一种基于射影变换不变性的相机标定方法

随着数码相机在科技和生活中的应用范围不断扩大,其标定技术也受到了越来越多的关注.根据射影变换的不变性,提出了一种新的相机标定方法.首先探讨了世界坐标系、相机坐标系、图像像素坐标系、图像坐标系之间的关系,建立了相机标定方程,然后借助射影变换的特性提出了基于射影变换不变性的相机标定方法,并设计了相应的相机标定模版,最后对该方法进行了相关实验.     

A proposed model for measuring the aggregative risk degree of implementing an RFID digital campus system with the consistent fuzzy preference relations

An RFID digital campus system implementation can enhance convenience in teaching environment, teaching quality and administrative efficiency. When administrators decide to implement an RFID digital campus system, they often encounter unexpected internal and external risk factors and difficulties. Therefore, this study proposes a novel analytic hierarchy model for helping administrators to identify the critical risk factors affecting the RFID digital campus system initiation, and measuring the aggregative risk of implementing an RFID digital campus system. The importance weights of risk factors and possible occurrence ratings of four risk grades (high, medium, low and none) are determined by using consistent fuzzy preference relations. The relative priority weights of evaluators are considered simultaneously by using simple additive weighting method. Multiplying the importance weights of risk factors, the possible occurrence ratings of risk grades and the relative priority weights of evaluators, the aggregative risk degree of implementing an RFID digital campus system is derived. University A in Taiwan is used to demonstrate the computation procedures of this proposed methodology.     

Predictor control and suboptimal digital redesign for continuous-time systems with delayed input

This paper deals with the implementation of a predictor controllaw and the suboptimal digital redesign for a continuous-timeplant with a delayed input. It is shown that the closed-loopeigenvalues of the delayed system designed via a predicted-statefeedback controller are identical to those of the non-delayedsystem with the same gain matrix based on the non-predictedstate feedback. Thus, the well-developed design methods of linearquadratic regulators for continuous-time non-delayed systemscan be indirectly applied to delayed-input systems. Moreover,for practical implementation by digital computer, we derivea suboptimal digital redesign of the delayed-input system usingthe predictor control.     

Robust digital controllers for uncertain chaotic systems: A digital redesign approach

In this paper, a new and systematic method for designing robust digital controllers for uncertain nonlinear systems with structured uncertainties is presented. In the proposed method, a controller is designed in terms of the optimal linear model representation of the nominal system around each operating point of the trajectory, while the uncertainties are decomposed such that the uncertain nonlinear system can be rewritten as a set of local linear models with disturbed inputs. Applying conventional robust control techniques, continuous-time robust controllers are first designed to eliminate the effects of the uncertainties on the underlying system. Then, a robust digital controller is obtained as the result of a digital redesign of the designed continuous-time robust controller using the state-matching technique. The effectiveness of the proposed controller design method is illustrated through some numerical examples on complex nonlinear systems––chaotic systems.     

Digital Stabilizer Design for a Switched Linear Control Delay System

The problem of designing a digital controller stabilizing a continuous-time switched linear control delay system is studied. The approach to stabilization successively includes the construction of a continuous-time–discrete-time closed-loop system with a digital controller, the transition to its discrete-time model, and the construction of a discrete-time controller by simultaneous stabilization methods.     

Quick estimation of escape rate with the help of fractal dimension

The non-linearity caused by the application of digital control may lead to transient chaotic behaviour. In the present paper, we analyse a simple model of a digitally controlled mechanical system with dry friction, which may perform transient chaotic vibrations. As a consequence of the digital effects, the behaviour of this system can be described by a 1D piecewise linear map. The fractal dimension of the so-called chaotic repeller set is calculated and the results are used for the quick estimation of the mean lifetime of chaotic transients.     

