Research on application of polynomial fitting technique in rotary kiln infrared temperature measurement system

Aiming at the linear temperature compensation algorithm’s disadvantage of temperature measurement error in rotary kiln infrared scanning temperature measurement process, this paper proposes a precise nonlinear cubic polynomial fitting temperature compensation algorithm. The proposed algorithm compensates the temperature values of scanning points on rotary kiln surface by following steps: Calculating temperature difference between the real temperature value of rotary kiln and temperature value measured by infrared scanning temperature measurement system; Fitting the temperature difference data with cubic polynomial; Using the obtained function to compensate temperature. Experimental result shows that compared with the usual linear temperature compensation algorithm, the accuracy of proposed algorithm has raised about 2.25 times when cubic polynomial is used.     

基于点阵编码的三维主动视觉标定

提出一种基于位错点阵编码三维成像系统的标定方法.首先在物空间建立三维数据基准,然后通过基准传递的概念标定摄像子系统,再通过建立摄像子系统坐标系与投影子系统坐标系之间的约束关系,将标定后的摄像子系统的准确度传递到投影子系统坐标系.摄像子系统坐标系与投影子系统都具有标定的准确度之后,可以根据位错点阵编码三维成像技术的解码算法获得深度图像空间坐标的计算值,然后将其与物体空间的三维标定数据基准进行比较,建立目标函数为误差平方和最小的非线性优化方程.通过迭代求解这个优化方程,最终获得三维系统的结构参量.实验结果表明,经过三维标定的位错点阵编码三维成像系统,对300×300×80 mm3的测量体积内,可以获得X方向的标准差为0.29mm和Y方向的标准差为0.24mm,Z方向的标准差为0.29mm的测量准确度.     

Simulation of the in-flight calibration of the collimator alignment and PSF for HXMT

The Hard X-ray Modulation Telescope (HXMT) is an X-ray astronomical satellite in 1–250 keV, consisting of three collimated instruments. We present the in-flight calibration approach of the collimator alignment and Point Spread Function (PSF) for HXMT, using both the direct fitting method and the imaging method. According to observational simulations of the Crab Nebula, we find that these two methods produce almost the same calibration accuracy of the alignment, and with a one-day scanning observation, the alignment can be calibrated to better than 0.45′ and 0.1′ along the wide and narrow directions of the Field of View (FOV) for a detector module, which corresponds to a localization accuracy of better than 0.1′ and meets the scientific requirement.     

补强片自动贴片系统高精度手眼标定方法

针对补强片自动贴片系统的手眼标定问题,为了消除相机安装的垂直度偏差带来的误差,提出了一种新的手眼标定方法。使用标定板得到相机的外参数,将外参数与常规的二维标定模型相结合,从而间接计算出相机坐标系与机器人基础坐标系的齐次坐标转换矩阵,使手眼标定模型扩展为三维。三维模型的标定计算误差小于0.1 m,相比二维模型降低了1个数量级,有效提高了标定计算精度。利用厚度较小的菲林修正齐次坐标变换矩阵的Z方向分量,系统具有较高的定位精度,手眼标定的误差绝对值小于0.015 mm,有效减小了误差均值,设备性能得到大幅提高。该方法在系统可控自由度有限的情况下,能够得到手眼标定问题的唯一解,提出的三维模型中包括了相机的完整姿态信息,相比常规的标定方法没有相机安装等额外的限制条件,能有效提高系统的手眼标定精度。     

基于平板探测器的2D-CT成像技术的研究

大面积非晶硅平板探测器(flat panel detector-FPD)在透射射线成像领域得到越来越多的应用。基于FPD的圆轨道FDK型三维计算机层析成像技术(Computed Tomography,3D-CT)检测速度快,但成像质量不及2D-CT。为发挥3D-CT速度优势,同时提高系统对物体感兴趣区域CT成像的性能,研究了一种基于FPD的、配合3D-CT功能的高像质2D-CT成像技术;提出了一种集噪声抑制、散射校正和高频细节增强于一体的2D-CT投影预处理方法,并完成了基于FPD的2D/3D-CT集成原型系统的研制。系统性能测试结果表明,基于FPD的2D-CT技术成像空间分辨率达3lp/mm,密度分辨率达5‰。     

