基于图像特征检测和匹配的无人船航行姿态角提取方法

计算机视觉的飞速发展, 使得采用视觉技术辅助无人船航行成为可能. 在无人船巡航过程中, 获取船体航向是航行控制的必备基础. 特征匹配是无人船相关视觉技术中的重要部分, 是目标识别和定位等功能的关键步骤. 获取无人船运动姿态的基本步骤是对图像前后帧进行有效的特征提取和匹配. 针对水域环境中的图像静态特征提取速度慢、精度低的问题, 本文提出一种图像匹配方法以求取无人船的航行姿态角. 首先对图像预处理, 并对有效区域进行特征提取. 其次, 设计一种基于描述子相似度的初始特征匹配策略. 再其次, 筛选特征匹配对, 优化模型参数. 最后, 通过前后帧旋转矩阵计算航行姿态角. 实验表明, 该方法能有效提取无人船的航行姿态角.     

Handling contacts in an Eulerian frame: a finite element approach for fluid structures with contacts

ABSTRACT

Eulerian variational formulations for deformable solids, with or without fluids around them, end up, after implicit time discretisation, as large non-linear systems for the velocities in the moving domains. Handling moving domains and moving boundaries requires careful meshing procedures; on the other hand, the detection of contact is particularly simple with a distance function. Then at every time step, a variational inequality can be used to update the velocities. This article gives new implementation details and two new complex simulations: a very soft bouncing ball in an axisymmetric flow and a disk hit by a club.     

Oscillation and non‐oscillation results for solutions of perturbed half‐linear equations

The purpose of this paper is to describe the oscillatory properties of second‐order Euler‐type half‐linear differential equations with perturbations in both terms. All but one perturbations in each term are considered to be given by finite sums of periodic continuous functions, while coefficients in the last perturbations are considered to be general continuous functions. Since the periodic behavior of the coefficients enables us to solve the oscillation and non‐oscillation of the considered equations, including the so‐called critical case, we determine the oscillatory properties of the equations with the last general perturbations. As the main result, we prove that the studied equations are conditionally oscillatory in the considered very general setting. The novelty of our results is illustrated by many examples, and we give concrete new corollaries as well. Note that the obtained results are new even in the case of linear equations.     

考虑剪切效应的旋转FGM楔形梁刚柔耦合动力学建模与仿真

本文对一类中心刚体-柔性梁系统在大范围转动下的刚柔耦合动力学问题进行了研究. 柔性梁为功能梯度材料(functionally graded materials, FGM)楔形变截面梁,材料体积分数在梁轴向呈幂律分布变化. 以弧长坐标来描述柔性FGM梁的几何位移关系,分别使用倾角和拉伸应变变量描述柔性梁的横向弯曲和纵向拉伸变形,并计及剪切效应. 采用假设模态法离散变形场,运用第二类拉格朗日方程进行方程推导,得到系统考虑剪切效应的刚柔耦合动力学模型. 基于全新的刚柔耦合动力学建模理论,研究不同轴向材料梯度分布的FGM楔形梁,通过数值仿真计算,分析讨论不同的转速、梯度分布规律以及变截面参数对系统动力学特性的影响. 结果表明,剪切效应对大高跨比的FGM楔形梁的变形影响较为明显,不容忽略;材料梯度分布规律和截面参数的选取均会对旋转FGM楔形梁的动力学响应和频率产生较大影响. 本文提出的考虑剪切效应的倾角刚柔耦合动力学模型是对以往非剪切模型的进一步完善,可应用于工程中的 Timoshenko梁结构的动力学问题求解.      

中红外光谱结合向量夹角直接定量三氯蔗糖

多组分复杂体系的红外光谱由于成分多样、谱带严重重叠、背景干扰等导致谱图特征减弱，且体系中的红外光谱往往不是各组分光谱的简单叠加，需要借助于化学计量学技术以实现解析。基于朗伯-比尔定律（Lambert-Beer law）并且随着衰减全反射（ATR）技术取样普及，结合偏最小二乘回归法（PLS）、人工神经网络（artificial neural network, ANN）等化学计量法将数据进行累积、特征提取以及校正建模等工作解决红外光谱中严重重叠和非线性等问题，再采用二次测量定量分析已初步具有应用成效，而有效增强信息量表达，降低背景、噪声干扰，减少复杂的计算过程，进而保证定量分析结果的可靠性，则成为研究的主要方向。通过讨论光通道和背景对光谱强度变化的影响，结合向量角度转换提出一种新的近似线性定量方法。经初步理论计算，发现多组分混合物与该混合物中待测组分的相对含量二者间的向量夹角值存在一定的关系，而该关系并不受批次制样的影响，进一步通过高斯曲线模拟混合信号，充分说明选择合适的波长范围，二者在一定范围内存在线性相关性，相关性不受测量条件变化的影响。采用KBr压片法，向待测样品中逐步加入待测组分得到混合样本，分别得到待测组分光谱与混合样本光谱信号，先将其进行一阶求导，消除加性误差后，再将其转化为空间向量角度，消除批次制样中光程差异，再以百分比定义待测物样品的含量，所得到混合样的夹角值与其中所含参照品含量成简单线性关系，即以计算结果夹角值与含量作标准曲线，实现定量分析。本测量方法用于三氯蔗糖（Sucralose, TGS）与三氯蔗糖-6-乙酸酯（4,1,6-trichloro sucrose-6-acetate, TGS-6-A）二者进行一定比例混合（双组分体系），以及TGS-6-A的脱酰产物（多组分体系）中的TGS的含量定量分析，在两种体系中定量均得到令人满意的结果，所建立标准曲线的相关系数r均达到0.995 0以上，相对误差均低于8.0%，所建立的分析方法对利用中红外透射光谱分析研究多组分样品具有重要的参考价值。     

