立体视觉测量中的图像匹配策略研究

立体视觉测量广泛应用于机器人导向和各种柔性制造系统中 ,其中图像特征的准确匹配始终是一个难题。推导了共极性线方程 ,采取相关匹配和特征匹配相结合的方法来提高图像匹配的速度和精度 ,利用建模估计得到匹配像点的精确坐标 ,使三维测量精度达到目标距离的 1/10 0 0 0左右     

地磁辅助导航中的潜艇干扰磁场

为了实现高精度的地磁辅助导航,必须从磁场传感器的测量数据中补偿潜艇干扰磁场,分离出准确的地磁场.分析了潜艇干扰磁场的来源,针对最主要的磁化磁场进行研究.建立了潜艇磁化磁场的方程和边界条件,采用有限元软件ANSYS进行仿真计算和分析.仿真结果表明,在地磁场作用下,潜艇下方距轴线1.25倍艇身半径处,磁化磁场强度为104nT;距轴线20倍艇身半径处,磁化磁场已减弱至50 nT左右.重点分析了潜艇下方距轴线1.5倍艇身半径处,磁化磁场的分布特性.分析表明,潜艇磁化场与地磁场之间存在线性转换关系;建立了线性转换矩阵,其中转换矩阵各元素只与空间点坐标、潜艇几何结构、材料特性有关.     

Magnetoresistance effect in vertical NiFe/graphene/NiFe junctions

For convenient and efficient verification of the magnetoresistance effect in graphene spintronic devices, vertical magnetic junctions with monolayer graphene sandwiched between two NiFe electrodes are fabricated by a relatively simple way of transferring CVD graphene onto the bottom ferromagnetic stripes. The anisotropic magnetoresistance contribution is excluded by the experimental result of magnetoresistance (MR) ratio dependence on the magnetic field direction. The spin-dependent transport measurement reveals two distinct resistance states switching under an in-plane sweeping magnetic field. A magnetoresistance ratio of about 0.17 % is obtained at room temperature and it shows a typical monotonic downward trend with the bias current increasing. This bias dependence of MR further verifies that the spin transport signal in our device is not from the anisotropic magnetoresistance. Meanwhile, the I—V curve is found to manifest a linear behavior, which demonstrates the Ohmic contacts at the interface and the metallic transport characteristic of vertical graphene junction.