基于计算机视觉的大射电望远镜馈源舱动态定位系统

在FAST项目馈源舱扫描跟踪设计中 ,舱体的动态定位是实现系统闭环控制的基础。作者根据相机交汇测量原理提出了舱体空间动态定位的基本方法。推导了通过舱体上不共线三点描述舱体位姿的方法 ,介绍了相机交汇测量原理及系统标定方法 ,最后给出了大射电望远镜FAST 5 0m模型计算机视觉动态定位系统的组成 ,并讨论了CCD技术在FAST项目中应用的可行性     

基于双目视觉的大型高反光构件测量系统

为满足大型高反光构件的原位高效高精度测量,提出了一种基于双目视觉配合工业机器人的测量系统。该系统通过目标检测可以准确分割出视觉标志点所在的感兴趣区域,有效减少高反光表面造成的误提取,提高双目视觉测量系统的鲁棒性和测量效率。同时通过控制工业机器人末端运动,完成多位姿下对整个构件的测量,再通过多位姿间坐标转换关系将不同位姿测量的数据统一在同一坐标系下。实验结果表明:在1.2 m×1 m范围内拼接9个位姿后视觉测量精度RMS可达0.049 mm,整个测量系统能够有效完成对模拟舱体构件的高效高精度测量。     

基于多向联合交汇的柔性视觉形貌测量新方法

针对大尺寸物体形貌测量应用,设计一种视觉形貌测量新方法。该方法是将两套没有公共视场的单目视觉传感器组合起来联合交汇,分别用于位姿测量和单目多位置交汇测量。位姿测量通过求解PnP问题为单目多位置交汇测量提供位姿信息。单目多位置交汇测量利用位姿测量提供的辅助信息通过光束平差解算出待测物的形貌。分析了系统原理,给出位姿测量PnP算法实现过程,介绍了非公共视场相机的标定方法原理,分析了单目多位置交汇测量的原理并给出实现方法。最后进行了测量方法的验证实验,实验结果表明,在3 m×3 m的工作范围内系统测量精度为5 mm,证明该方法可以用于大尺寸物体形貌测量,且结构简单轻便,具有很强的灵活性。     

宽频馈源致冷测试讨论

针对宽频馈源致冷测试实验中出现的某些异常现象和测试数据波动性较大的问题,仿真分析了可能原因,为后续测试提供参考。基本结论为,应确保系统增益与测试仪器线性范围的匹配,尽量减小输出功率的测试误差;应尽量增加带宽内测量频点的数目,以利于判别驻波和编辑与筛选测量数据;可依据Y因子的合理取值范围甄别测量粗差;将馈源向下对准液氮表面,在理论上更具自洽性。     

X波段高功率微波馈源辐射总功率阵列法测量技术

 分析了采用阵列法测量高功率微波(HPM)馈源辐射总功率的相关技术环节。仿真计算了某型X带HPM馈源辐射场分布,设计了积分法测量辐射总功率的参数,并对积分总功率与端口注入功率的关系以及积分方法引入的测量误差进行了计算。设计了由8路HPM辐射场功率密度测量系统组成阵列,对馈源辐射场功率密度进行测量,保证功率密度测量结果一致性和重复性。测量结果表明：多路测量系统测量波形相同,单路系统多次重复测量偏差在±0.1 dB内,多路测量系统对同一点辐射场功率密度测量偏差在±0.3 dB内,馈源热测E面方向图与冷测结果基本符合,积分总功率与等效辐射功率测量结果吻合较好。     

