPassage 8(2020·浙江八年级月考)As we know, the time of 5G technology(技术)is coming. Recently, there's a lot of information about 5G. But what is this technology and how might it bring to our lives?What is 5G?5G means the fifth generation(第五代)mobile networks(网络), a better technology than 4G. And we know, 4G comes after 3G and makes the network run faster than 3G.When will 5G come to our life?Before we can all use 5G, there must be a new system(系统)for 5G to work. In the USA, some cities will first use 5G this year. Experts say it will take a few more years or even longer to reach every place. In China, a few cities are using 5G now. And more and more cities will join this group: Next year, 5G will become national, even in the countryside.What can 5G do?Experts say 5G will help to build future "smart cities" with the help of sensor networks(传感器网络). Such networks will be able to help the police with the traffic. They can help us know what’s happening in our homes when we are at work. They can even help to made it possible for doctors to perform an operation(手术)far away.________In the future, more information and more kinds of information will be travelling across 5G networks. Much of the information could be about persons, businesses or government organization(政府组织). So we can see the wider (更广泛地)use of a 5G network means any mistake of the system would cause serious results. Then they may bring problems of public security(安全)and world economic(经济)activity.30.According to the passage, 5G is ________.A.a kind of phone B.a kind of computer C.a kind of network D.a kind of website(网站)31.The underlined word “They” refers to ________.A.Experts B.The police C.Doctors D.The networks32.Which of the following is NOT mentioned about “smart cities” in this passage?A.House building. B.Traffic. C.Home security. D.Operations.33.The underlined word “national” in the passage means “________” in Chinese.A.民族的B.国立的C.全国性的D.普通的34.Which sentence is the best for the place ________A.Who will use 5G? B.Why will 5G be popular?C.How will people use 5G? D.What are the security problems?Passage 9(2020·浙江杭州市·九年级月考)China is running ahead in 5G. In March, 2019, the Shanghai Hongqiao Railway Station became the world's first 5G railway station. Now, it takes only 20 seconds to download a long movie there.We are moving closer and closer to the 5G world. However, the new technology is still strange to most of us.What is 5G, after all? At first, 5G is fast. 5G will be much faster than today's 5G networks. The first 5G modem of the IT Company Qualcomm supports speeds of up to 5 gigabytes per second. Most of us have never experienced anything close to that speed. And we are only talking about the first generation of modems(调制解调器) . Future models are likely to be even faster.But 5G is not all about speed. Have you ever been to a large event where your data connection slowed down? That is because 4G networks can only support a certain number of devices(装置) per square kilometer. 5G network will be able to do much better. They can support up to a million devices per square kilometer.Now, you begin to understand why 5G is a huge change over 4G. The technology is not just for the smart phones. It has a strong influence on every connected device. With 5G, self-driving cars will be able to communicate with the world around them as quickly as possible. Wearables, PCs and smart home devices will be able to improve as well.Are you looking forward to that 5G world now?35.Each of the following is mentioned about 5G EXCEPT___________.A.the first "5G railway station" in the worldB.the speed of using 5G to downloadC.the country that runs ahead in 5GD.the way of 5G spreading36.Paragraph 4 shows the advantage of 5G by_____________.A.using different adviceB.comparing 5G with 4GC.showing some data of 5G networksD.explaining the condition of different areas37.How many fields of using 5G does the passage tell us?A.Three. B.Four. C.Five. D.Six.38.From the passage, which of the following is NOT true?A.5G technology is closer and closer to us.B.5G self-driving cars will be cheaper than any other cars.C.IT company Qualcomm produced the first generation of 5G modems.D.5G networks can support up to a million devices every square kilometer.Passage 10(2020·湖南张家界市·九年级一模)China is running ahead in 5G. In March, 2019, the Shanghai Hongqiao Railway Station became world's first "5G railway station". Now, it takes only 20 seconds to download along movie there.We are moving closer and closer to the 5G world. However, the new technology is still strange to most of us. What is 5G, after all? At first, 5G is fast. 5G will be much faster than today's 4G networks!The first 5G modem (猫,调制解调器) of the IT company Qualcomm supports speeds of up to 5 Gigabytes (千兆字节) per second. Most of us have never experienced anything close to that speed. And we are only talking about the first generation (一代) of 5G modems. Future models are likely to be even faster.But 5G is not all about speed. Have you ever been to a large event where your data (数据) connection slowed down? That is because 4G networks can only support a certain number of devices (设置) per square meter. 5G networks will be able to do much better. They can support up to a million devices per square kilometer.Now, you begin to understand why 5G is a huge change over 4G. The technology is not just for the smart phones. It has a strong influence(影响) on every connected device. With 5G, self-driving cars will be able to communicate with the world around them as quickly as possible. Wearables, Pcs and smart home devices will be able to improve as well.Are you looking forward to that 5G world now?39.Each of the following is mentioned about 5G EXCEPT________.A.the first place where 5G is used in the worldB.the speed of using 5G to downloadC.the way of 5G spreading40.Paragraph 4 shows the advantages of 5G by________.A.using different adviceB.comparing 5G with 4GC.some data of 5G networks41.How many fields of using 5G does the passage tell us?A.Three. B.Four. C.Five42.From the passage, which of the following is NOT TRUE?A.5G technology is closer and closer to us.B.5G self-driving cars will be cheaper than any other cars.C.IT company Qualcomm produced the first generation of 5G modems.43.What's the best title for the passage?A.What's 5G? B.How is 5G used? C.Is 5G good or bad?Passage 11(2020·浙江温州市·九年级其他模拟)If you look at the top of your phone ,you'll usually see a little symbol that says 3G or 4G. The "G" stands for the "generation" of your mobile network.But these symbols will become things of the past after 5G fully arrives.On March 30th, 2019, Shanghai vice-mayor Wu Qing made the first 5G video call on a Huawei Mate X smartphone, CGTN reported.Shanghai has also become the first city in China to start testing 5G networks.Monaco became the first country in Europe to use a next-generation 5G mobile phone network based on technology from Chinese company Huawei.It sound s obvious, but it’s important to understand just how much faster 5G is compared to current 4G speeds. 