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.     

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.     

Effect of rotation in magneto-thermoelastic transversely isotropic hollow cylinder with three-phase-lag model

This article deals with the various heat source responses in a transversely isotropic hollow cylinder under the purview of three-phase-lag (TPL) generalized thermoelasticity theory. In presence of magnetic field and due to the rotating behavior of the cylinder, the governing equations are redefined for generalized thermoelasticity with thermal time delay. In order to obtain the stress, displacement and temperature field, the field functions are expressed in terms of modified Bessel functions in Laplace transformed domain. When the outer radius of hollow cylinder tends to infinity, the corresponding results are discussed. Finally an appropriate Laplace transform inversion technique is adopted.     

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.     

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.     

基于等效介质原理的宽角超材料吸波体的理论分析

目前,很少有文章就如何实现宽角度吸波材料进行详细的理论分析和设计指导,设计宽角度吸波材料仍然是一件很困难的事情.本文基于等效介质理论对带有反射地板的单层介质超材料吸波体进行较为详细的理论分析.从基础电磁理论出发,推导TE波(横电波,电场方向与入射面垂直的平面电磁波)和TM波(横磁波,磁场方向与入射面垂直的平面电磁波)照射下吸波体的反射系数,分析实现宽角度吸波效果所需的等效电磁参数,为宽角度超材料吸波体的设计提供了理论基础.此外,论文还理论分析了实现宽带宽角吸波等效电磁参数所要满足的条件,并做了计算检验.结果表明,当介质等效电磁参数按照特殊曲线随频率发生变化时,理论上能实现宽带宽角的吸波效果.     

Structures of Highly Twisted Amides Relevant to Amide N−C Cross‐Coupling: Evidence for Ground‐State Amide Destabilization

Herein, we show that acyclic amides that have recently enabled a series of elusive transition‐metal‐catalyzed N?C activation/cross‐coupling reactions are highly twisted around the N?C(O) axis by a new destabilization mechanism of the amide bond. A unique effect of the N‐glutarimide substituent, leading to uniformly high twist (ca. 90°) irrespective of the steric effect at the carbon side of the amide bond has been found. This represents the first example of a twisted amide that does not bear significant steric hindrance at the α‐carbon atom. The ¹⁵N NMR data show linear correlations between electron density at nitrogen and amide bond twist. This study strongly supports the concept of amide bond ground‐state twist as a blueprint for activation of amides toward N?C bond cleavage. The new mechanism offers considerable opportunities for organic synthesis and biological processes involving non‐planar amide bonds.     

水下对转螺旋桨流致辐射噪声机理与预报方法*

水下对转螺旋桨流致辐射噪声的预报对于水下目标的特征提取和分类识别具有重要意义。由桨叶的旋转引起的湍流场是水下对转螺旋桨流致辐射噪声的源场。分述了水下对转螺旋桨湍流边界层脉动、旋转干涉效应和空化效应引发的水动力噪声机制和研究进展,比较了目前工程应用中的3种对转螺旋桨流致辐射噪声预报方法的特点。在分析对转螺旋桨流致辐射噪声数值预报难点的基础上,综述了对转螺旋桨流致辐射噪声计算方法的研究进展,指出间接数值模拟方法是工程中进行对转螺旋桨流致辐射噪声预报的有效方法。     

角锥棱镜谐振腔激光模式模拟研究

为了探究角锥棱镜谐振腔激光模式,以角锥-平面镜腔为例,将角锥棱镜等效为衍射光栅,考虑角锥镜棱宽在谐振腔中的衍射效应以及二面角误差引起的附加相位分布对谐振腔激光模式的影响,在光学谐振腔理论的基础上,建立了求解本征模式的理论分析模型.采用快速傅里叶法数值模拟不同腔长、角锥镜棱宽和二面角误差情况下该无源谐振腔激光输出模式分布情况.结果表明,在腔长30 cm、角锥镜棱宽小于75μm、二面角误差在-10′~5′之间时,可实现光斑完整的圆形分布输出模式,且有较好的光束质量;棱宽不小于0.4 mm,二面角误差在-40′~10′之间时,光斑为TEM 03阶横模,光场呈六瓣分布;当角锥镜棱宽为0.4 mm、二面角误差为3′,腔长从30~90 cm范围内增加时,该谐振腔输出的激光模式从TEM 03转换成TEM 10.