双护盾硬岩隧道掘进机位姿测量系统

针对隧道施工中双护盾硬岩隧道掘进机位姿的精密测量需求,设计了一种组合式位姿测量系统。系统把单目视觉和激光标靶相结合,在利用激光标靶和全站仪完成掘进机后盾体位姿测量基础上,通过所设计的光学特征点空间分布模型,实现特征点的准确识别,根据特征点之间已知的几何约束关系和摄像机的透视投影模型,进行实时的图像处理和位姿解算,实现掘进机前盾体相对后盾体位姿的非接触式测量。系统建立了光学特征点、智能视觉传感器、激光标靶和全站仪之间的坐标转换关系,搭建了模拟双护盾硬岩隧道掘进机位姿变化的实验平台,并利用全站仪进行精度验证,最终完成掘进机全方位的实时位姿测量。实验结果表明:在30 m×3 m测量范围内,系统测量精度优于5 mm。测量系统具有精度高、抗噪声能力强和实时性好等优点,可满足隧道施工中双护盾硬岩隧道掘进机位姿的精密自动测量要求。     

单目视觉与倾角仪组合优化的位姿测量系统

为了提高单目视觉实时测量双护盾隧道掘进机前后盾相对位姿的精度,引入高精度倾角传感器与单目视觉构成一种组合测量系统。该系统将两个倾角传感器分别与视觉传感器和特征点系统固定连接,通过倾角传感器提供的多个角度约束,结合单目视觉实现掘进机前盾体相对于后盾体位姿的更高精度测量。仿真实验表明该系统是可行的,并且具有理想的精度。搭建了模拟双护盾隧道掘进机位姿变化的实验平台,利用全站仪进行精度验证。结果表明系统的测量精度优于3mm,相对于单目视觉测量方法来说,测量精度有了显著提升,可以满足隧道施工中双护盾隧道掘进机位姿的精密测量需求。     

面向机器人位姿测量的大视场变焦测量方法

针对机器人大范围位姿精准测量问题,提出一种大视场位姿测量的变焦测量方法。利用变焦图像匹配点的单应矩阵进行变焦内参动态计算,根据变焦前后靶标位姿求解相机坐标系变换,给出与变焦参数相关的PnP算法,考虑畸变后进行参数优化,并提出缩放和对焦两步变焦控制策略。提出一种基于图像模板的靶标板位姿测量算法,在靶标可视姿态均能稳定检测并区分标志点。对变焦测量系统进行误差测量实验和大场景跟踪实验,结果表明,不同变焦参数下均具有较高的单点测量精度,平均位置精度最高21.8μm,在400~1600 mm范围误差0.09mm,精度较高,使用的变焦相机可实现178.7461~9022.31mm测量。该方法实现了相机活动范围受限而测量范围可拓展的位姿测量。     

离心机动态失准角测量方法的研究

针对精密离心机动态失准角测量中存在的问题,提出以双轴光电自准直仪为核心测量仪器的失准角测量方法,在测量系统中采用真空光路屏蔽技术,减少了由于测量环境空气扰动带来的误差。对组成测量系统的各环节进行了误差分析与设计,理论分析与实验表明系统测量不确定度可达到0 2″。     

复杂系统的舱体屏蔽效能的评价方法

舱体屏蔽效能的试验评价是验证车载复杂系统抗电磁脉冲加固性能的重要环节。为了定量估计试验设计和结果评定所引入的不确定度,以高空电磁脉冲为背景,分别从频域/时域测试方法选择、测试频点设置、合格曲线设计和超差点的处理等几个要素,研究了舱体电磁脉冲屏蔽效能的验证评价方法。针对车载复杂系统典型舱体屏蔽效能较低的特点,针对不同屏蔽效能提出了一簇合格曲线,并基于二阶谐振系统模型,定量估计了频点设置准则、合格曲线、超差点处理准则所引入的不确定度,为舱体屏蔽效能的试验设计与数据分析提供了方法与支撑,同时定量分析也可作为不确定度估计的基础。     

车载光学测速仪/惯性组合导航定位定向系统研究

车载定位定向技术是指车上导航系统在载车行驶过程中精确确定其所在位置的地理坐标、北向方位及姿态角,为陆基导弹等武器的机动发射提供参考基准。对惯性定位定向系统的各种误差(包括陀螺和加表的随机漂移)进行误差分析建模,将光学测速仪的速度作为观测量,利用卡尔曼滤波技术,估计补偿惯性定位定向系统的各种误差,包括位置、速度、姿态和航向以及惯性器件误差等,最终实现系统的高精度组合导航。对山区泥石路和高原泥石路跑车试验结果进行统计分析发现,组合导航精度在15m以内,满足炮兵车陆基导弹等武器机动发射的使用需求。     