5G will not only be many, many times faster than your existing connection, it will be greatly faster than the broadband connection you have at home.Now, 4G takes about 100 to 200 milliseconds* to send and receive data.But 5G will get it down to 1 millisecond or less.This big change will not only make our mobile Internet faster. It can be used in many other ways as well.For example,5G will help to make self-driving cars safer.Today's self ﹣driving test cars have one problem ﹣lag.When the car"sees"an obstacle*, it sends this information to a data center and receives instructions. However, it takes time to send and receive this information. With this kind of lag, the cars might crash because they don't receive instructions in time. With 5G, this lag will be greatly lowered, making the cars safer,according to CNN.5G could also be used to power the Internet of Things (IOT). This refers to a large online network that connects all things and people.Fast Internet speeds will be the key to developing this technology. For example, with IOT under 5G, your fridge could automatically* place an order online for eggs when it finds that there are no eggs left inside.All in all, 5G will shape every type of technology that it touches. And you won't have to wait too long for that to happen. Though we’ve seen a lot of positive progress just in the last year, we still have a long way to go before 5G is anywhere near as common as 4G is right now.44.From Paragraph ②, we can know that _______.A.5G is widely used in ShanghaiB.it took lots of efforts to test 5GC.China and Monaco is working on its 5G networksD.5G would make it possible to take videos45.The underlined word "lag" probably means " _______" in Chinese.A.延迟B.迷路C.暂停D.耗电46.The fridge is mentioned to _______.A.describe the importance of IOTB.encourage people to try the new productC.introduce how to use the Internet of ThingsD.show 5G would make IOT more powerful47.Which of the following would be the best title of the passage?A.Can 5G Go Far?B.How is 5G Changing Our Life?C.5G is on the WayD.China is Leading the World in 5GPassage 12(2020·全国九年级专题练习)5G is literally making our lives faster.You might feel annoyed when it takes too long to connect to your online study system. But that could soon be a thing of the past. Since China started 5G commercialization (商用) in June 2019, many Chinese companies havestarted to provide 5G services. With growing investment (投资) and enthusiasm (热情) among consumers and companies, China has kept its role as a global 5G leader, said GSMA, an international association of mobile operators, in a report released on March 17.The report predicts that 5G will be used for almost half of the country’s mobile connec tions with 460 million users by 2025. It will surpass (超过) other leading 5G markets such as Japan, South Korea and the US.China has done a lot to develop this technology. The Chinese government cut costs for infrastructure construction (设施建设) and gave financial (经济的) support to the industry. About 130,000 5G base stations had been built by the end of 2019, according to Xinhua.China built its first 5G industrial park in Shanghai on March 12. Forty-two companies agreed to invest at the park’s opening ceremony (开幕式). It will focus on using 5G technology to develop automobiles (汽车), smart manufacturing (智能生产) and data ports (通信端口).China also leads the way in developing 5G-enabled devices (设备). Huawei Technologies Co Ltd, for example, developed eight new 5G smartphones in 2019. It also made baseband chips (基带芯片) and tablets (平板电脑) with 5G technology.“China’s 5G industry has been a key driver (引擎) of economic (经济的) growth, creating a new generation (代) of digital consumers (数字消费者) ,” said Mats Granryd, director general of GSMA.48.What can 5G services bring to users?A.It’s cheaper than 4G services.B.It offers better connection speeds.C.It makes devices smarter.D.It is easier to use than 4G.49.According to GSMA, China________.A.plays a leading role in developing 5G technologyB.has surpassed Japan in developing 5G technologyC.has the largest 5G market in the worldD.has spent too much time developing 5G50.What does the Chinese government have to do with 5G?A.It started to build 5G base stations on March 12.B.It doesn’t know whether 5G will succeed.。
==========步兵============终结者------------------ARND--TERMIGUN蓝波--------------------STLN--STALGUN / STALGREN快枪手------------------CLNT---CLINTGUN月球飞行兵 -------------LUNR--Lunarlaser美国大兵----------------E1---M60 / Para /UCPara,UCElitePara盟军警犬----------------ADOG--GoodTeeth / VirtualScanner盟军工程师--------------ENGINEER--DefuseKit / VirtualScanner守护大兵----------------GGI------M60 / MissileLauncher火箭飞行兵--------------JUMPJET---20mm间谍--------------------SPY--MakeupKit海豹部队----------------GHOST -- MP5 / Sapper / C4=yes谭雅--------------------TANY--DoublePistols / Sapper超时空军团兵------------CLEG----NeutronRifle超时空突击队------------CCOMAND[隐藏]--ChronoMP5 / FakeC4心灵突击队--------------PTROOP [YR][隐藏]--MindControl狙击手------------------SNIPE---AWP动员兵------------------E2====M1Carbine / UCM1Carbine,UCEliteM1Carbine苏军警犬----------------DOG--BadTeeth / VirtualScanner防空步兵----------------FLAKT -- FlakGuyGun / FlakGuyAAGun苏军工程师--------------SENGINEER--DefuseKit / VirtualScanner磁爆步兵----------------SHK -- ElectricBolt / AssaultBolt疯狂伊文----------------IVAN--IvanBomber特工--------------------SJJD--没有这个人鲍裏斯------------------BORIS--AKM / Flare超时空伊文--------------CIVAN[隐藏]--IvanBomber恐怖分子----------------TERROR--TerrorBomb辐射工兵----------------DESO--RadBeamWeapon / RadEruptionWeapon尤里新兵----------------INIT--PsychicJab / UCPsychicJab,UCElitePsychicJab 奴隶矿工----------------SLAV--SHOVEL尤里工程师--------------YENGINEER狂兽人------------------BRUTE--Punch / Smash病毒狙击手--------------VIRUS--Virusgun克隆尤里----------------YURI--MindControl / PsiWave超级尤里----------------YURIPR--SuperMindControl / SuperPsiWave心灵突击队--------------YURIPT--[RA2]尤里改------------------YURIPP--[RA2]平民--------------------CIV1 黄衣服女-------CIV2 白衣服-------CIV3 技师-------CIVA 工人样-------CIVB 牛仔-------CIVC 黑衣蓝裤-------CIVBBP 棒球员-------CIVBFM 海滩胖男-------CIVBF 海滩女-------CIVBTM 海滩瘦男-------CIVSFM 老人-------CIVSF 红衣服女-------CIVSTM 黑衣服黄衣服将军---------------VLADIMIR绿衣服将军---------------PENTGEN苏联卫兵----------------CTECH-------WEEDGUY骆驼--------------------CAML =YR奶牛--------------------COW鄂鱼--------------------ALL --- AlligatorBite / VirtualScanner 北极熊------------------POLARB --- BearBite / VirtualScanner 暴龙 ------------------DNOA =YR腕龙--------------------DNOB =YR猴----------------------JOSH --- ChimpBite / VirtualScanner终级保镖----------------SSRV -- Pistola总统--------------------PRES洛马诺夫总理------------RMNV =YR爱因斯坦----------------EINS =YR木乃伊-----------------MUMY =YR-------------WWLF =YR==========车辆==============灰熊坦克----------------MTNK--105mm多功能步兵车------------FV -----HoverMissile幻影坦克----------------MGTK----MirageGun光陵坦克----------------SREF----Comet/SuperComet战斗要塞----------------BFRT--20mmRapid盟军基地车--------------AMCV超时空矿车(倒矿)-------CMON **超时空矿车--------------CMIN机器人坦克--------------ROBO--Robogun坦克杀手----------------TNKD--SABOT榴弹炮--------------HOWI[隐藏,要修改ini]--HowitzerGun恐怖机器人--------------DRON--DroneJump / VirtualScanner防空车------------------HTK --FlakTrackGun / FlakTrackAAGun犀牛坦克----------------HTNK--120mmV3火箭发射车------------V3 -- V3Launcher / V3ROCKET天启坦克----------------APOC 120mmx / MammothTusk苏军基地车--------------SMCV苏军矿车(倒矿)--------HORV **苏军矿车----------------HARV--20mmRapid磁爆坦克----------------TTNK --TankBolt自爆卡车----------------DTRUCK--Demobomb / none狂风坦克----------------LTNK--ATGUN格林机炮坦克------------YTNK--磁电坦克----------------TELE--MagneticBeam / MagneShake策划者------------------MIND--MultipleMindControlTank镭射幽浮----------------DISK--DiskLaser / DiskDrain神经突击车--------------CAOS--ChaosAttack / VirtualScanner 尤里基地车--------------PCV---奴隶矿车----------------SMON--[卸矿]奴隶矿车----------------SMIN--20mmRapid汽车----------CAR 黄色------EUROC 黑色-------SUVB 包厢型-------STANG 跑车型-------SUVW 包厢型校车---------BUS野营车-------WINI小货车-------PICK 东风型-----PTRUCK 皮卡型卡车--------TRUCKA 自爆卡车型--------JEEP =YR卡车(载货)--TRUCKB 东风型豪华轿车-----LIMO计程车-------TAXI警车---------COP挖土机-------CONA宣传车-------PROPA巴士----------DDBX =YR黑色计程车-----BCAB =YR黄色计程车-----YCAB =YR摄影车---------DOLY =YR电车----------CBLC =YR救火车--------FTRK =YR救护车--------AMBU =YR=============舰船=================盟军气垫艇--------------LCRF驱逐舰------------------DEST--155mm / ASWLauncher,ASW海豚--------------------DLPH--SonicZap神盾巡洋舰--------------AEGIS--Medusa航空母舰----------------CARRIER--HornetLauncher / HORNET苏军气垫船--------------SAPC海蝎--------------------HYD--FlakTrackGun / FlakWeapon台风潜艇----------------SUB--SubTorpedo巨型乌贼----------------SQD--SquidGrab / SquidPunch无畏级战舰--------------DRED-- DredLauncher / DMISL尤里气垫船--------------YHVR雷鸣潜艇----------------BSUB --BoomerTorpedo / CruiseLauncher CMISL海岸巡逻船--------------CDEST拖船--------------------TUG游船--------------------CRUISE尼米兹号航空母舰--------CARRIERB将军无畏级战舰----------DREDB维拉迪摩指挥舰----------VLAD============飞机==============夜鹰直升机--------------SHAD--BlackHawkCannon入侵者战机--------------ORCA--Maverick舰载反潜机--------------ASW ** --ASWBomb大黄蜂------------------HORNET **--HornetBomb / HornetCollision黑鹰战机----------------BEAG--Maverick2围攻直升机--------------SCHP -- BlackHawkCannon 160mm基洛夫飞艇--------------ZEP--BlimpBomb米格战机----------------BPLN **--Maverick3间谍飞机----------------SPYP **--SpyCameraWeaponV3火箭------------------V3ROCKET **无畏级导弹--------------DMISL ··雷鸣导弹 ------------------ ------- CMISL **运输机-----------------PDPLANE=============建筑===============GAPOWR 盟军发电厂GAREFN 盟军矿厂GAPILE 盟军兵营GAWEAP 盟军兵工厂GAAIRC 盟军空军指挥部AMRADR 美国空军指挥部--AmericanParaDropSpecial GADEPT 盟军维修厂GAYARD 盟军船厂GATECH 盟军实验室GAROBO 控制中心 ---GAOREP 矿石精鍊器GAWALL 盟军围墙GAPILL 机枪碉堡---Vulcan2NASAM 爱国者飞弹 --RedEye2GAGAP 裂缝产生器ATESLA 光棱塔----PrismShot / PrismSupport GASPYSAT 间谍卫星GACNST 盟军建造场GTGCAN 法国巨炮 GrandCannonWeaponGACSPH 超时空传送仪 --- ChronoSphereSpecial GAWEAT 天气控制器 --- LightningStormSpecialNAPOWR 磁能反应炉NAREFN 苏军矿厂NAHAND 苏军兵营NAWEAP 苏军兵工厂NARADR 苏军雷达 --- SpyPlaneSpecialNADEPT 苏军维修厂NAYARD 苏军造船厂NATECH 苏军实验室NANRCT 核子反应堆 --- NukePayloadNAINDP 工业工厂NAWALL 苏军围墙NABNKR 战斗碉堡NALASR 哨戒炮--VulcanNAFLAK 防空炮--FlakWeaponTESLA 磁暴线圈 -- CoilBolt / OPCoilBolt NACNST 苏军建造厂NAIRON 铁幕 --- IronCurtainSpecialNAMISL 核弹发射井 -- NukeSpecialYAPOWR 生化反应炉YAREFN 奴隶矿厂YABRCK 尤里兵营YAWEAP 尤里兵工厂NAPSIS 心灵感应器 --- PsychicRevealSpecialYAYARD 尤里船厂YAGRND 部队回收厂YATECH 尤里实验室GAFWLL 尤里围墙NATBNK 坦克碉堡YAGGUN 盖特机炮YAPSYT 心灵控制塔----MultipleMindControlTowerNACLON 复制中心YAGNTC 基因突变器 --- GeneticConverterSpecialYAPPET 心灵控制增幅器 --- PsychicDominatorSpecialYACNST 尤里建造场GASAND=沙墙CAAIRP=科技机场---ParaDropSpecialCAOILD=科技钻油厂 --- ProduceCashStartup= @ ProduceCashAmount= @ ProduceCashDelay= CAHOSP=市民医院 [RA2]CAMACH=科技机器商店CAOUTP=科技前哨站----HoverMissileCAPOWR=科技电厂CASLAB=秘密科技实验室CATHOSP=科技医院 [YR]CATIME01=时间机器CATIME02=时间机器CALAB=爱因斯坦实验室GATE1=闸门CABUNK01-04 =燃料库CABHUT=桥梁维修小屋CAGARD01=警卫哨CAMIAM04=救生员休息亭CAUSFGL=美国国旗CACUFGL=古巴国旗CAFRFGL=法国国旗CAGEFGL=德国国旗CAIRFGL=伊拉克国旗CALBFGL=利比亚国旗CARUFGL=俄国国旗CAUKFGL=英国国旗CASKFGL=韩国国旗CALOND04=英国国会CALOND05=大笨钟CALOND06=伦敦塔CAMORR06=理克酒馆CAEGYP01=金字塔CAEGYP02=金字塔CAEGYP03=金字塔CASEAT01=西雅图太空针塔CASEAT02=巨软园区CASTL04=拱门CASYDN03=雪梨歌剧院CAEAST01=复活岛石像CAEAST02=尤里雕像----PrismShot CATRAN03=尤里要塞CAEGYP03=人面狮身像CALUNR01=登月小艇CAMIAM08=亚历桑那纪念馆CAPRS03=世界惊奇博物馆CACHIG04=芝加哥协会大楼CAEURO05=雕像CAFARM06=灯塔CAPARS01=艾菲尔铁塔CAPARS11=巴黎凯旋门CAWASH14=杰佛逊纪念馆CAWASH19=胜利纪念碑CAWASH15=林肯纪念馆CARUS03=克里姆林宫CAWASH01=白宫CATRAN01=地窖CAWASH19=胜利纪念碑CACOLO01=空军学院礼拜堂CARUS08 - 11 =球状戏院CAMISC06=V3 飞弹CAARMY01-04 =军队营帐CAFRMB =移动式厕所CATECH01 =通讯中心AMMOCRAT =弹药箱CAMISC01-02 =油桶。
此次更新后,在单人里刷物品和车,你还得在单人游戏里勾一个选项,我告诉大家一下把我圈出来的选项打上对勾就行了。
(如图所示)↓↓↓输入指令方法:游戏按回车键出现聊天栏,再输入指令后,按回车键,就可以了(注意:用/代替@也可以)。
============================单人篇刷物品指令:@give(空格)玩家名字/物品ID/数量刷车指令:@vehicle(空格)玩家名字/汽车(飞机)ID时间调为白天:@day时间调成晚上:@night天气调为雨天:@storm传送到锁定的睡袋旁边: /home刷经验指令:@experience(空格)玩家名字/经验值传送至其他地点指令:@teleport(空格)玩家名字/该地点名称无敌指令:@god召唤空投:@airdrop=====================(服务器)联机篇=====================普通玩家类=====传送指令:/tpa(空格)其他玩家名字接受传送指令:/tpa(空格)accept给其他玩家金钱指令:/pay(空格)其他玩家名字(空格)金钱数量买物品指令:/buy(空格)物品ID(空格)数量售卖物品指令:/cost(空格)物品ID(空格)数量查看金钱指令:/balance领取新手礼包指令:/kit(空格)你在服务器中的身份(一般普通玩家为new)传送到锁定的睡袋旁边:/home买交通工具指令: /buy(空格)v.载具ID=====================OP专用类================OP远程观看玩家指令:/spy(空格)玩家名字给某人管理:/admin(空格)玩家名字杀玩家指令:/slay(空格)玩家名字==========================================分割线===================================================================车辆类ID篇=============================== ——Offroader【越野车】1黑色2蓝色3绿色4橘色5紫色6红色7白色8黄色——Hatchback【掀背车】9黑色10蓝色11绿色12橘色13紫色14红色15白色16黄色——Truck 【卡车】17黑色18蓝色19绿色20橘色21紫色22红色23白色24黄色——Sedan 【轿车】25黑色26蓝色27绿色28橘色29紫色30红色31白色32黄色——Police car 【警车】33警车——Fire Truck 【消防车】34消防车——V an 【面包车】35黑色36蓝色37绿色38橘色39紫色40红色41白色42黄色——Roadster 【跑车】43黑色44蓝色45绿色46橘色47紫色48红色49白色50黄色——Ural 【乌拉尔军用卡车】51——Humvee 【悍马越野车】52——APC 【装甲运兵车】53——Ambulance 【救护车】54——desert ural 【沙漠色乌拉尔军用卡车】55——desert humvee 【沙漠色悍马】56——desert APC 【沙漠色装甲运兵车】57——explorer 【探索者雪地履带车】58——snowmobile 【雪地摩托】59黑色60蓝色61绿色62橙色63紫色64红色65白色66黄色——quad 【四轮摩托/全地形车/ ATV】67黑色68蓝色69绿色70橙色71紫色72红色73白色74黄色——golfcart 【高尔夫球车】75高尔夫球车——taxi【出租车】76出租车——racecar【赛车】77黑色78蓝色79绿色80橙色81紫色82红色83白色84黄色——tractor【拖拉机】85拖拉机——bus【公交车】86公交车——military jeep【军用吉普车】87军绿色88沙漠色【滑翔机】92【军用绿色直升机】93【军用沙漠直升机】94【吊物机】95【水陆飞机】96【小型观光船】97【水上摩托】98~105【警用直升机】106【小鸟直升机】107【警用四座游艇】108【彩虹掀背车】109【丛林坦克】120【沙漠坦克】121【行李传输车】122【幽灵黑手党车】123【橡皮艇】124【罗浮汽车】125~132【安努什卡双翼机】133【逆载鲸直升机】134【石斑鱼运输直升机】135【俄罗斯军用卡车】136【俄罗斯坦克】137【拖拉机】138=======物品类ID篇========————————————帽子——————————12【雷锋帽】27【大礼帽】225【警帽】237【吉利帽】239【厨师帽】240【安全帽】241【消防员头盔】244【农夫帽】309【军用头盔】313【加拿大皇家骑警帽】433【贝雷帽】424【软呢帽】433【贝雷帽】423【火车司机帽】509【钓鱼帽】1048【杀人狂杰森头套】1009【沙漠贝雷帽】1010【沙漠色军用头盔】1017【防化服头罩】【丝绒帽】192黑色193蓝色194绿色195黄色196紫色197红色198白色199黄色【鸭舌帽】425黑色426蓝色427绿色428橘色429紫色430红色431白色432黄色【土匪头套】434黑色435蓝色436绿色437橘色438紫色439红色440白色441黄色【俄军贝雷帽】1388【俄军吉利面罩】1356【俄军头盔】1335————————————上衣——————————211【格子衬衫】223【警服】230【厨师服】232【建筑工上衣】233【消防员服】235【吉利服】242【农夫上衣】303【囚犯服】306【加拿大皇家骑警服】307【军服】311【医生上衣】314【食品店员上衣】405【维修工上衣】407【火车司机上衣】419【飞行夹克】420【骑行夹克】421【西装上衣】510【钓鱼服】1011【沙漠色军装】1015【防化服上衣】【连帽衫】3橘色157紫色161红色165绿色169黄色173蓝色177白色181黑色【派克外套】156橘色160紫色162绿色166红色170黄色174蓝色178白色182黑色【衬衫】154橘色158紫色163绿色167红色171黄色175蓝色179白色183黑色【T恤】155橘色159紫色164绿色168红色172黄色176蓝色180白色184黑色【特种部队上衣】1171【俄军上衣】1333【俄军吉利服】1354————————————背心——————————10【警用防弹背心】238【吉利背心】310【军用防弹背心】1013【沙漠色军用防弹背心】【毛背心】215黑色216蓝色217绿色218橘色219紫色220红色221白色222黄色【披风】410黑色411蓝色412绿色413橘色414紫色415红色416白色417黄色【围巾】1133黑色1134蓝色1135绿色1136橘色1137紫色1138红色1139白色1140黄色【民用防弹衣】1168【特种部队防弹衣】1169【自制防弹背心】1173【俄军防弹背心】1336【俄军吉利背心】1357————————————裤子——————————2【工装牛仔裤】207【时尚牛仔裤】208【牛仔裤】209【负重裤】212【卡其裤】213【灯芯绒裤】214【休闲裤】224【警裤】226【卡其短裤】227【负重短裤】228【灯芯绒短裤】229【休闲短裤】231【厨师裤】234【消防员裤】236【吉利裤】243【农夫裤子】304【囚犯裤】305【加拿大皇家骑警裤】308【军裤】312【医生裤】315【食品店员裤子】406【维修工裤】408【火车司机裤】422【西装裤子】1012【沙漠色军裤】511【钓鱼裤】1016【防化服裤子】1172【特种部队作战裤】1334【俄军裤子】1355【俄军吉利裤】————————————动物———————————wolf【狼】[动物ID 3]pig【猪】[动物ID 4]bear【熊】[动物ID 5]cow【奶牛】[动物ID 6]reindeer【驯鹿】[动物类ID 7]———————下面是所有物品ID———————————1 = 【墨镜】Shades4 = 【鹰火军用突击步枪】Eaglefire5 = 【鹰火机械瞄具】Eaglefire Iron Sights6 = 【军用步枪弹匣】Military Magazine7 = 【军用消音器】Military Suppressor8 = 【直立枪械握把】V ertical Grip9 = 【红色小背包】Red Daypack11 = 【红色印花蒙面巾】Red Bandana13 = 【罐装豆子】Canned Beans14 = 【瓶装水】Bottled Water15 = 【医药箱】Medkit16 = 【斧子】Axe17 = 【军用步枪弹鼓】Military Drum18 = 【森林狼军用狙击步枪】Timberwolf19 = 【森林狼机械瞄具】Timberwolf iron Sights20 = 【森林狼弹匣】Timberwolf Magazine21 = 【8倍瞄准镜】8x Scope22 = 【红点瞄准镜】Red Dot Scope28 = 【汽油桶】Gas29 = 【枫木窗挡板】Maple Fortification30 = 【枫木路障】Maple Barricade31 = 【枫木地基】Maple Floor32 = 【枫木门框】Maple Doorway33 = 【枫木墙】Maple Wall34 = 【枫木窗框】Maple Window35 = 【枫木屋顶】Maple Roof36 = 【枫木柱子】Maple Pillar37 = 【桦木原木】Birch Log38 = 【桦木棍】Birch Stick39 = 【枫木原木】Maple Log40 = 【枫木棍】Maple Stick41 = 【松木原木】Pine Log42 = 【松木棍】Pine Stick43 = 【军用弹盒】Military Ammunition Crate44 = 【民用弹盒】Civilian Ammunition Crate45 = 【枫木路障】Birch Barricade46 = 【松木路障】Pine Barricade47 = 【桦木窗挡板】Birch Fortification48 = 【松木窗挡板】Pine Fortification49 = 【桦木门框】Birch Doorway50 = 【松木门框】Pine Doorway51 = 【桦木地基】Birch Floor52 = 【松木地基】Pine Floor53 = 【桦木柱子】Birch Pillar54 = 【松木柱子】Pine Pillar55 = 【桦木屋顶】Birch Roof56 = 【松木屋顶】Pine Roof57 = 【桦木墙】Birch Wall58 = 【松木墙】Pine Wall59 = 【桦木窗框】Birch Window60 = 【松木窗框】Pine Window61 = 【枫木木板】Maple Plank62 = 【桦木木板】Birch Plank63 = 【松木木板】Pine Plank64 = 【绳子】Rope65 = 【金属线】Wire66 = 【布料】Cloth67 = 【废金属】Metal Scrap68 = 【金属片】Metal Sheet69 = 【胶带】Tape70 = 【胶水】Glue71 = 【钉子】Nails72 = 【罐子】Can73 = 【炸药原料】Explosives74 = 【砖块】Bricks75 = 【化学药剂】Chemicals76 = 