基于视觉的车辆与轨道相对振动状态测量方法研究

车辆与轨道相对振动状态对轨道线形测量有重要影响;分析了传统检测车辆与轨道相对振动状态测量方法的缺陷,提出一种基于视觉的车轨相对振动状态测量方法,以轨道建立世界坐标系,以车体建立车体坐标系。考虑相机镜头畸变,建立相机非线性模型,基于机器人手眼方法标定相机与车体,求解相机内外参数。依据车体运动姿态特征,推导基于双目机器视觉的车辆运动姿态偏移补偿计算方法;运用实验平台设计验证实验,通过计算所得的车体振动位移与真实值高度吻合,随着车速增加振动位移误差也随之增大,验证了该方法的正确性和可行性;提供一种车辆与轨道相对振动状态测量方法。     

用于储罐底板缺陷检测的超声兰姆波模式研究

从超声兰姆波的声场方程出发,得到板材表面离面位移(法向位移)为零的条件,即当超声兰姆波的相速度等于板材介质的纵波声速时,在板材表面的离面位移为零。在给定适当频厚积的条件下,分别数值模拟了仅有切向位移而无离面位移的A1、S1、A2和S2兰姆波模式在有液体负载的单层钢板中的传播情形。结果表明:离面位移为零的S2模式频散较小且对板中缺陷更为敏感。     

基于降维状态观测器的轮轨力估计方法研究

轮轨作用力对车辆的运行品质及安全有重要影响;现有轮轨力测量方法采用了特制的测力轮对测量和轨道静态测量,其成本高、周期长、稳定性差;对现有轮轨力测量方法进行了研究,提出了降维状态观测器的方法观测轮轨力;建立单轮对车辆轨道垂向耦合模型,以车辆状态响应值与轨道激励作为降维状态观测器的输入;通过Matlab仿真计算,得出轮对振动位移的观测值快速收敛于仿真值,轮轨力有很好的吻合性;随着车辆速度增加振动位移收敛时间变长,轮轨力误差增大;结果表明,在一定条件下,此方法能够很好的地观测轮轨力的大小,为轮轨力的实时估计提供一种的新方法。     

基于特征重聚焦网络的多尺度近岸舰船检测

针对监控视频中的多尺度近岸舰船检测问题,提出了一种基于特征重聚焦网络的舰船目标检测算法,设计了由多维特征聚合模块(MFAM)与注意力特征重构模块(AFRM)组成的特征重聚焦策略.其中,MFAM基于输入的特征金字塔构建特征聚合块,进一步融合多尺度舰船不同层次特征的语义信息.AFRM基于多分支空洞卷积以及通道与空间注意力机制提升网络对目标非局部信息的表征和对背景干扰的抑制,并构建了用于目标检测的特征重聚焦金字塔.在Seaships7000舰船公开数据集上的实验结果表明,相比其他算法,本算法对监控视频中多尺度近岸舰船的检测效果更好.     

基于边缘线分析与聚合通道特征的港口舰船检测

针对可见光学遥感图像港口舰船检测过程中,人造目标造成检测结果准确率低、虚警率高的问题,提出了一种基于边缘线梯度特征定位和聚合通道特征的舰船检测方法。基于多尺度多结构元素形态学滤波实现海陆分割;并结合遥感图像中港口的矩形形状特点,定义边缘梯度正切角和港口凹凸度特征以对港口进行定位,获取港口感兴趣区域集合。提取舰船目标的聚合通道特征,并通过聚合通道特征构建的样本训练库和AdaBoost算法完成分类器的训练,利用训练完成后的分类器完成舰船目标的最终判别确认。实验结果表明该算法相较于传统的HOG特征和Haar特征,检测效果良好,准确率和召回率得到较大的提升。     

一种舰船水下电场信号采集与分析软件设计与实现

舰船水下电场及防护技术是近几十年才被提出的新技术,对舰船水下电场的精确测量是开展各项研究的基础;针对舰船模型水下电场测量过程中采集信号精度要求高,实时性要求高,多路信号同时采集等难题,采用并行处理和模块化设计的思想,利用C++小1builder6.0和matlab软件,开发了一套舰船水下电场数据采集和分析软件,实现了舰船模型运动过程中水下电场的自动采集,并能对测量得到的舰船电场数据进行基本分析,存储相关结果文件;通过舰船模型水池运动实验,验证了本软件采集数据和电场特性分析的正确性。     

电磁阻尼落体运动实验仪研究

设计了电磁阻尼落体实验仪,可以定量研究受电磁阻尼的落体运动过程,在不同的阻尼条件下验证速度和路程公式,并计算出阻尼系数.     