零件的角点提取及匹配定位

本文基于三坐标测量机(CMM)设计了一套视觉检测系统,该系统能够对零件实际空间特征信息进行比较全面地提取。针对位于CMM平台上带有角点的零件,利用Harris算子提取从CMM三个不同方位获取的零件图像的角点。对于Harris算子提取到的角点,本文提出一种八链码搜索法和SUSAN区域法相结合的伪角点剔除方法,最后基于立体视觉的原理,提出"距离空间图"匹配算法,将以上3幅图像一一建立匹配关系。实验中多次改变零件在CMM中姿态时,多次实验数据表明本文的角点提取精度与真实角点间仅存在1~2像素的偏差,零件的定位误差为1~3 mm。通过实验验证,角点匹配和定位的稳定性和精度满足要求,具有一定的抗干扰性和实用性。     

Active vibration control for structural-acoustic coupling system of a 3-D vehicle cabin model

This paper presents an active vibration control system for use with structural-acoustic coupling system using piezoelectric actuators and piezoelectric sensors. For modelling a complicated 3-D vehicle cabin model, the structural-acoustic coupling system is analyzed by combining the structural data from modal testing with the acoustic data from the finite element method. Through the structural-acoustic analysis program, the control plate and the control modes are selected, which are most effective for attenuating its noise. A robust LQG controller with two sensor signal filters is designed to remove the experimental problems such as the spillover effect due to uncontrolled modes. The robust LQG controller for the structural-acoustic coupling system can reduce the interior noise of the cavity as well as the structural vibration of the cabin.     

Improvement of noise reduction performance for a high-speed elevator using modified active noise control

A high rise building demands a high-speed elevator. Since a high-speed elevator has various transfer paths of noise transmitted from motor and rope to cabin interior, it is very difficult to solve the noise problem. Most research for noise reduction has been performed regarding passive noise control by using mainly absorption material and insulation material. In this study, while it is modeling as multiple-input and single-output with respect to transfer paths of high-speed elevator on conditions of stationary and driving states, the characterized frequency in the cabin is discovered through a contribution technique. It is able to replace by 1-dimensional model to control noise at a major contributed frequency. Also, a new active noise control technique has been proposed to control the cabin noise effectively at unpleasant area that is required to make quite zone for passenger. The Correlation Filtered X-LMS (Co-FXLMS) algorithm has been applied to control the dominant frequency noise that it has a high contribution. Simultaneously, this study has a proposed Moving Band Pass Filter (MBPF) to improve the performance of active noise control in the cabin which is able to apply a dynamic system with time variant states. Finally, we obtained the 8 dB noise reduction in the cabin at ear level and it has been proved that the modified active noise control using Co-FXLMS algorithm and MBPF is available to improve the performance of noise reduction.     

一种某型雷达高频舱数字电路测试系统的研究

某型引进装备雷达高频舱部位数字电路随着使用年限的增长,使用频率的增多,故障率逐年增高,已严重制约装备功能的发挥。针对原有备件必须在所属装备测试的验证方式,对装备本身消耗大、验证手段单一,无法满足维修保障需求的问题,开发了基于实物数据采集、分析、测试于一体的自动测试系统,有效地解决了装备作为唯一验证手段的现状,同时大大提高了测试验证的工作效率及验证的准确性,对装备整体功能以及局部功能的检测产生很大的作用,实用性强,适于推广应用。     

Field-induced spin-reorientation transitions in magnetic superlattices with uniaxial anisotropy and biquadratic exchange