【喷灯】Blowtorch77 = 【罐装西红柿汤】Canned Tomato Soup78 = 【罐装鸡汤】Canned Chicken Soup79 = 【金枪鱼罐头】Canned Tuna80 = 【罐装可乐】Canned Cola81 = 【军粮】MRE82 = 【薯片】Chips83 = 【巧克力棒】Chocolate Bar84 = 【糖棒】Candy Bar85 = 【燕麦棒】Granola Bar86 = 【能量棒】Energy Bar87 = 【意大利面罐头】Canned Pasta88 = 【培根罐头】Canned Bacon89 = 【牛肉罐头】Canned Beef90 = 【沙丁鱼罐头】Canned Sardines91 = 【苹果汁】Apple Juice92 = 【葡萄汁】Grape Juice93 = 【能量饮料】Bottled Energy94 = 【椰子汁】Bottled Coconut95 = 【绷带】Bandage96 = 【夹板】Splint97 = 【柯尔特民用手枪】Colt98 = 【柯尔特弹匣】Colt Magazine99 = 【眼镜蛇民用自动手枪】Cobra100 = 【眼镜蛇弹匣】Cobra Magazine101 = 【斯科菲尔德民用步枪】Schofield102 = 【斯科菲尔德机械瞄具】Schofield Iron Sights103 = 【斯科菲尔德步枪弹夹】Schofield Clip104 = 【消防斧】Fire Axe105 = 【棒球棒】Baseball Bat106 = 【曲棍】Hockey Stick107 = 【王牌左轮手枪】Ace108 = 【王牌左轮手枪弹夹】Ace Clip109 = 【猎鹰犬民用狙击步枪】Hawkhound110 = 【猎鹰犬机械瞄具】Hawkhound Iron Sights111 = 【猎鹰犬步枪弹匣】Hawkhound Magazine112 = 【钝器霰弹枪】Bluntforce113 = 【12号口径霰弹】12 Gauge Shells (注:12号口径=18.5mm=0.73’’(英寸))114 = 【钝器霰弹枪机械瞄具】Bluntforce Iron Sights115 = 【粉色浆果】Pink Berry116 = 【蜜獾军用消音步枪】——117 = 【空】118 = 【蜜獾机械瞄具】119 = 【俄制弹药盒】Ranger Ammuniton Box120 = 【菜刀】Kitchen Knife121 = 【军用匕首/军刀】Military Knife122 = 【AK俄制突击步枪】Zubeknakov123 = 【俄制步枪弹匣】Ranger Magazine124 = 【AK机械瞄具】Zubeknakov Iron Sights125 = 【俄制步枪弹鼓】Ranger Drum126 = 【尼克雷夫俄制轻机枪】Nykorev127 = 【尼克雷夫轻机枪弹箱】Nykorev Box128 = 【尼克瑞夫轻机枪机械瞄具】Nykorev Iron Sights129 = 【SVD狙击步枪】Snayperskya130 = 【SVD弹匣】Snayperskya Magazine131 = 【SVD机械瞄具】Snayperskya Iron Sights132 = 【龙牙军用轻机枪】Dragonfang133 = 【龙牙轻机枪弹箱】Dragonfang Box134 = 【龙牙机械瞄具】Drongonfang Iron Sights135 = 【高尔夫球杆】Golf Club136 = 【大铁锤】Sledgehammer137 = 【切肉刀】Butcher Knife138 = 【小锤子】Hammer139 = 【瑞士军刀】Swiss Knife140 = 【蝴蝶刀】Butterfly Knife141 = 【手锯】Saw142 = 【钉耙】Rake143 = 【双脚架(枪械配件)】Bipod144 = 【俄制步枪消音器】Ranger Suppressor 145 = 【横向握把】Horizontal Grip146 = 【红点机械瞄具】Red Dot Sight147 = 【全息机械瞄具】Red Halo Sight148 = 【红V字瞄准镜】Red Chevron Scope 149 = 【军用强化枪管】Military Barrel150 = 【军用消焰器】Military Muzzle151 = 【战术激光辅瞄器】Tactical Laser 152 = 【战术灯光辅瞄器】Tactical Light153 = 【7倍瞄准镜】7x Scope185 = 【黑色印花蒙面巾】Black Bandana 186 = 【蓝色印花蒙面巾】Blue Bandana 187 = 【绿色印花蒙面巾】Green Bandana 188 = 【橘色印花蒙面巾】Orange Bandana 189 = 【紫色印花蒙面巾】Purple Bandana 190 = 【白色印花蒙面巾】White Bandana 191 = 【黄色印花蒙面巾】Yellow Bandana 200 = 【黑色小背包】Black Daypack201 = 【蓝色小背包】Blue Daypack202 = 【绿色小背包】Green Daypack203 = 【橘色小背包】Orange Daypack204 = 【紫色小背包】Purple Daypack205 = 【白色小背包】White Daypack206 = 【黄色小背包】Yellow Daypack245 = 【黑色旅行包】Black Travelpack246 = 【蓝色旅行包】Blue Travelpack247 = 【绿色旅行包】Green Travelpack248 = 【橘色旅行包】Orange Travelpack 249 = 【紫色旅行包】Purple Travelpack250 = 【红色旅行包】Red Travelpack251 = 【白色旅行包】White Travelpack252 = 【黄色旅行包】Yellow Travelpack253 = 【爱丽丝军用小背包】Alicepack254 = 【手雷】Grenade255 = 【蓝色荧光棒】Blue Flare256 = 【绿色荧光棒】Green Flare257 = 【橘色荧光棒】Orange Flare258 = 【紫色荧光棒】Purple Flare259 = 【红色荧光棒】Red Flare260 = 【黄色荧光棒】Yellow Flare261 = 【黑色烟雾弹】Black Smoke262 = 【蓝色烟雾弹】Blue Smoke263 = 【绿色烟雾弹】Green Smoke264 = 【橘色烟雾弹】Orange Smoke265 = 【紫色烟雾弹】Purple Smoke266 = 【红色烟雾弹】Red Smoke267 = 【白色烟雾弹】White Smoke268 = 【黄色烟雾弹】Yellow Smoke269 = 【疫苗】Vaccine270 = 【琥珀色浆果】Amber Berry271 = 【靛蓝色浆果】Indigo Berry272 = 【翡翠色浆果】Jade Berry273 = 【赤褐色浆果】Russet Berry274 = 【水鸭色浆果】Teal Berry275 = 【朱红色浆果】Vermillion Berry276 = 【手电筒】Flashlight277 = 【千斤顶】Carjack281 = 【枫木门】Maple Door282 = 【桦木门】Birch Door283 = 【松木门】Pine Door284 = 【铁牢门】Jail Door285 = 【金属棒】Metal Bar286 = 【保险库门】Vault Door287 = 【金属窗护栏】Bars Fortification288 = 【黑色铺盖卷/床铺】Black bedroll289 = 【蓝色铺盖卷/床铺】Blue bedroll290 = 【绿色铺盖卷/床铺】Green bedroll291 = 【橘色铺盖卷/床铺】Orange bedroll292 = 【紫色铺盖卷/床铺】Purple bedroll293 = 【红色铺盖卷/床铺】Red bedroll294 = 【白色铺盖卷/床铺】White bedroll295 = 【黄色铺盖卷/床铺】Yellow bedroll296 = 【16倍瞄准镜】16x Scope297 = 【灰熊军用狙击步枪/反器材步枪】Grizzly 298 = 【灰熊弹匣】Grizzly Magazine299 = 【灰熊机械瞄具】Grizzly Iron Sights 300 = 【潜影者电磁炮/轨道炮】Shadowstalker301 = 【电磁炮弹】Rail302 = 【潜影者瞄准镜】Shadowstalker Scope 316 = 【枫木楼梯】Maple Stairs317 = 【松木楼梯】Pine Stairs318 = 【桦木楼梯】Birch Stairs319 = 【枫木阁楼口】Maple Hole320 = 【松木阁楼口】Pine Hole321 = 【桦木阁楼口】Birch Hole322 = 【枫木斜坡】Maple Ramp323 = 【桦木斜坡】Birch Ramp324 = 【松木斜坡】Pine Ramp325 = 【枫木爬梯】Maple Ladder326 = 【桦木爬梯】Birch Ladder327 = 【松木爬梯】Pine Ladder328 = 【保险柜】Locker329 = 【胡萝卜】Carrot330 = 【胡萝卜种子】Carrot Seed331 = 【种植槽】Planter332 = 【肥料】Fertilizer333 = 【望远镜】Binoculars334 = 【军用夜视仪-绿色】Military Nightvision 335 = 【玉米】Corn336 = 【玉米种子】Corn Seed337 = 【水壶】Canteen338 = 【生菜】Lettuce339 = 【生菜种子】Lettuce seed340 = 【西红柿】Tomato341 = 【西红柿种子】Tomato seed342 = 【马铃薯】Potato343 = 【马铃薯种子】Potato seed344 = 【小麦】Wheat345 = 【小麦种子】Wheat seed346 = 【十字弩】Crossbow347 = 【铁箭】Arrow348 = 【枫木箭】Maple arrow349 = 【十字弩瞄具】Crossbow Sight——350 = 【空】351 = 【桦木箭】Birch arrow352 = 【松木箭】Pine arrow353 = 【枫木弓】Maple bow——354 = 【空】355 = 【桦木弓】Birch bow356 = 【松木弓】Pine bow357 = 【复合弓】Compound bow358 = 【复合弓机械瞄具】Compound Iron Sights359 = 【枫木火把】Maple torch360 = 【桦木火把】Birch torch361 = 【松木火把】Pine torch362 = 【篝火】Campfire363 = 【MS军用突击步枪】Maplestrike364 = 【MS机械瞄具】Maplestrike Iron Sights365 = 【沙袋】Sandbag366 = 【枫木板条箱】Maple Crate367 = 【桦木板条箱】Birch Crate 7368 = 【松木板条箱】Pine Crate369 = 【金属地基】Metal Floor370 = 【金属门框】Metal Doorway371 = 【金属墙】Metal Wall372 = 【金属窗框】Metal Window373 = 【金属屋顶】Metal Roof374 = 【金属柱子】Metal Pillar375 = 【金属楼梯】Metal Stairs376 = 【金属阁楼口】Metal Hole377 = 【金属斜坡】Metal Ramp378 = 【金属门】Metal Door379 = 【金属爬梯】Metal Ladder380 = 【马斯特奇双管霰弹枪】Masterkey381 = 【20号口径弹药】20 Gauge Shells (注:20号口径=15.6mm=0.62’’(英寸))382 = 【铁蒺藜】Caltrop383 = 【枫木木刺】Maple Spikes384 = 【桦木木刺】Birch Spikes385 = 【松木木刺】Pine Spikes386 = 【带刺铁线圈/刺线圈】Barbed Wire387 = 【肾上腺素】Adrenaline388 = 【吗啡】Morphine389 = 【抗生素】Antibiotics390 = 【止痛药】Painkillers391 = 【维他命】Vitamins392 = 【净化药片】Tablets393 = 【小绷带】Rag394 = 【药用绷带】Dressing395 = 【血袋】Bloodbag396 = 【碾碎的淡紫色浆果】Mauve Crushed397 = 【碾碎的琥珀色浆果】Amber Crushed398 = 【碾碎的靛蓝色浆果】Indigo Crushed399 = 【碾碎的翡翠绿浆果】Jade Crushed400 = 【碾碎的黄褐色浆果】Russet Crushed401 = 【碾碎的水鸭色浆果】Teal Crushed402 = 【碾碎的朱红色浆果】Vermillion Crushed403 = 【缝合包】Suturekit404 = 【止咳糖浆】Cough Syrup409 = 【飞行员护目镜/蛤蟆镜】Aviators442 = 【枫木壁垒】Maple Rampart443 = 【枫木筒桩】Maple Post444 = 【桦木壁垒】Birch Rampart445 = 【松木壁垒】Pine rampart446 = 【金属壁垒】Metal rampart447 = 【桦木筒桩】Birch post448 = 【松木筒桩】Pine post449 = 【金属筒桩】Metal post450 = 【枫木车库门框】Maple garage451 = 【枫木车库门】Maple gate452 = 【桦木车库门框】Birch garage453 = 【松木车库门框】Pine garage454 = 【金属车库门框】Metal garage455 = 【桦木车库门】Birch gate456 = 【松木车库门】Pine gate457 = 【金属车库门】Metal Gate458 = 【发电机】Generator459 = 【探照灯】Spotlight460 = 【面包】Bread461 = 【金枪鱼三明治】Tuna Sandwich462 = 【盒装牛奶】Milk Box463 = 【橘汁】Orange Juice464 = 【奶酪】Cheese465 = 【罐装苏打水】Soda466 = 【奶酪夹心三明治】Grilled Cheese Sandwich 467 = 【BLT三明治】BLT Sandwich468 = 【火腿三明治】Ham Sandwich469 = 【火腿罐头】Canned Ham470 = 【鸡蛋】Eggs471 = 【蛋糕】Cake472 = 【瓶装可乐】Bottled Cola473 = 【瓶装苏打水】Bottled Soda474 = 【枫木自制步枪】Maple rifle475 = 【自制步枪机械瞄具】Rifle iron sights476 = 【自制6X瞄准镜】Makeshift scope477 = 【自制消音器】Makeshift muffler478 = 【自制步枪弹夹】Rifle clip479 = 【桦木自制步枪】Birch rifle480 = 【松木自制步枪】Pine rifle481 = 【枫木水瓶】Maple bottle482 = 【桦木水瓶】Birch bottle483 = 【松木水瓶】Pine bottle484 = 【民用运动步枪】Sportshot485 = 【运动步枪弹匣】Sportshot magazine486 = 【运动步枪机械瞄具】Sportshot iron sights487 = 【狼牙棒】Makeshift bat488 = 【沙漠之鹰民用手枪】Desert Eagle489 = 【沙漠之鹰弹匣】Desert Eagle magazine490 = 【电锯】Chainsaw503 = 【钓鱼竿】fishing rod504 = 【生·鳟鱼】raw trout505 = 【生·鲑鱼】raw salmon506 = 【桦木钓竿】birch rod507 = 【枫木钓竿】maple rod508 = 【松木钓竿】pine rod512 = 【熟·鳟鱼】cooked trout513 = 【熟·鲑鱼】cooked salmon519 = 【火箭筒/RPG】rocket launher520 = 【火箭弹】rocket521 = 【火箭瞄准器】Rocket Iron Sights1000 = 【VSS俄制消音步枪】Matamorez1002 = (空)1003 = 【VSS弹匣】Matamorez Magazine1004 = 【红色科布拉瞄准器】red cobra sigh1005 = 【VSS步枪加长弹夹】extended matamorez magazine1006 = 【眼镜蛇手枪加长弹夹】extended cobra magazine1007 = 【自适应上膛配件/高速射击配件】adaptive chambering attachmen 1008 = 【测距仪·战术配件】rangefinder attachment1014 = 【皮质背包】leather pack1018 = 【剑齿虎军用半自动步枪】sabertooth1019 = 【剑齿虎机械瞄具】sabertooth iron sights1020 = 【剑齿虎弹匣】sabertooth magazine1021 = 【复仇者军用手枪】avenger1022 = 【复仇者弹匣】avenger magazine1023 = 【警棍】police baton1024 = 【P90军用冲锋枪/和平缔造者】peacemaker1025 = 【P90机械瞄具】peacemaker iron sights1026 = 【P90弹匣】peacemaker magazine1027 = 【MP5军用冲锋枪/毒蛇】viper1028 = 【MP5机械瞄具】viper iron sights1029 = 【MP5弹匣】viper magazine1030 = 【煎锅/平底锅】frying pan1031 = 【铁铲】shovel1032 = 【撬棍/物理学圣剑】crowbar1033 = 【船桨】paddle1034 = 【草叉】pitchfork1035 = 【开山刀/砍刀】machete1036 = 【武士刀】katana1037 = 【SCAR军用自动步枪/碎心者】heartbreaker 1038 = 【SCAR机械瞄具】heartbreaker iron sights 1039 = 【PMM民用手枪】kryzkarek1040 = 【PMM弹匣】kryzkarek magazine1041 = 【野牛冲锋枪】yuri1042 = 【野牛冲锋枪弹匣】yuri magazine1043 = 【野牛机械瞄准镜】1044 = 【民用夜视仪-黑白】civilian nightvision 1045 = 【南瓜种子】1046 = 【南瓜】1047 = 【南瓜派】1049 = 【南瓜灯火炬】1050 = 【安全区生成器】1051 = 【美元x5】1052 = 【美元x10】1053 = 【美元x20】1054 = 【美元x50】1055 = 【美元x100】1056 = 【硬币x0.5】1057 = 【硬币x1】1058-1075 = 【木质矩形自由建筑】1091-1094 = 【铁制矩形自由建筑】1076-1082 = 【浆果派】1083-1090 = 【车库门框架】1095-1097 = 【告示牌】1098 = 【铁制告示牌】1099 = 【4座自制汽车】1100 = 【C4】1101 = 【地雷】1102 = 【阔剑地雷】1103=【黑色雨伞】【琥珀浆果种子】[ID 1104]【靛蓝浆果种子】[ID 1105]【翡翠浆果种子】[ID 1106]【淡紫浆果种子】[ID 1107]【赤褐浆果种子】[ID 1108]【蓝绿浆果种子】[ID 1109]【朱红浆果种子】[ID 1110]【6座自制汽车】[ID 1111]【单座自制汽车】[ID 1112]【捕兽夹】[ID 1113]【枫木自制汽油桶】[ID 1114]【桦木自制汽油桶】[ID 1115]【松木自制汽油桶】[ID 1116]【猪肉】[ID 1117]【培根】[ID1118]【铁刺网围栏】[ID 1119]【牛肉】[ID 1120]【熟牛肉】[ID 1121]【蓝色雨伞】[ID 1122]【绿色雨伞】[ID 1123]【橘黄色雨伞】[ID 1124]【紫色雨伞】[ID 1125]【红色雨伞】[ID 1126]【白色雨伞】[ID 1127]【黄色雨伞】[ID 1128]【暖暖贴】[ID 1129]【圣诞版刺铁丝圈】[ID 1130]【圣诞版刺铁丝围栏】[ID 1131]【雪球————型手榴弹】[ID 1132] 【围巾】[ID 1133~1140]【双管猎枪】[ID 1143]【三角木板】[ID 1144~1165]【领地旗帜】[ID 1158]【枫树浆果】[ID 1159]【华夫饼】[ID 1160]【煎饼】[ID 1161]【生面团】[ID 1162]【面包圈】[ID 1163]【披萨】[ID 1164]【射钉枪】[ID 1165]【射钉枪弹夹】[ID 1166]【长柄镰刀】[ID 1174]【图纸】[ID 1175]【GPS】[ID 1176]【信号弹弹夹】[ID 1177]【氧气瓶】[ID 1178]【潜水服】[ID 1179]【潜水裤】[ID 1180]【游泳镜】[ID 1181]【行李袋】[ID 1182~1189]【消焰器(俄制武器专用)】[ID 1190]【俄制枪管】[ID 1191]【大口径军用弹药盒】[ID 1192]【大口径俄制弹药盒】[ID 1193]【狂暴僵尸生成器】[ID 1194]【手铐】[ID 1195]【手铐钥匙】[ID 1196]【尼龙扎带】[ID 1197]【鹤嘴锄】[ID 1198]【照明灯】[ID 1199]【军用高爆子弹】[ID 1200]【夜视瞄准镜】[ID 1201]【步枪货架】[ID 1202~1204] 【枪械展示柜】[ID 1205~1207] 【雨水收集桶】[ID 1208]【爆破箭头】[ID 1209]【砖头门口】[ID 1210]【砖头车库门框】[ID 1211]【砖头柱子】[ID 1212]【砖头筒桩】[ID 1213]【砖头堡垒】[ID 1214]【砖头墙壁】[ID 1215]【砖头窗框】[ID 1216]【砖头门框】[ID 1217]【砖头车库框架】[ID 1218]【油井】[ID 1219]【金属枪架】[ID 1220]【金属展示柜】[ID 1221]【贴墙式照明灯】[ID 1222]【百叶窗】[ID 1223~1226]【坦克障碍】[ID 1227]【水箱】[ID 1228]【油箱】[ID 1229]【工业发电机】[ID 1230]【标志旗帜】[ID 1231~1234]【双开门】[ID 1235~1238]【大铁板】[ID 1239]【炸弹遥控器】[ID 1240]【遥控炸弹】[ID 1241]【自制手雷】[ID 1242]【自动炮台】[ID 1244]【床】[ID 1243]【橱柜】[ID1245~1248]【冰箱】[ID 1249]【烤箱】[ID 1250]【台灯】[ID 1255]【沙发】[ID 1256]【书柜】[ID 1257~1260]【制氧机】[ID 1261]【三角形地基】[ID 1262~1265]【三角形天花板】[ID 1266~1269]【防毒面具】[ID 1270]【辐射滤波器】[ID 1271]【彩色火把】[ID 1272~1277]【书柜】[ID 1278~1281]【遮阳伞】[ID 1282]【冷藏箱】[ID 1283]【餐桌】[ID1284~1295]【沙滩椅】[ID 1296]【窗户玻璃】[ID 1297~1299]【坦克炮弹】[ID 1302]【彩色家具】[ID1303~1326]【书和笔记本】[ID 1327~1328]【舱口】[ID 1329~1332]【彩弹枪】[ID 1337]【彩弹】[ID1339~1344]【农场种植箱】[ID 1345]【闪光弹】[ID1346]【米诺鱼】[ID 1347]【烤米诺鱼】[ID 1348]【金鱼】[ID 1349]【烤金鱼】[ID 1350]【鲈鱼】[ID 1351]【烤鲈鱼】[ID 1352]【偷车器】[ID 1353]【机长上衣】[ID 1358]【机长裤子】[ID 1359]【友好的炮台】[ID 1372]【敌对的炮台】[ID 1373]【TEC9手枪】[ID 1360]【TEC9手枪弹夹】[ID 1361]【万尼亚散弹枪】[ID 1366]【万尼亚散弹枪弹夹】[ID 1368]【迷你乌兹冲锋枪】[ID 1369]【迷你乌兹冲锋枪弹夹】[ID 1371]【波波莎冲锋枪】[ID 1379]【波波莎冲锋枪弹夹】[ID 1381]【Aug突击步枪】[ID 1362]【FAMAS自动步枪】[ID 1375]【G36突击步枪】[ID 1377]【加特林机枪】[ID 1364]【加特林机枪弹夹】[ID 1365]【M2000步枪】[ID 1382]【M2000步枪弹夹】[ID 1384]【大礼帽】[ID 1385]【礼服】[ID 1386]【礼裤】[ID 1387]【特种兵贝雷帽】[ID 1389] 【曲棍球长棒】[ID 1390]【睡衣】[ID 1391]【睡裤】[ID 1392]【定时炸弹】[ID 1393]【俄军贝雷帽】1388【俄军吉利面罩】1356【俄军头盔】1335【俄军吉利服】1354【俄军上衣】1333【俄军防弹背心】1336【俄军吉利背心】1357【俄军裤子】1334【俄军吉利裤】1355【HMG暗器】[ID 1394]【HMG弹夹】[ID 1395]【浅色吉利伪装网】[ID 1396]【深色吉利伪装网】[ID 1397]。
••Black Knight,the University of Central Florida’s vehicle in the11th Intelligent GroundVehicle Competition(IGVC)competed pleting in5th place in the naviga-tional challenge and10th in the autonomous challenge in itsfirst competition has provenour vehicle to be a strong competitor in this competition.The vehicle has many interestingfeatures that allow it to achieve its success.The vehicle’s300lb.capacity allows for twoonboard full-sized computers and two12V marine batteries that power the computersfor up to2h.The vision system is not a simple reactive system but rather it classifies itsview into objects and builds a map of the territory as it learns of its features while trav-eling.Two transformations and the location data from the GPS and other sensors are usedto associate the locations in the image to locations in the map.The operations of the ve-hicle are modeled after the typical operations of a ship.We have programs that performthe functions of the captain,the helm,the navigator,and the engineer.In addition we havea program performing sensor data fusion from the GPS,compass,and wheel encoderdata.The navigation uses an adapted two-dimensional approximate cell decompositionmethod that satisfies the nonholononic constraints of our vehicle and allows it tofind theshortest path to the goal while avoiding all obstacles.©2004Wiley Periodicals,Inc.*To whom all correspondence should be addressed.Journal of Robotic Systems21(9),451–460(2004)©2004Wiley Periodicals,Inc.Published online in Wiley InterScience().•DOI:10.1002/rob.200251.INTRODUCTIONThe University of Central Florida ’s UCF Robotics Lab has designed and built an autonomous vehicle,Black Knight,and entered it into the 11th annual Intelligent Ground Vehicle Competition (see Figure 1).The de-sign report may be found in ref.1.This was our team ’s first time competing yet we received 10th,12th,and 5th place in the various competitions.Our team consisted of seven undergraduate electrical and computer engineering students and one faculty ad-visor.The budget for the vehicle was $15000and we had 1year to complete the project.This paper de-scribes our autonomous vehicle in detail including the software algorithms.Our team was sponsored by the U.S.Army PEO STRI (formerly the U.S.Army STRICOM).This money was used to purchase equipment.In addition several companies have given donations through dis-counted pricing for parts with the biggest donation coming from Pride Mobility.The project started with four students and a desire to compete in this compe-tition.The faculty advisor offered an autonomous ve-hicle design course for undergraduate students and was an alternative over the senior design course the university offers.The class had an enrollment of 30students.The project was broken into groups and each group worked on a different part of the vehicle.At the end of the course seven students stayed with the project and completed it for the competition.Our team now consists of 15students working on four different vehicles that we plan to enter into fu-ture air,ground and underwater competitions.With continued funding we are able to purchase equip-ment to keep the students progressing.2.THE VEHICLE2.1.The HardwareThe vehicle is built on a chassis from a Pride Mobility Celebrity electrical scooter.The chassis sells for just over $2000.00.The chair and the steering column were removed and a welded steel frame was created as a flat platform on top of the vehicle.The chassis is designed to carry up to 300lb.This allows the chassis to carry the weight of all of the components and still be capable of climbing grades well above those re-quired by the competition.The chassis came with a speed controller that regulates the power delivered to the wheels given a voltage input.To regulate the speed of the vehicle we constructed a circuit that regulates the input voltage to the controller depending on the actual speed of the vehicle.A PIC16F877microcontroller is used for this purpose.The speed sensor used is a magnetic en-coder attached to the rear wheel of the vehicle.With the steering column removed,a shaft point-ing up on an angle is all that is left to steer.Steeringis accomplished using a 13HP Bodine Electric 24V motor with a 60:1gear reduction linked to the steer-ing