Counteracting the dynamical degradation of digital chaos via hybrid control

Chaotic systems would degrade owing to finite computing precisions, and such degradation often seriously affects the performance of digital chaos-based applications. In this paper, a chaotification method is proposed to solve the dynamical degradation of digital chaotic systems based on a hybrid structure, where a continuous chaotic system is applied to control the digital chaotic system, and a unidirectional coupling controller that combines a linear external state control with a modular function is designed. Moreover, we proof rigorously that a class of digital chaotic systems can be driven to be chaotic in the sense that the system is sensitive to initial conditions. Different from the existing remedies, this method can recover the dynamical properties of system, and even make some properties better than those of the original chaotic system. Thus, this new approach can be applied to the fields of chaotic cryptography and secure communication.     

Digitalizing line segments

We introduce a novel and general approach for digitalization of line segments in the plane that satisfies a set of axioms naturally arising from Euclidean axioms. In particular, we show how to derive such a system of digital segments from any total order on the integers. As a consequence, using a well-chosen total order, we manage to define a system of digital segments such that all digital segments are, in Hausdorff metric, optimally close to their corresponding Euclidean segments, thus giving an explicit construction that resolves the main question of [J. Chun, M. Korman, M. Nöllenburg, and T. Tokuyama. Consistent digital rays. Discrete Comput. Geom., 42(3):359–378, 2009].     

基于神经网络的FIR多阻带数字滤波器的设计及应用

针对电子测量系统中的工频50Hz及其二次三次谐波干扰，本文运用BP神经网络设计一个三阻带数字滤波器，利用神经网络权值与FIR数字滤波器脉冲响应之间的关系，得出所设计滤波器的脉冲响应。实验表明，与窗函数法设计的三阻带滤波器相比，基于神经网络的FIR三阻带滤波器具有明显的优越性。     

Consistent Digital Line Segments

We introduce a novel and general approach for digitalization of line segments in the plane that satisfies a set of axioms naturally arising from Euclidean axioms. In particular, we show how to derive such a system of digital segments from any total order on the integers. As a consequence, using a well-chosen total order, we manage to define a system of digital segments such that all digital segments are, in Hausdorff metric, optimally close to their corresponding Euclidean segments, thus giving an explicit construction that resolves the main question of Chun et al. (Discrete Comput. Geom. 42(3):359–378, 2009).     

Digital PID controller design for multivariable analogue systems with computational input-delay

This paper presents a new methodology to design MIMO digitalPID controllers for multivariable analogue systems with computationalinput time-delay. The preliminarily designed analogue PID controlleris refined using a newly developed state-feedback and state-feedforwardLQR approach. The optimally designed closed-loop system withthe refined MIMO analogue PID controller has pre-assigned closed-loopeigenvalues. A prediction-based digital redesign technique isdeveloped to discretize the cascaded MIMO analogue PID controller,such that the states of the digitally redesigned closed-loopsampled-data system with the MIMO digital PID controller areclose to those of the analogously designed closed-loop systemwith the refined MIMO analogue PID controller. The aforementioneddigital redesign technique is further modified based on thepredictive control method to cope with MIMO analogue systemswith input delay.     

Realization of servo-constraints by electromechanical servosystems

In this paper we consider a problem of realization of geometric servo-constraints. To this end we construct a digital servosystem whose executive element is a direct current motor of independent excitation. We present the full system of equations for a digital servo-system and discuss the questions of stable realization of servo-constraints.     

Model simplification and digital design of multivariable sampled-data control systems via a dominant-data matching method

A dominant-data matching method is developed for model simplification and design of digital multivariable sampled-data control systems. A mixed method combining dominant-data matching and the dominant-pole technique is also derived for determining a stable reduced-degree multivariable digital controller. A real semiactive terminal homing missile system is used as an illustrative example.     

