移动机器人目标识别算法

针对移动机器人在目标识别过程中对视觉图像特征点提取慢,匹配不准确等特点,提出了一种基于SIFT算法的改进目标识别算法。通过采用组合匹配策略,将特征关键点间的距离和内积同时进行考察,根据其自身值的大小,决定对匹配相似度的贡献。组合策略的引入有效地解决了机器人在目标识别中对相同特征图像不能匹配和不同特征图像能够匹配的问题。为克服目标匹配时实性差的弱点,以关键点为根据构建K维树结构,采用最近邻点搜索,快速找出正确匹配的特征点。为实现移动机器人目标识别过程中的自主性,在特征点匹配过程中引入自适应阈值进行判断。实验表明,该方法对移动机器人目标识别准确率有较大提升,能够满足移动机器人在目标识别和跟踪过程中对视频图像处理的实时性和准确性的要求。     

适用于波前处理器的自适应光学系统非共光路像差补偿方法

提出了一种适合硬件形式波前处理器的非共光路像差校正方法.讨论了非共光路像差的产生原因和运用相位差异技术检测非共光路像差的方法.根据波前处理器的工作流程,推导了将非共光路像差折算到波前探测器参考点偏移量的算法,编写了实现算法的主控计算机软件模块.在望远镜光路中以光源为目标开展实验,用本文算法校正后,目标能量集中度提高了17.6%,证明了该方法的可行性.     

基于KPCA-K-means++和GA-LMS模型的改进RBF神经网络室内可见光定位

针对室内可见光定位接收光功率不均匀、定位精度低等问题,提出一种自适应花授粉定量式灯源优化方案结合改进径向基函数(RBF)的神经网络接收信号强度指示(RSSI)可见光定位方法.所提方法采用自适应花授粉算法优化发射器的光照强度;通过基于改进RBF神经网络的RSSI定位方法处理接收到的均匀光信号,实现精确有效定位.利用核主成分分析K-means++(KPCA-K means++)聚类模型对RSSI样本值进行预处理,得到最优聚类数目和聚类中心,作为隐含层神经元个数和中心值.通过遗传算法-最小均方(GA-LMS)模型对RBF神经网络参数进行寻优.仿真结果表明,在9 m×12 m×3.5 m的室内环境中,接收光功率为 28.6 dBm～-25.1 dBm,定位误差小于0.1m.因此,所提改进后的可见光定位方法具有定位精度更高、实用性更强等优点.     

平面波超声成像中的波束合成方法研究进展*

平面波成像通过单次全孔径发射-接收即可获取整幅图像,将成像帧频显著地提升至1000帧/秒以上。然而,平面波成像过程中发射的非聚焦波束将导致回波信号信噪比降低,进而使图像的分辨率和对比度变差。通过多角度相干复合成像技术可以改善平面波成像的图像质量,但是会以牺牲帧频为代价。因此研究人员们开始将新型波束合成技术引入平面波成像中,例如自适应波束合成、基于逆问题求解的波束合成及基于深度学习的波束合成方法等,以期实现图像质量和成像帧频间更好的权衡。该文综述了平面波成像中的新型波束合成方法领域的研究进展,并对该应用进行了总结和展望。     

模糊抗差自适应粒子滤波及其在组合导航中的应用

在研究模糊控制理论的基础上,吸收了粒子滤波、自适应滤波和抗差估计的优点,提出一种新的模糊抗差自适应粒子滤波算法。文中根据量测向量中的粗差对状态向量滤波的影响,建立抗差自适应粒子滤波模型,获得自适应因子,然后对滤波处理后的数据残差基于模糊理论构造等价权函数,利用等价权函数和自适应因子合理地分配信息,因而可以达到一般滤波方法无法达到的滤波精度,且能有效地控制粗差对导航解的影响。最后,将该算法应用到组合导航系统中,并进行仿真验证。仿真结果证明,文中提出的模糊抗差自适应粒子滤波算法的滤波精度相对于扩展Kalman滤波和粒子滤波提高了3至5倍,明显提高了导航定位精度,且计算简单,便于实时性计算。     

THEORY OF DIELECTRIC ELASTOMERS

In response to a stimulus, a soft material deforms, and the deformation provides a function. We call such a material a soft active material （SAM）. This review focuses on one class of soft active materials： dielectric elastomers. When a membrane of a dielectric elastomer is subject to a voltage through its thickness, the membrane reduces thickness and expands area, possibly straining over 100%. The dielectric elastomers are being developed as transducers for broad applications, including soft robots, adaptive optics, Braille displays, and electric generators. This paper reviews the theory of dielectric elastomers, developed within continuum mechanics and thermodynamics, and motivated by molecular pictures and empirical observations. The theory couples large deformation and electric potential, and describes nonlinear and nonequilibrium behavior, such as electromechanical instability and viscoelasticity. The theory enables the finite element method to simulate transducers of realistic configurations, predicts the efficiency of electromechanical energy conversion, and suggests alternative routes to achieve giant voltage-induced deformation. It is hoped that the theory will aid in the creation of materials and devices.     

Control of a Unified Chaotic System via Single Variable Feedback

Based on the LaSalle invariance principle, we propose a simple adaptive-feedback for controlling the unified chaotic system. We show explicitly with numerical proofs that our method can easily achieve the control of chaos in the unified chaotic system using only a single variable feedback. The present controller, to our knowledge, is the simplest control scheme for controlling a unified chaotic system.     

一种测量无规则裂缝宽度的量化模型与实现

建立了一种测量无规则裂缝宽度的量化模型,提出了一种真伪裂缝区域分割新方法.该方法通过边缘检测并利用形态学膨胀运算,在待测裂缝的两侧边缘区域选取近似等量的目标像素和背景像素后,设置门限以自适应选取最佳分割阈值,提取出裂缝区域,进而提取裂缝的走势及边缘像素,用建立的量化模型,即可实现宽度测量.该测量方法能有效克服裂缝图像的噪音较大、裂缝不规则等弊端,去除裂缝图像的伪裂缝区域,测量结果的重复准确度在0.1mm以内.实验结果表明,该方法有效地实现了裂缝宽度的准确测量,具有较强的适应性.     

Optimization designed large-stroke MEMS micromirror for adaptive optics

A novel micromirror based on the PolyMUMPs process is designed and presented. The hexagonal micromirror with a diameter of 450 μm consists of three supporting bilayer cantilevers and a mirror plate. The bilayer cantilevers, formed with a polysilicon layer and a gold layer, elevate the mirror plate according to residual stress-induced bending. Both analytical and finite element analysis (FEA) models are built to calculate the elevated height of the free end of the cantilever. The analytical solution is in accordance with the FEA simulation results, with longitudinal stresses applied only. Results of a three-dimensional (3D) simulation with two direction stresses applied also show the elevated height to be proportional to the width of the cantilever and the length of the gold layer. Due to the torque of the joint, the elevated heights of the two kinds of cantilevers assembled with the mirror plates are much smaller than those of the free end of the cantilevers. Both micromirrors with different cantilevers are fabricated. The elevated heights of the fabricated micromirrors are measured using Veeco optical profiler, which show good coincidence with simulation results.