shaft of the vehicle via a chain and two sprockets which add a further 3.75:1reduction (see Figure 2).The excess power of the motor allows for quick turn-ing of the wheel.Another PIC16F877microcontroller is used to power the steering motor.An H-bridge made of four 25Amp Darlington transistors with preampli fiers controls the polarity of the motor al-lowing turning in both directions.A ten-turn preci-sion potentiometer is used to measure the angle of the front wheels.This feedback is used by the microcon-troller to accurately position the wheel.For power we use two marine 12V batteries plus a 24V battery that came as part of the chassis.The marine batteries power the steering motor,all of the circuit boards and the two onboard computers.An ac regulator converts the dc power to 110V AC for the PCs.With two high end PCs onboard,the two bat-teries can power the complete vehicle for up to 2h.In addition the chassis came with two smallerbatteriesFigure 1.The Black Knight.452•Journal of Robotic Systems—2004used only to propel the vehicle.All though we did not experience much of a noise problem,for the next competition we will have the two marine batteries only power the circuit boards and computers and the vehicle ’s batteries power the movement of the vehicle and the steering motor.This isolates the noise asso-ciated with the electric motors and their PWM type regulators.The vehicle ’s vision system contains four cam-eras and a multiplexer that switches between them (see Figure 3).A dedicated 1.7GHz dual processor is used solely for the vision system and a 2.2GHz com-puter handles all other functions such as the naviga-tion,path planning and decision making.These two computers,named the vision and the main computer,are interfaced via an Ethernet cable.The navigation system relies on a BR2G Differen-tial GPS with a circular error probability of 40cm and a TCM2-50Digital compass with an accuracy of Ϯ1°RMS for additional sensory input.Because of cost constraints a laser range finder such as the one manu-factured by Sick was not available.This put our ve-hicle at a signi ficant disadvantage as most other ve-hicles did have one.2.2.The Vision SoftwareThe vision system is tasked with capturing real-time data and transforming it into a 2D map.As this is the primary sensor system,it must be reliable,robust,and simple to use.The visual mapping algorithm can be divided into four parts:training,classi fication,co-ordinate transformation,and map maintenance.Spe-ci fically,the system gathers visual data,processes it,and develops an orthographic map based on this data.This map is used by the main computer to handle all navigation and control.In addition to the data provided to the system by the cameras,it is also supplied with GPS and digital compass data,which is used to correct the transformation of images into navigable obstacle information.Of the four cameras on the system,three are facing forward and one re-verse and all are inclined downwards (see Figure 4).The three forward facing cameras are angled to the sides such that they provide a 180°field of view,ex-tending 9ft in front of the vehicle.The system pro-duces an image of about 200ϫ200pixels per frame at 7frames per second.Each pixel represents a physical area of 5cm 2.The cameras are calibrated before each run by a series of initialization processes.After calibration,the system gathers video from a selected camera and pro-cesses the video one frame at a time.Each pixel of ev-ery frame is then classi fied as either ‘‘Obstacle ’’or ‘‘Non-obstacle ’’by using statistical data gathered from previous frames and information about its color and local texture.Next,this information is manipu-lated with two transformations:an orthographic pro-jective transformation from image space to world space,and a rigid-body transformation from world space to 2D map space.As updates occur on the map,they are stored and sent to the navigation system.The navigation system then selects the desired camera and noti fies the vision system of its request.At this point the vision system responds by processing data from the new camera after a nominal switching delay.Therefore,the navigation system controls the direc-tion of the robot ’s vision.Visual processing is computationally expensive,so all but the most essential computations havebeenFigure 3.The three frontcameras.Figure 2.The steering mechanism with the motor,chain,and sprockets.Gonzalez et al.:Black Knight,Vehicle for Competition•453eliminated from run-time processing.For example,all transformation and color adjustment information is calculated and stored during calibration.During processing,the data is loaded once and retrieved from active memory only as needed,allowing the classi fication of each pixel of every frame to occur in the most ef ficient manner.The use of color to detect obstacles results in the system being very sensitive to lighting conditions.Since the competition is held outside,a simple cloud blocking the sun may offset the calibration param-eters and prevent proper functioning.For future com-petitions,the two side cameras will be dedicated to detecting the white lines bordering the path.A simple gray scale image with a threshold will detect the white lines without the sensitivity to the lighting.The forward camera will still use colors and texture but an automatic calibration that can run periodically is be-ing investigated.2.2.1.Clasification TrainingWe seek to label each map array element with an in-teger representing a meaningful class,as in Table I.Statistical information is used to represent each classas a set of d features (see ref.2).In this method,rep-resentative training data from each class is measured to determine the characteristic means [Eq.(1)],and covariance of its features [Eq.(2)].For each class c ,there is an associated multidimensional Gaussian probability density function p (x )that describes the class [Eq.(3)].The multidimensional feature set is represented by the vector x containing d features.The variables i ,j ,k ͕1,2,...,d ͖are used as indexes and N is the number of pixels in the training set:k ϭ͚N x kN,(1)i ,j ϭ͚N ͑x i Ϫi ͒͑x j Ϫj ͒N,(2)p ͑x ͒ϭ1͑2͒d /2det ͑͒1/2ϫexp ͫϪ12͑x Ϫ͒T Ϫ1͑x Ϫ͒ͬ.(3)By plotting p (x )for a given class,one can see that it has the shape of a hyper ellipsoid.Note that the vol-ume integral of the hyper ellipsoid is equal to 1.Also,the sum of the probabilities of all possible classes at a given data point is equal to 1.We seek to classify new data as belonging to one of several hyper ellipsoids or classes.The Mahalano-bis distance [Eq.(4)]provides a useful measure of relative deviation,which can be used to classify data:class ϭarg min c ͑ͱ͑x Ϫc ͒T c Ϫ1͑x Ϫc ͒͒.(4)After extensive experimentation,we selected the feature vector x in Eq.(5),where the notation 5ϫ5indicates summation over a square window of25Figure 4.The vehicle ’s field of view.Table I.Image classi fications.0–127Navigational Terrain 128–255Obstacle 0Unmapped 255Unknown obstacle 1Unknown non-obstacle 254White plastic bucket 2Grass253Orange plastic bucket 3Rough concrete 252Tree bark4Light sand 251Grass painted yellow 5Dark sand250Grass painted white454•Journal of Robotic Systems —2004pixels extending two pixels in every direction from a central pixel.The terms R n ,G n and B n are the value of the red,green and blue bytes in the 3byte pixel so ͚5ϫ5R n is the sum over the 25pixel grid.The fourth term,deemed the ‘‘texture ’’of the material,plays a critical role in discriminating between several of the classes.This term is large when the colors have a large variance within the grid.Note that texture is scale dependent:x ϭ¦͚5ϫ5R n ͚5ϫ5G n ͚5ϫ5B n͚5ϫ5ͫR n ϩG n Ϫ125͚5ϫ5R n Ϫ125͚5ϫ5G nͬ§.