Phase transitions induced by an external field are investigated in magnetic multilayer systems with uniaxial anisotropy and biquadratic exchange. A magnetic field directed perpendicular to the plane of the layers changes the effective anisotropy and exchange constants, determining the orientation of the magnetization in the plane of the layers, and can give rise to spin-reorientation transitions. All possible types of such transitions are investigated for the case of uniaxial anisotropy, which differs substantially from the case of cubic anisotropy by the different renormalization of the effective anisotropy constants. Fiz. Tverd. Tela (St. Petersburg) 41, 461–463 (March 1999)     

Dynamics of harmonically-confined systems: Some rigorous results

In this paper we consider the dynamics of harmonically-confined atomic gases. We present various general results which are independent of particle statistics, interatomic interactions and dimensionality. Of particular interest is the response of the system to external perturbations which can be either static or dynamic in nature. We prove an extended Harmonic Potential Theorem which is useful in determining the damping of the centre of mass motion when the system is prepared initially in a highly nonequilibrium state. We also study the response of the gas to a dynamic external potential whose position is made to oscillate sinusoidally in a given direction. We show in this case that either the energy absorption rate or the centre of mass dynamics can serve as a probe of the optical conductivity of the system.     

前舱物对低速大质量平头弹侵彻金属薄板的影响

为了研究前舱物对低速大质量平头弹侵彻金属薄靶的影响,根据前舱物的力学特性,将前舱物等效为轻质泡沫铝材料,建立了含前舱物的平头弹结构有限元分析模型,开展了不同工况下带前舱物平头弹侵彻金属薄板的数值模拟计算,分析了带前舱物平头弹侵彻金属薄板的过程,对比了带前舱物平头弹和不计前舱物平头弹在不同工况下剩余速度的差异。数值计算结果表明:带前舱物平头弹与不计前舱物平头弹的侵彻过程存在明显差异,但靶板破坏模式相同;前舱物等效材料的屈服强度对平头弹侵彻性能的影响很小,可以忽略不计;前舱物有助于提高平头弹侵彻金属薄板的能力,但提升幅度有限。在实际工程应用中,可以忽略前舱物对平头弹侵彻金属薄板的影响。     

Cabin attendants’ exposure to vibration and shocks during landing

The Scandinavian Airlines System (SAS) has noted that cabin attendants have reported an increase in health problems associated with landing. The European Union reports cover health problems related to neck, shoulder, and lower-back injuries. Moreover, analysis of these reports shows that the problems are often associated with specific airplanes that have a longer tail behind the rear wheels and appear more often in attendants who sit in the back of planes rather then the front. Against this background, this study measures and describes the vibration during landing in specific airplanes to evaluate the health risk for the cabin attendants.Measurements were conducted on regular flights with passengers in the type of airplane, Boeing 737-800, which was related to the highest per cent of reported health problems. All measurements were performed the same day during three landings in one airplane with the same pilots and cabin attendants. The measurements were carried out simultaneously on the cabin crew seats in the back and front of the passenger cabin. Under the cabin crew's seat cushions, a triaxiell seat-accelerometer was placed to measure the vibration in three axes. The signals from the accelerometers were amplified by charge amplifiers and stored on tape. The stored data were analysed with a computer-based analyse system.For the cabin attendants, the dominant direction for the vibration load during landing is the up-and-down direction although some vibration also occurs in the other horizontal directions. The exposure to vibration is higher on the rear crew seat compared to the front seat. For instance, both the vibration dose value (VDV) and the frequency-weighted acceleration in the dominant direction are more then 50% higher on the rear seat. The frequency-weighted acceleration and the VDV measured at the crew seats are below the exposure limits as described by the European vibration directive. The evaluation of the cabin attendants’ exposure to multiple shocks during landing shows that the potential of an adverse health effect for the cabin attendants is low in the front of the airplane and increases to moderate in the rear. Although this is a limited study, it could be conclude that there could be a risk for cabin attendants due to the exposure of multiple shocks. Therefore, efforts should be spent to minimize their risk by developing a better seat cushion and back support to lessen the effects of shocks. In addition, attendants should be informed about the most suitable posture to take during landing.