三光栅单色仪标定方法研究

 单色仪是一种分光仪器,它通过色散元件的分光作用,把一束复色光分解成不同波长的单色光。文章提出了针对三光栅扫描色散机构单色仪的标定方法。对于采用正弦扫描机构的单色仪多采用多项式拟合方法实现波长标定,其精度高低取决于标定点数的多少。在全波长范围内,多项式拟合标定方法的精度有限。文章根据三光栅扫描单色仪的实际设计方案,采用正弦曲线拟合方法。光栅方程本身符合正弦规律,少量的标定点就可以满足拟合精度要求。适当选取待定参数,可以大幅度减少拟合运算过程中的计算复杂性。根据仿真软件的分析结果,其波长拟合偏误差小于0.5 nm。     

激光珩磨专用机床的运动控制研究

 以发动机气缸/活塞环摩擦副为具体研究对象,研制了一种新型激光珩磨设备。由于发动机汽缸套载重大,且形状不规则,故设备采用激光头既旋转又直线运动的运动方案。该设备在移动轴和转轴中分别安装有高精度光栅尺和高精度增量旋转编码器以提高运动控制系统的精度。为了使微凹腔沿圆周均匀分布,采用了小数分频原理,能够实现任意小数分频。通过对运动控制卡与自制的调Q控制卡的软件编程,实现了运动控制系统与激光系统的协同控制,用以在气缸表面加工出特定的微观形貌。加工方法采用的是“单脉冲同点间隔多次”的激光微加工新方法。利用该方法能够方便地加工出微观或宏观的形貌且能显著地减少激光加工所带来的负面热效应。     

比浊法测定土壤中的有效硫

主要探索了采用比浊法测定土壤有效硫最佳的比浊时间;采用最小二乘法拟合校准曲线时,由于低浓度灵敏度低,不成直线,校准曲线达不到技术要求,测试结果准确度低,本文通过实验摸索和定量分析研究,采用多项式回归方程绘制校准曲线相关性要明显优于直线回归方程绘制的校准曲线,回收率达到96.4%,多项式方程定量测定结果的准确度明显高于直线方程拟和计算的结果测试结果更加可靠。     

基于基体效应校正和对应分析的便携式X荧光光谱法对土壤重金属的研究

随着工业化和城市化的加深,城市土壤重金属污染状况愈发严重,而传统的实验室化学分析方法例如电感耦合等离子体质谱法分析周期较长,易产生废弃实验试剂二次污染环境。便携式X荧光光谱法是一种可以在野外现场直接进行快速、无损分析的测试手段,而基体效应是影响该方法测试准确度和精密度的最主要因素。当今较为常用的校正方法为传统线性回归法,该方法受离群值影响较大,处理后数据依然存在较大的偏差。本研究通过将常量元素的测试数据加入到待测元素的校正方程中,来减弱测试过程中基体效应的影响。利用便携式X荧光光谱仪对吉林大学各校区土壤样品的Cr,Ni,Cu,Zn和Pb重金属含量在原位条件下进行了快速测试,探究了对各重金属元素基体效应影响最大的常量元素,并结合偏最小二乘法及多元线性回归对原始谢尔曼方程进行调整,利用电感耦合等离子体质谱法作为参照,通过新方程对各重金属元素进行了基体效应校正,通过统计学参数对比该方法处理后的数据和经传统线性回归法处理后的数据的区别,并通过对应分析综合分析元素及样品间的相关性。结果表明常量元素是基体效应影响的重要元素,基于不同常量元素的基体效应校正方程效果较好,适用性Cr>Pb>Zn>Ni>Cu,校正后数据质量得到了明显提高,决定系数增大,回归图像更加集中,平均绝对误差、均方根误差等参数均进一步减小,校正效果优于传统的线性回归法。基体效应校正法主要是通过减小离群值的偏离程度来减小数据总体的平均误差和离散程度。处理后数据满足定量分析要求,可以推广至便携式X荧光光谱法对于土壤重金属快速的大面积扫面测试,检测环境质量。同时对应分析是一种多维数据维度与多维数据维度之间的分析方法,用于多种变量间的分类与相关性分析具有非常优秀的效果。     