(5)Our goal is to minimize the number of calcula-tions that must occur at the time of processing,at the expense of more calculations during the training phase.As training images are processed,each color channel is divided by the mean found in a gray ref-erence dot.This form of normalization simulates pure white lighting,despite the actual conditions at the time of acquisition.All class means for color and tex-ture are based on normalized color [Rn,Gn,Bn].At runtime,the images are not normalized.Instead,the previously trained means and variances for each class are multiplied by a color correction factor Cϭ͓R c ,G c ,B c ,R c ϩG c ͔T as in Eqs.(6)and (7).These fac-tors are the intensities of the gray calibration dot at runtime:run ϭC ؠtrain ,(6)run ϭ͑CC T ͒ؠtrain .(7)This normalization scheme precludes the use of auto-iris and white balance camera features.The iris maybe adjusted manually,with the goal of avoiding under-saturation or over-saturation.However,the color correction factors must be recalculated when-ever adjustments are made.Given the means and variances of 12material classes,we were able to achieve a 95%correct clas-si fication of real images.Such excellent results are at-tributed to color correction and the inclusion of tex-ture in the feature vector x .Figure 5shows a real image with its classi fication.Each color in the classi-fication represents a distinct class.2.2.2.Coordinate TransformationsFour coordinate systems are required to fully de fine the mapping (see Table II).Each pixel in the image is mapped to a location in the two-dimensional array representing the map.These transformations are dis-cussed below.First,we seek to determine the relationship be-tween the image coordinate and the vehicle coordi-nate systems (CS3to CS2).We use a 2-D projective mapping equation shown in Eq.(8).Note these equa-tions have six parameters among them.Once the cameras have been fixed to the vehicle we mark four points and measure these four knownlocationsFigure 5.Example of probabilistic classi fication.Gonzalez et al.:Black Knight,Vehicle for Competition•455relative to the vehicle.We then take an image of the four points and create eight linear equations using Eq.(8).We solve six of these equations to determine the value of the six unknowns.Eq.(8)is valid so long as the position of the cameras relative to the vehicle remains the same:xϭa1iϩa2jϩa3a7iϩa8jϩ1,yϭa4iϩa5jϩa6a7iϩa8jϩ1.(8)Once the x and y coordinates are known in CS2, they must be transferred to CS1,the world coordinate system.This Euclidean transformation accounts for the rigid-body rotation and translation of the vehicle. Equation(9)shows the relationship between the ve-hicles coordinates and the world coordinates:ͫX Yͬϭͫk1cos͑⌰͒Ϫk1sin͑⌰͒X GPS k2sin͑⌰͒k2cos͑⌰͒Y GPSͬͫx y1ͬ.(9)Since the environment is assumed to be approxi-matelyflat,the tilt of the vehicle will be ignored.The constants k1and k2are scalar values to put the points into the earth’s longitude and latitude coordinate sys-tems(see Table III).To transfer from the vehicle to the world coordinates the location of the vehicle with re-spect to the world is given by the GPS as X GPS and Y GPS.This data is used to translate the point to the proper location in the world coordinate system.The angle⌰given by the compass is used to rotate the vehicle’s coordinate system to match that of the world.Transferring from the world frame in longitude and latitude to the map in row and column coordi-nates only requires a scalar transformation and a translation.In Eq.(10),the offset from the origin of the world coordinates and the map are given by X offset and Y offset and represents a translation.The constant k3is a scalar that represents the number of array units per degree:ͫI JͬϭͫϪk30k3X offset0Ϫk3k3Y offsetͬͫX Y1ͬ.(10)Pixels that represent obstacles must be mapped from the image CS3to the map array CS0.Since the projective transformation of CS3to CS2does not change during processing,it may be calculated in ad-vance.However,the remaining transformation of CS2to CS0must be updated when new GPS or com-pass data is received,according to Eq.(9).2.3.The Navigation and Control SoftwareThe general structure of our software components uses a maritime nomenclature that provides each subsection a name that is descriptive of what it doesTable II.Coordinate systems.System Context Variable Meaning Units CS0Map I,J Row andcolumnarray unitsCS1World X,Y,⌰Latitude,Longitude andangle degrees, radiansCS2Vehicle x,y VehiclecoordinatesMetersCS3Image i,j Row andcolumnPixelsTable III.Constants used in the coordinate transformations.Constant Equation Value Units MeaningX orl28:30:17degrees North Latitude of Orlando,FL c16371000meters Mean radius of earthc2c1cos(X orl)5625000meters Radius perpendicular to earth’spolar axis k1360/2c20.7941E-5degrees N/meter latitude conversionk2360/2c10.8993E-5degrees W/meter longitude conversionk32500000array units/degree map scale456•Journal of Robotic Systems—2004(see Figure 6).All of the software components in the main computer communicate via shared memory.A complete 2048ϫ2048pixel map of the terrain is main-tained in this shared memory and is what is used to communicate terrain and position data among the different programs.To build and maintain the map we use the Cartographer and the Coxswain pro-grams.The Coxswain program reads the positioning input from the GPS and compass and smoothes this data using a Kalman filter.Filtering reduces the per-ceived location from jumping around as much.The Coxswain program then sends this information to the shared memory.The Cartographer receives map up-dates from the vision computer and updates the map accordingly.The updates consist of all of the points in the image that has changed in the current map.Based on the current location of the vehicle the image lies in a particular area of the map.We found the vision computer gives about 10updates per frame when still and about 60when the vehicle is moving and each update contains 12bytes of data.The Captain,Helm,Navigator and Engineer pro-grams then control the movement of the vehicle by using the data in the map.The Captain program de-termines the current challenge and controls what rel-evant information is passed to the other components.The Navigator takes the digital map from shared memory and finds a reachable node path during the navigation challenge.During the autonomous chal-lenge it finds the path of least resistance.It uses a modi fied approximate cell decomposition algorithm to accomplish the path planning.Details of the path planning are presented later in the paper.The neces-sary information is passed back to the shared memory where the Captain controls the Helm pro-gram which physically matches the theoretical path by looking ahead and adjusting the vehicle ’s desired angle.The values are interpreted by the Engineer pro-gram which rede fines the data and sends out speci fic information to the speed and steering microcontroller which physically control the motors at regularintervals.Figure 6.The software component map for the two computers and the two microprocessor boards.Gonzalez et al.:Black Knight,Vehicle for Competition•457All the information in shared memory is also pro-cessed into a human readable format and sent to the on-board monitor (see Figure 7).These programs run simultaneously on the main computer which allows the information to be constantly updated and shared to all programs such that the data is always current.In total,these programs provide the intelligent con-trol of the vehicle.2.4.The Path Planning SoftwareThe path planning is accomplished by using a modi-fied two-dimensional approximate cell decomposi-tion algorithm.In a three-dimensional con figuration space the X and Y axes correspond to the