Highly Effective Detection of Amitraz in Honey by Using Surface-Enhanced Raman Scattering Spectroscopy Coupled with Chemometric Methods

As an effective and universal acaricide, amitraz is widely used on beehives against varroasis caused by the mite Varroa jacobsoni. Its residues in honey pose a great danger to human health. In this study, a sensitive, rapid, and environmentally friendly surface-enhanced Raman spectroscopy method (SERS) was developed for the determination of trace amount of amitraz in honey with the use of silver nanorod (AgNR) array substrate. The AgNR array substrate fabricated by an oblique angle deposition technique exhibited an excellent SERS activity with an enhancement factor of ∽10⁷. Density function theory was employed to assign the characteristic peak of amitraz. The detection of amitraz was further explored and amitraz in honey at concentrations as low as 0.08 mg/kg can be identified. Specifically, partial least square regression analysis was employed to correlate the SERS spectra in full-wavelength with C_amitraz to afford a multiple-quantitative amitraz predicting model. Preliminary results show that the predicted concentrations of amitraz in honey samples are in good agreement with their real concentrations. Compared with the conventional univariate quantitative model based on single peak’s intensity, the proposed multiple-quantitative predicting model integrates all the characteristic peaks of amitraz, thus offering an improved detecting accuracy and anti-interference ability.     

Bifurcation analysis of visual angle model with anticipated time and stabilizing driving behavior

In the light of the visual angle model (VAM), an improved car-following model considering driver's visual angle, anticipated time and stabilizing driving behavior is proposed so as to investigate how the driver's behavior factors affect the stability of the traffic flow. Based on the model, linear stability analysis is performed together with bifurcation analysis, whose corresponding stability condition is highly fit to the results of the linear analysis. Furthermore, the time-dependent Ginzburg-Landau (TDGL) equation and the modified Korteweg-de Vries (mKdV) equation are derived by nonlinear analysis, and we obtain the relationship of the two equations through the comparison. Finally, parameter calibration and numerical simulation are conducted to verify the validity of the theoretical analysis, whose results are highly consistent with the theoretical analysis.     

MOTION OF THE ECCENTRIC ELLIPSOID: GYROSCOPIC BALANCE CONDITION AND STABILITY

本文研究了摩擦系数 和偏心距离对偏心椭球体回转平衡的影响,得到了椭球极轴与地面法向夹角 的运动方程,导出了两类稳定解.结果表明摩擦力是椭球能否旋转至直立的必要条件,当 偏心距一定, 摩擦系数 越大其运动至直立所需的时间越短.偏心距阻碍直立现象的出现,摩擦系数 一定,偏心距 越大,其运动至直立所需的时间越长.当偏心距值增大到一定程度,其将无法直立而是至一稳定的角度,并且稳定角度正比于偏心距,偏心距继续增大,将不会出现回转平衡.     

Topography guiding the accelerated and persistently directional cell migration induced by vaccinia virus

The rapid transmission of vaccinia virus(VACV)in vivo is thought to be closely related to the cell migration induced by it.Cell migration involved in dynamic changes of cell-substrate adhesion and actin cytoskeleton organization,which can influence by the micro/nano-scale topographic structures that cells are naturally exposed to via contact guidance.However,migration behaviors of VACV-infected cells exposed to topographic cues are still unknown.Herein,we designed an open chip with microgrooved poly(dimethyl siloxane)(PDMS)substrate to explore the topography roles in VACV-induced cell migration.Differed from the random cell migration observed in traditional scratch assay on planar substrate,VACV-infected cells had a tendency to persistently migrate along the axis parallel to microgroove with increased velocity.Moreover,infected cells exhibited a dominant elongated protrusion aligned to the micro-grating axis compare to the shorter lamella extended in any direction on smooth substrate.Interestingly,the Golgi complex preferred to relocate behind the nucleus confined within the micro-grating axis in majority of infected migratory cells.The directional polarization of cells embodied in protrusion formation and Golgi reorientation was responsible for the directionally persistent migration behaviors induced by VACV on microgrooved substrate.Infected cells response to substrate topography,causing the actin-filled stretched protrusion containing numerous virions and accelerated movement is likely to facilitate direct and rapid spread of VACV.This work opens a window for us to understand the migration behaviors of infected cells in vivo,and also provides a cue for revealing the relationship between virus-induced cell migration and virus rapid spread.     

光栅衍射实验中测量光栅常数的两种辅助方法

衍射光栅可以将不同波长的光在空间上分离开,在光谱分析领域中有广泛应用.利用光栅的衍射来测量光栅常数是大学物理实验中的一个典型实验,而本文介绍的正是光栅衍射实验中的两个有趣现象:一是旋转光栅时,谱线的偏转角存在一个最小值;二是光栅旋转到一定角度时,衍射光斑会逐渐消失在视野中.论文从理论上分析解释这两种现象,并设计出两种测量光栅常数的方法,在实验上进行验证.与传统的用最小偏转角测光栅常数的方法相比,本文重点分析了由判定最小偏转角位置偏差所带来的影响,并提出了对称旋转测量的方法来进一步减小误差.