结构光三维测量系统标定的关键算法研究

系统参数标定是结构光三维测量系统的关键问题之一,标定板特征圆圆心检测精度与投影仪、相机镜头gamma效应引起的相位误差是系统参数标定的主要误差来源。采用Sobel算子粗定位标定板特征圆的边缘点,以正交傅里叶-马林矩(OFMM)算子对边缘点进行亚像素定位,用椭圆拟合法确定特征圆圆心的方法提高标定板特征圆检测精度。同时,推导结构光三维测量系统gamma非线性数学模型,将计算得到的系统gamma值的倒数作为投影正弦光栅的指数以降低gamma效应引起的相位误差。实验结果证明了该方法的准确性,与不采用亚像素边缘检测与gamma校正相比,X、Y方向的标定精度分别提高约3.5倍与5倍。     

A theoretical model for the evaluation of measurement uncertainty of a sound level meter calibration by comparison method in an anechoic room

A theoretical model for the evaluation of measurement uncertainty of a sound level meter (hereafter as `SLM') calibration by comparison method in an anechoic room was developed. Through this model, the uncertainties in the semi-automatic calibration and that in the full-automatic calibration were estimated for the recently developed SLM calibration system. In order to estimate the standard uncertainty against the SLM positioning, which is a significant uncertainty component, the sound field curve-fitting formulae were adopted. The validity of the curve-fitting method was proven by the similarity of the spatial distributions of radiation sound field produced by the plane circular piston source and that by the cone shape source. A linear equation was used to fit the measurements of the sound field distribution along the radiation axis. A quadratic equation was used to fit the measurements along the radial axis normal to the radiation axis. The fitting parameters gave us the sensitivity coefficients of the propagation of the uncertainty. In addition, one of the quadratic fitting parameters was found to be a positional uncertainty itself. Using this model, the expanded uncertainties were evaluated for the semi-automatic and full-automatic calibration of SLM.     

Characterization of the globular oxide inclusion ratings in steel using laser-induced breakdown spectroscopy

Grade assessment of steel is generally performed via the metallographic method, which is timeconsuming and is not able to provide the elemental distribution information. In this paper, we present a method to measure the globular oxide inclusion ratings in steel using laser-induced breakdown spectroscopy (LIBS). The measurement is performed in two basic steps: steel samples are polished using metallographic sand paper and the Al₂O₃ inclusion number and size distribution in a marked area are observed using scanning electron microscope/energy dispersive X-ray spectroscopy (SEM/EDS) for further LIBS scanning analysis. The threshold intensity that distinguishes soluble aluminum and insoluble aluminum inclusions is determined using LIBS combined with the SEM/EDS statistical data. Carbon steel (the sample number is S9256) and bearing steel (the sample number is GCr15) are analyzed in scanning mode, and the number of Al₂O₃ inclusions in different size ranges is obtained from the statistical information derived from the Al₂O₃ size calibration curve. According to heavy and thin series for globular oxide inclusions grade assessment, the method we propose is comparable to the traditional metallographic method in terms of accuracy; however, the process is simplified and the measurement speed is significantly improved.     