基于中心点的遥感图像多方向舰船目标检测

针对目前基于深度学习的舰船目标斜框检测方法存在计算量大、效率低的问题,提出一种基于目标中心点的单阶段检测模型.由于舰船中心点不受舰船分布方向影响,模型主要思想是以目标中心点检测为基础,回归中心点处目标斜框的尺度和方向.首先设计特征提取网络,将卷积神经网络细节信息丰富的底层特征与语义信息丰富的高层特征融合起来形成特征图;然后将特征图输入到三个检测分支,分别预测目标中心点、中心点偏移值以及斜框的尺度与方向;设计组合损失函数对网络进行训练,并改进非极大值抑制算法以适应目标斜框检测的需要.在公开的SAR图像舰船目标检测数据集与光学遥感图像上进行了实验,实验结果表明,测试集平均准确率达0.906,检测精度与速度均优于其它检测模型,充分验证了所提算法的有效性.     

对“探究动能与质量关系实验”的商榷

探究影响动能大小因素的实验,是大多数初中物理教材的教学内容.本文分析了这些探究实验存在的缺陷.这些缺陷主要表现在运动路线不可控、木块位移不可测、下降相同高度难保证、相同高度下滑得到相同速度的原因难于解释清楚.     

“几何画板”绘制机械振动的关系图示

利用几何画板软件绘制机械振动的各种关系图示,先以参量函数轨迹法绘制谐振动的位移与时间关系的图示为基础,然后依次作出阻尼振动的位移与时间关系图示、不同阻尼下的阻尼振动、阻尼过大时的非周期运动图示、受迫振动的位移与时间曲线,最后制作受迫振动的速度振幅与外力频率的关系图示时,还需要用到分段函数的作图方法。     

Ship motion estimation from polarized Doppler spectra from ship wakes on two-dimensional sea surfaces

Abstract

The main purpose of this paper is to investigate the Doppler spectra from ship wakes on two-dimensional sea surfaces and further estimate the ship motion characteristics. The analysis of the ship wakes is helpful to detect the existence of ships on sea surface. And it will be an alternative method when the radar cross-section values are not competent to identify the ship target. In the study, Doppler spectra for different polarizations are compared with and without ship’s wakes based on the second-order small slope approximation method. As expected, there appears the second spectral peak when ship’s wake is considered. Moreover, the ship velocities, wind speed, and direction are also analyzed. As the results shown, there is a good linearity relation between the position of the second Doppler spectral peak and the ship velocity. Therefore, it is feasible to detect ship according the Doppler spectra.     

Forward speed effects in the equations of ship motion

The explicit speed dependency of the coefficients in the linear equations of ship motion is determined from an energy formulation of the problem as opposed to the usual strip-theory formulation. For a completely symmetrical (longitudinal and lateral) ship, the cross-coupled damping coefficients resulting from the energy approach are shown to satisfy the Timman and Newman symmetry theorem identically. For ships possessing lateral symmetry only, a different form of symmetry among the cross-coupled damping coefficient is found to exist. The results of the energy approach are found to agree quite well with the results of three strip-theory formulations regarding the speed dependency of the coefficients in the heave and pitch equations.     

Acoustic localization scheme and accuracy analysis for underwater vertical moving target using seabed stations

To measure the trajectory of an underwater vertical moving target(UVMT) in transient motion with high accuracy and high frame rate,an acoustic localization model using seabed stations with an acoustic beacon was presented.A solution algorithm based on the Gauss-Newton method was derived,which was shown to satisfy the local linear convergence.Accuracy analysis of the numerical simulation indicated that the station location,sound velocity,and signal time delay estimation errors were propagated to location parameters through measurement ranges,and the main affecting factors included the station geometry,target relative location,and acoustic conditions.Vertical accuracy was improved using a supplemental surface station coupled with the seabed stations.Detailed characteristics were indicated by accuracy distribution from the full test sea area.A 14-station array composed of 13 seabed stations and 1 surface station in a test sea of 1 km x 1 km and 60 m in depth demonstrated that the average root mean square errors(RMSEs) in the x,y,and z directions were 0.30,1.47,and0.34 m,respectively,in the vertical range of 35-60 m.This work provided a technical approach for UVMT localization,which would be useful for designing related measurement systems.     

天幕立靶探测光幕响应时间一致性测量方法研究

为验证弹丸穿过天幕立靶时6个光幕响应时间是否一致，以提高测试设备测速精度，提出了一种用于检测天幕立靶光幕响应时间一致性的测量方法，设计了一种基于该测量方法的模拟弹丸过幕信号源测试装置。该装置调用存储在ROM中的弹丸轮廓数据，经DA转换控制两路光源间隔亮暗变化一次，用于模拟弹丸依次穿过探测光幕所遮挡的光能量变化。利用信号采集与处理仪同步采集两路输出信号时间间隔，与装置设定时间间隔的差值比较完成测试。测试结果表明:输出两路信号的时间间隔与设定时间间隔间的差值均小于1 μs，满足6个光幕响应时间一致性技术指标要求，该测试装置及测量方法可用于天幕立靶光幕响应时间一致性测量。     

