基于Compax3的伺服升降平台控制系统设计

针对现有同步、大载荷升降平台行程控制精度低、人机交互性差的缺点,设计了一种基于Compax3伺服控制器的升降平台控制系统。利用一台伺服电机驱动多个滚珠丝杆同步螺旋升降运动,分别通过CANopen和串口通信的方式实现本地、远程同时对升降平台的运动控制和状态监控,并且独立控制电机刹车方便安装和调试。试验结果表明,该控制系统的行程控制误差小于0.1mm,系统控制精度高、人机界面友好、功能丰富、性能稳定,具有较高的工程应用价值。     

超快电子衍射技术及其应用

时间和空间上实时观测原子运动对于自然科学研究有着非常重大的意义, 而超快电子衍射(UED)技术同时具备飞秒激光脉冲的高时间分辨特性和电子衍射技术的高空间特性, 可以为实时观测原子级分辨尺度物质的结构变化提供一种有效工具. 本文综述了超快电子衍射技术的发展历史、实验方法以及相关应用, 并且展望了超快电子衍射技术未来的发展.     

基于扩展卡尔曼滤波的吊钩姿态估计技术研究 

针对吊钩运动不定且易受大风、雾气等影响其作业效率问题,提出并实现基于MEMS传感器的吊钩姿态估计系统。建立吊钩三维空间运动模型,消除吊钩扭转影响;通过四元数的扩展卡尔曼滤波算法,对MEMS陀螺仪、加速度计与磁强计进行数据融合,解算得到吊钩三维姿态、摆角与摆向;采用基于视觉检测的吊钩空间姿态为参考基准,对起重机吊钩进行姿态估计验证。实验结果表明：该系统能有效融合MEMS传感器数据,获得高精度的吊钩姿态,实现姿态的实时检测。     

基于机器学习的烟雾检测算法去除固定干扰

烟雾是早期火灾最为突出的视觉表现,因此检测火灾烟雾在日常防火应用中具有重要的意义。针对目前视频烟雾检测算法中误报率高,适应性差等特点,在实施基本烟雾检测算法并在其基础上提出基于机器学习的视频烟雾去干扰方法,能很大程度上去除固定干扰物的干扰,提高了烟雾识别的正确率。实验证明,该算法可以较好、较快地检测出烟雾,并做出早期的预警工作,且具有检测精确等优点,很方便在现实中推广使用。     

The precise time-dependent solution of the Fokker–Planck equation with anomalous diffusion

We study the time behavior of the Fokker–Planck equation in Zwanzig’s rule (the backward-Ito’s rule) based on the Langevin equation of Brownian motion with an anomalous diffusion in a complex medium. The diffusion coefficient is a function in momentum space and follows a generalized fluctuation–dissipation relation. We obtain the precise time-dependent analytical solution of the Fokker–Planck equation and at long time the solution approaches to a stationary power-law distribution in nonextensive statistics. As a test, numerically we have demonstrated the accuracy and validity of the time-dependent solution.     

Antagonistic formation motion of cooperative agents

This paper investigates a new formation motion problem of a class of first-order multi-agent systems with antagonistic interactions.A distributed formation control algorithm is proposed for each agent to realize the antagonistic formation motion.A sufficient condition is derived to ensure that all of the agents make an antagonistic formation motion in a distributed manner.It is shown that all of the agents can be spontaneously divided into several groups and that agents in the same group collaborate while agents in different groups compete.Finally,a numerical simulation is included to demonstrate our theoretical results.     

A close look at the motion of C60 on gold

In this paper, we have studied the motion of buckminsterfullerene (C₆₀) on a gold surface by analyzing its potential energy and using classical molecular dynamics method. The results can be employed to investigate the motion of C₆₀-based nanocars which have been made in recent years. For this purpose, we have studied the translational and rotational motions of C₆₀ molecule independently. First, we have calculated the potential energy of a C₆₀ molecule on a gold surface in different orientations and positions and employed this data to predict fullerene motion by examining its potential energy. Then we have simulated the motion of C₆₀ at different temperatures using classical molecular dynamics methods. Specifying the regime of the motion at different temperatures is one of main goals of this paper. We have found that the rotational motion of C₆₀ molecule on the gold substrate, was easier than its sliding (translational) motion. Also, the regime of motion of fullerene depended on temperature. The results demonstrate that three different regimes of motion, dependent on temperature, could be observed: rare jumps to adjacent cells, frequent jumps, and continuous motion. Employing the results of this paper not only helps to understand the C₆₀ motion on the gold surface but also provides an appropriate tool for realizing motion of the thermally-driven fullerene-based nanocars.     

Levy噪声激励下的幂函数型单稳随机共振特性分析

将Levy噪声与幂函数型单稳随机共振系统相结合, 为确保实验数据的可靠性, 以平均信噪比增益为衡量指标, 针对Levy噪声激励下的随机共振现象进行了研究. 详细介绍了单稳系统势函数形式及Levy噪声的产生原理, 深入探究了不同特征指数α 和不同对称参数β 取值条件下, 单稳系统参数a和b、Levy噪声强度放大系数D对幂函数型单稳系统共振输出的作用规律. 研究结果表明, 在任意Levy噪声分布条件下, 通过对系统参数a和b的适当调整均能诱导随机共振, 完成微弱信号检测, 且有多个随机共振区间与之对应, 同时这些区间不随α 或β 的改变而改变; 此外, 在研究噪声诱导的随机共振时也发现了同样的规律, 通过调节噪声强度放大系数D也能产生随机共振, 且随机共振区间也不随α 或β 的改变而改变; 最后, 在研究系统参数a和b之间的相互作用关系时发现, 一个系统参数的随机共振取值区间会随着另一个系统参数的改变而改变. 所获得的研究结果有效解决了Levy噪声激励下幂函数型单稳随机共振系统的系统参数、噪声强度放大系数的选择问题, 为其应用于工程实践提供了可靠的理论依据.     

基于指导滤波的图像盲复原算法

作为图像处理领域的重要分支和研究热点之一, 图像复原方法 的研究始终具有重要理论意义和广泛的应用价值, 图像盲复原一直以来都 是图像复原中比较困难的问题之一. 针对相机与所拍摄景物之间由于相对 位置移动而使所获得图像发生运动模糊的情况, 本文提出了一种基于指导滤波 的图像盲复原算法. 我们首先通过频域迭代算法对点扩散函数 进行估计. 然后, 由于指导滤波具有较好的保持图像边缘的特性, 我们应用基于指导滤波的图像非盲复原算法恢复目标图像. 对以上两步进行反复迭代, 直到获得最终的清晰图像. 为了验证本文所提算法的有效性, 给出了多组对比实验. 实验结果表明, 本文所提算法能够在有效地抑制噪声和振铃 效应的同时, 还能够更好的保持图像的边缘和纹理细节. 因此, 本文算法可以获得更高质量的复原图像.