点光源反射镜法向标校技术

针对基于反射式点光源进行在轨辐射定标过程中反射镜法向标校建模不够完善的问题,提出基于反射镜与相机几何模型的反射镜法向标校及矢量控制算法.通过解算模型求解相机与反射镜间的几何误差,建立了太阳图像质心坐标与反射镜法向之间的关系,可实现多点自动化标校反射镜法向,提高镜法向标校及系统指向精度.实验结果表明,利用解算后的几何模型反解不同时刻质心坐标进行多点反射镜法向标校,相机观测太阳像素角分辨率标准误差分别为:X轴方向0.02165°、Y轴方向0.01982°,综合角分辨率误差为0.02936°,优于太阳观测器对反射镜法向标校精度.实现了相机观测太阳取代人工借助太阳观测器观测太阳的自动化镜法向标校,扩展了标校灵活度,系统综合指向精度优于0.1°,为固定实验场联网自动化集中控制不同能级梯度的点光源阵列在轨辐射定标和调制传递函数检测奠定基础.     

A study on quantitative analysis of field size and dose by using gating system in 4D conformal radiation treatment

This study evaluated the gating-based 4-D conformal radiation therapy (4D-CT) treatment planning by a comparison with the common 3-D conformal radiation therapy (3D-CT) treatment planning and examined the change in treatment field size and dose to the tumors and adjacent normal tissues because an unnecessary dose is also included in the 3-D treatment planning for the radiation treatment of tumors in the chest and abdomen. The 3D-CT and gating-based 4D-CT images were obtained from patients who had undergone radiation treatment for chest and abdomen tumors in the oncology department. After establishing a treatment plan, the CT treatment and planning system were used to measure the change in field size for analysis. A dose volume histogram (DVH) was used to calculate the appropriate dose to planning target volume (PTV) tumors and adjacent normal tissue. The difference in the treatment volume of the chest was 0.6 and 0.83 cm on the X- and Y-axis, respectively, for the gross tumor volume (GTV). Accordingly, the values in the 4D-CT treatment planning were smaller and the dose was more concentrated by 2.7% and 0.9% on the GTV and clinical target volume (CTV), respectively. The normal tissues in the surrounding normal tissues were reduced by 3.0%, 7.2%, 0.4%, 1.7%, 2.6% and 0.2% in the bronchus, chest wall, esophagus, heart, lung and spinal cord, respectively. The difference in the treatment volume of the abdomen was 0.72 cm on the X-axis and 0.51 cm on the Y-axis for the GTV; and 1.06 cm on the X-axis and 1.85 cm on the Y-axis for the PTV. Therefore, the values in the 4D-CT treatment planning were smaller. The dose was concentrated by 6.8% and 4.3% on the GTV and PTV, respectively, whereas the adjacent normal tissues in the cord, Lt. kidney, Rt. kidney, small bowels and whole liver were reduced by 3.2%, 4.2%, 1.5%, 6.2% and 12.7%, respectively. The treatment field size was smaller in volume in the case of the 4D-CT treatment planning. In the DVH, the 4D-CT treatment planning showed a higher dose concentration on the part to be treated than the 3D-CT treatment planning with a lower dose to the adjacent normal tissues. Overall, the gating-based 4D-CT treatment planning is believed to be more helpful than the 3D-CT treatment planning.     

三维形貌柔性测量系统标定方法及验证

为了避免机器人模型误差对三维形貌柔性测量系统手眼标定的影响,对手眼关系的标定方法进行了研究。提出了一种融合特征点拟合的手眼标定方法。将三维形貌扫描仪安装在工业机器人末端搭建三维形貌柔性测量系统。标定时,首先利用激光跟踪仪对工业机器人末端法兰盘坐标系进行测量,得到两者转换关系;然后,利用三维形貌扫描仪和激光跟踪仪对空间固定的特征点组进行测量,利用特征点约束和基于罗德里格矩阵的算法求解两者转换关系即可间接地求解出手眼关系。基于ATOS三维扫描仪、安川HP20D机器人和API公司生产的激光跟踪仪进行了手眼标定实验,并进行了精度验证。结果表明:标定后的三维形貌柔性测量系统,其重复性测量精度(3σ)不超过0.1 mm,长度测量精度的均方根误差在0.2 mm以内,点云拼接精度优于±0.7 mm。该方法有效避免了传统手眼标定过程中会引入机器人模型误差的问题,在求解手眼关系解时采用了线性的解法,并且适用于三维形貌柔性测量系统。     

融合单目视觉的激光扫描投影系统自标定方法

为解决现有激光扫描投影系统中需要手动标定的问题,提出了融合单目视觉的激光扫描投影系统自标定方法.首先建立了融合单目视觉技术的激光扫描投影系统模型,给出了融合单目视觉的激光扫描投影系统自标定方法;其次建立了单目相机与激光扫描投影系统、被投影物体之间的数学模型;最后运用Matlab软件进行模拟仿真,证明融合单目视觉的激光扫...     