X and Y ,or planner,movement of the vehicle and the Z axis corresponds to the vehicle ’s rotational angle.3Since the vehicle is not able to pivot,this adds a nonholo-nomic constraint and therefore complicates the cell decomposition algorithm.To avoid this situation we use a two-dimensional con figuration space and sim-ply avoid paths that make sharp turns.Since the X and Y axes in the con figuration space relate to the X and Y axes in the terrain,avoiding sharp turns in the path satis fies the vehicle ’s turning constraints.The path in the con figuration space is chosen to maintain a minimum turning radius.The path produced by the algorithm is a 2D path in the X and Y axes and does not consider the angle of rotation of the vehicle.Thisangle is determined by the Helm program to properly steer the vehicle in the direction of the path.When the Helm program receives the sequence of points from the path planning algorithm executed in the Naviga-tor program,it steers the vehicle in the direction of the path much the same way humans do when driv-ing a car.The angle of the vehicle is then a product of steering the vehicle along the path and not a designed parameter.By using this method we not only satis fied the nonholonomic constraint,a dif ficult type of con-straint to deal with,but also we eliminate one dimen-sion from the problem.For the Navigation challenge,a method of ab-straction is applied to the map.Since the GPS coor-dinates for the waypoints are given,they must first be put in an order which allows the generalized quickest traversal.This is to be done by using a Traveling Salesman method on the points to determine the or-der from start to finish.Once the points are ordered,the program then attempts to travel the straightest path toward the next point from the current location.The algorithm plans the path such that the center of the vehicle ’s rear axle comes within 0.25m of each waypoint.Initially,the map is an empty square field.As obstacles are detected,the map is subdivided into smaller squares based on the position of the obstacles (see Figure 8).Of all possible paths,the algorithm then selects the appropriate one based on these bounding squares.This implementation was chosen due to its ability to robustly track around a large set of unknown objects and dilate them to create a safe path.The autonomous challenge provides different re-quirements with respect to path planning.For this challenge the algorithm must complete the given track as much as possible without being given prior information.This is done by traveling the route se-lected from the local map constructed in the main computer.In the event of a dead end trap,it is pos-sible to backtrack to the last known safe position us-ing past data points stored in memory.The vehicle can move in reverse using its rear camera.This allows the program to reevaluate the previous branching point if necessary.The ability to reverse out of a trap on the course was felt to be an important innovation.Lines bordering the course are classi fied as obstacles to be avoided,therefore keeping the vehicle ’s desired path safely away from the edge of the course.We used a Gaussian blur algorithm that allows us to in-terpolate dashed lines and treat them assolid.Figure 7.The display on the vehicle ’s monitor during op-eration.Note the vehicle creates a map as it travels with the data it sees.The white is classi fied as obstacles,the black is unknown,and the triangle is the vehicle.458•Journal of Robotic Systems —20042.5.The SimulationsBefore the algorithms were used on the vehicle we ran many simulations.The simulations tested the navigation and path planning algorithms.We started out with a map containing a course with obstacles and road lines.However,at startup,the navigation system is not able to see anything in the map.When the simulation starts the area in the map within the scope of vision of the vehicle is revealed.This simu-lates the vehicle seeing what is in this range and no more.As the vehicle moves more data is added to the map to simulate the vehicle seeing.Figure 7shows the map with the data discovered thus far.The navi-gation algorithm then creates a path based only on the information it has thus far.During the simulation runs we determined that the vehicle must have the capability to move in reverse.Since the vehicle is a bit large and the turning radius is not as tight as we would like,the only way for it to get out of certain situations is to move in reverse.The vehicle drove it-self into these situations by not being able to use what it cannot see in the path planning algorithm.The simulations allowed us to anticipate problems before they were encountered the day of the competition.3.THE PERFORMANCEIn this competition there were two basic approaches for the vision problem,purely reactive and a map-ping system.With a purely reactive vision system,the system detects the obstacles and bordering lines and computes the midpoint between them to pass.Typi-cally a gray scale image is used with a threshold iden-tifying the obstacle.In this competition obstacles are always whiter than its non-obstacle surroundings.With a mapping system the vision system builds a map as it travels.Each time it sees a new obstacle it draws it on the map at the appropriate location.In this completion the purely reactive method generally worked better.Because of the competition ’s arti ficial environment where all obstacles are whiter than non-obstacles,a simple threshold will adequately distin-guish.However,in the real world a mapping system will be needed as not all obstacles can be detected us-ing a gray scale.Also the map allows the vehicle to move more freely in the area it has seen.The problem with this method is that,being more sophisticated,it requires a greater programming effort and is more sensitive to the environment.We encountered several problems.First the color requires careful calibration.Since the competition is held outside the light level cannot be held constant as indoors and the calibration parameters become obsolete.Furthermore,as the ve-hicle turns the sun hits the cameras at different angles,causing the parameters to become obsolete as well.We had a problem after the vehicle made a cer-tain turn on the path in the autonomous challenge.We predict that during the turn the sun hit the camera at a different angle and caused the image to become saturated.A reactive system will still work because,since only the two limiting values for each pixel are used for classi fication,there is a large margin of error.Our vehicle performed better in the navigation chal-lenge perhaps in part due to the time of day we com-peted.Towards the afternoon the light was dimmer and this tends to have less re flection on the cameras.We are currently implementing a method to perform periodic automatic calibration to reduce the effect of this problem.Another issue with the mapping method is that when a referee walks in front of the vehicle the system classi fies the person as an obstacle.This is a good feature but care must be taken to re-move the obstacle from the map once the person moves away.The GPS must be integrated into the mapping method to determine the location of the obstacles.This presents a problem since the GPS location data have errors.Since the data are not stable the system assumes it is jumping around.Therefore obstacles that once appeared in one location may appear in a different location later and the system may record this as two separate obstacles in the map.EventuallyFigure 8.The cell decomposition in the path planning al-gorithm.The light lines are the possible paths and the darker line is the chosen path.Gonzalez et al.:Black Knight,Vehicle for Competition•459。