基于相位相关与块匹配的纳米精度微器件平面动态测量

为测量MEMS谐振器周期运动过程中各个时刻的运动特性及其动态特性参数,结合微器件的特征,利用光学的方法对MEMS器件进行了运动分析。提出了基于相位相关与块匹配相结合的运动检测技术,并对MEMS器件的运动图像序列做了分析与处理,得到了其动态特性参量,为MEMS器件的设计提供了重要参考。实验结果表明,该方法具有较好的测量精度和测量速度,测量重复性可达到44nm。     

第三代同步辐射光源储存环支撑组件振动控制研究

第三代同步辐射光源对束流轨道稳定性要求很高, 上海光源是一台在建的第三代光源, 束流位置稳定度要求达到微米乃至亚微米级. 地基振动会使储存环磁聚焦结构中的各种元件发生机械振动引起随时间变化的束流闭合轨道畸变, 影响束流轨道稳定性. 上海光源场地振动幅值大, 需要研究措施控制机械组件的振动. 阻尼减振是一种有效的振动控制方法, 针对上海光源储存环机械组件, 作者设计了一种阻尼减振方案. 试验结果表明, 该方案能有效地控制机械组件的振动. 这对于保证上海光源的束流稳定性要求有积极意义.     

An approach of DVL-aided SDINS alignment for in-motion vessel

An in-motion alignment algorithm of strapdown inertial navigation system (SDINS) aided by Doppler velocity log (DVL) is described. As the bias and scale factor errors of DVL cannot be estimated by using conventional algorithm, error model of DVL along axes on local level navigation frame is developed while the ship is sailing at a constant speed. Analysis shows that by using this error model in Kalman filter, the observability of state variable can be improved by the angular motion of the ship. Simulation results show that the DVL measurement error can be estimated precisely and the accuracy of the DVL-aided in-sail alignment can be enhanced greatly by using the proposed approach.     

探空温度传感器的计算流体动力学分析与实验研究

伴随着数值天气预报和气候变化研究精细化程度的不断提高, 希望探空温度传感器的观测精度达到0.1 K数量级. 为了实现此目标, 运用计算流体动力学方法对珠状热敏电阻从海平面上升至20 km高空的整个过程进行数值仿真分析. 并在此基础上, 针对影响测温精度的太阳辐射强度和传感器倾斜角度两个因素进行分析. 仿真结果表明, 太阳辐射强度和海拔高度是辐射误差的重要影响因子. 当传感器倾斜角度为90°时, 珠状热敏电阻的辐射误差最小. 通过麦夸特法和通用全局优化法对仿真数据进行拟合, 获得不同海拔高度和太阳辐射强度下的辐射误差修正方程; 为验证方程的准确性, 设计和搭建太阳辐射误差模拟系统. 实验结果表明, 辐射误差实验测量值与修正方程修正值之间的平均偏移量为0.017 K, 均方根值RMS误差为0.023 K, 验证了计算流体动力学方法、麦夸特法和通用全局优化法获得辐射误差数据的准确性.     

Destabilization of deep-water risers by a heaving platform

Offshore gas and oil fields are being discovered and exploited nowadays in water depths of more than 2000 m. In order to convey the hydrocarbon to the sea level, a steel slender pipe is installed between wellhead at the sea bed and floating platform. If used in deep waters, these pipes are commonly referred to as deep-water risers. The heave (vertical motion) of a floating platform induces a fluctuation in time of the axial tension of the riser. A possible and undesirable phenomenon is the excitation of a transverse riser vibration caused by this fluctuation. Owing to this fluctuation, the governing equation of transverse motion of the riser is a nonlinear partial differential equation containing a time-dependent coefficient. As a first step, this equation is linearized around the straight equilibrium, and stability of this equilibrium is investigated using the Galerkin method and the Floquet theory. Then, the dynamic equilibrium is studied that the riser reaches if its straight equilibrium is unstable. This is done using a numerical time-domain technique. Two qualitatively different mechanisms of stability loss are distinguished, discussed and exemplified. The first is classical parametric resonance that occurs solely due to periodic time variation of the axial tension. The second mechanism occurs if the amplitude of vibration of the platform is large enough to change tension into compression in a segment of the riser for a part of the vibration cycle. It is shown that the second mechanism can cause dangerously large dynamic stresses in the riser.     

基于光学测量手段实时动态测量船体水平姿态

针对测量船传统实时水平测量方法精度较低（≥10.0″）的问题,引入了基于光学测量手段的动态实时船体水平姿态测量方法。采用＂光学编码精密测角＋惯性同步复示平台＋水平误差检测工具＂的设计模式,保证了跟踪的稳定性,提高了测量精度。实验结果表明：提出的方法可以提供比传统惯导系统更稳定、精度更高（纵摇5.37″,横摇3.60″）的船体水平姿态数据;可以作为一种普遍适用的运动载体精密水平测量监测手段,为运动载体实时提供高精度的水平基准信息,或用于运动载体惯导水平精度鉴定等。