基于中阶梯光栅的波长定标方法研究

波长定标是仪器遥感数据定量化的前提和基础。针对星载大气微量成分探测仪视场大、波长宽、空间分辨率和波长分辨率高的特点,建立了基于中阶梯衍射光栅的波长定标装置。中阶梯光栅因其较少的线密度和较大的闪耀角工作在较高的闪耀级次,光谱范围宽且具有较高的分辨率,可在工作波段内一次性输出多条分布较为均匀的谱线,克服了传统定标方式的缺点,提高了定标精度。本文首先介绍了波长定标装置的工作原理,接着利用该装置对高光谱大气微量成份探测仪进行波长定标,通过寻峰和回归分析给出载荷的波长定标方程,并利用标准汞灯谱线对定标结果进行检验。结果表明:高光谱大气微量成份探测仪的像元和波长近似满足线性分布规律,定标不确定度为0.025 8 nm,汞灯特征谱线的定标值和标准值偏差最大不超过0.043 5 nm,证明了定标结果的准确性。     

BNCT优化网格设计及相关算法研究

用MCNP蒙特卡罗程序模拟了硼中子俘获治疗(BNCT)3种国际基准网格模型, 并与 修正的Snyder椭球模型进行了比较. 在此基础上, 给出了一种保质量守恒、内存量少、易于产生输入文件的4种基本材料成分的BNCT网格模型. 计算结果表明, 在4mm网格下, 新模型可以达到基准模型的精度; 根据解析模型剂量随深度的变化规律, 研究构造了多网格组合模型, 在重要区域计算精度不损失的条件下, 计算时间大大缩短. 最后研究给出了一个既保证精度、又在可接受的时间内完成剂量计算的模型、样本数和相应的算法, 它基本上满足临床BNCT的要求.     

基于X射线掠射法的纳米薄膜厚度计量与量值溯源研究

为了实现纳米薄膜厚度的高精度计量,研制了可供台阶仪、扫描探针显微镜等接触测量的纳米薄膜样片,研究了X射线掠射法测量该纳米薄膜样片厚度的基本原理和计算方法,导出了基于Kiessig厚度干涉条纹计算膜层厚度的线性拟合公式,并提出了一种可溯源至单晶硅原子晶格间距和角度计量标准的纳米膜厚量值溯源方法,同时给出了相应的不确定度评定方法.实验证明:该纳米薄膜厚度H测量相对扩展不确定度达到U=0.3 nm+1.5%H,包含因子k=2.从而建立了一套纳米薄膜厚度计量方法和溯源体系.     

Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision

A portable 3D laser scanning system has been designed and built for robot vision. By tilting the charge coupled device (CCD) plane of portable 3D scanning system according to the Scheimpflug condition, the depth-of-view is successfully extended from less than 40 to 100 mm. Based on the tilted camera model, the traditional two-step camera calibration method is modified by introducing the angle factor. Meanwhile, a novel segmental calibration approach, i.e., dividing the whole work range into two parts and calibrating, respectively, with corresponding system parameters, is proposed to effectively improve the measurement accuracy of the large depth-of-view 3D laser scanner. In the process of 3D reconstruction, different calibration parameters are used to transform the 2D coordinates into 3D coordinates according to the different positions of the image in the CCD plane, and the measurement accuracy of is obtained experimentally. Finally, the experiment of scanning a lamina by the large depth-of-view portable 3D laser scanner used by an industrial robot IRB 4400 is also employed to demonstrate the effectiveness and high measurement accuracy of our scanning system.