Digital modeling and control of multiple time-delayed distributed power grid

Distributed power grid (DPG) control systems are so highly interconnected that the effects of local disturbances as well as transmission time delays can be amplified as they propagate through a complex network of transmission lines. These effects deteriorate control performance and could possibly destabilize the overall system. In this paper, a new approximated discretization method and digital design for DPG control systems with multiple state, input and output delays as well as a generalized bilinear transformation method are presented. Based on a procedure for the generation of impulse response data, the multiple fractional/integer time-delayed continuous-time system is transformed to a discrete-time model with multiple integer time delays. To implement the digital modeling, the singular value decomposition (SVD) of a Hankel matrix together with an energy loss level is employed to obtain an extended discrete-time state space model. Then, the extended discrete-time state space model of the DPG control system is reformulated as an integer time-delayed discrete-time system by computing its observable canonical form. The proposed method can closely approximate the step response of the original continuous time-delayed DPG control system by choosing various energy loss levels. For completeness, an optimal digital controller design for the DPG control system and a generalized bilinear transformation method with a tunable parameter are also provided, which can re-transform the integer time-delayed discrete-time model to its continuous-time model. Illustrative examples are given to demonstrate the effectiveness of the developed method.     

中国数字经济发展水平:时空特征、动态演化及影响因素

基于构建的数字经济发展水平评价指标体系与2010~2018年全国30个省市(除西藏、港澳台)的面板数据,对中国数字经济发展水平的时空特征、动态演化与区域差异原因进行探究。研究发现:全国及三大区域的数字经济发展水平均呈现稳步上升态势,并伴有明显的空间相关性、空间集聚性和区域差异性,且东部相较于中西部区域内差异更大。数字经济发展速度动态演化显示,整体上中国各省市数字化发展水平变化速度状态表现为上升趋势,相较于中西部,东部拥有更大的速度变化状态。地区前期数字化基础、经济发展的一阶滞后、政府科技投入均会促进区域数字经济的发展,对外开放水平会抑制数字经济发展,地区规模对数字经济的影响表现为非线性。此外,不同线性影响因素在不同区域内对数字经济发展水平具有不同的影响力。     

Hybrid synthesis of the optimal discrete nonlinear filter

It has been known for many years that an optimal discrete nonlinear filter may be synthesized for systems whose plant dynamics, sensor characteristics and signal statistics are known by applying Bayes' Rule to sequentially update the conditional probability density function from the latest data. However, it was not until 1969 that a digital computer algorithm implementing the theory for a one-state variable one-step predictor appeared in the literature. This delay and the continuing scarcity of multidimensional nonlinear filters result from the overwhelming computational task which leads to unrealistic data processing times. For many nonlinear filtering problems analog and digital computers (a hybrid computation) combine to yield a higher data rate than can be obtained by con¬ventional digital methods. This paper describes an implementation of the theory by means of a hybrid computer algorithm for the optimal nonlinear one-step predictor.

The hybrid computer algorithm presented reduces the overall solution time per prediction because:

1) Many large computations of identical form are executed on the analog computer in parallel.

2) The discrete running variable in the digital algorithm may be replaced with a continuous analog computer variable in one or more dimensions leading to increased computational speed and finer resolution of the exponential transformation.

3) The modern analog computer is well suited to generate functions such as the expo¬nential at high speed with modest equipment.

4) The arithmetic, storage, and control functions performed rapidly by the digital computer are utilized without introducing extensive auxiliary calculations.

To illustrate pertinent aspects of the algorithm developed, the scalar cubed sensor problem previously described by Bucy is treated extensively. The hybrid algorithm is described. Problems associated with partitioning of equations between analog and digital computers, machine representations of variables, setting of initial conditions and floating of grid base are discussed. The effects of analog component bandwidths, digital-to-analog and analog-to-digital conversion times, analog computer mode switching times and digital computer I/O data rates on overall processing time are examined. The effect of limited analog computer dynamic range on accuracy is discussed. Results from a simulation of this optimal predictor using MOBSSL, a continuous system simulation language, are given. Timing estimates are presented and compared against similar estimates for the all digital algorithm.

For example, given a four-state variable optimal 1-step predictor utilizing 7 discrete points in each dimension, the hybrid algorithm can be used to generate predictions accurate to 2 decimal places once every 10 seconds. An analog computer complement of 250 integra¬tors and multipliers and a high-speed 3rd generation digital computer such as the CDC 6600 or IBM 360/85 are required. This compares with a lower bound of about 3 seconds per all digital prediction which would require 49 CDC 6600's operating in parallel. Analytical and simulation work quantifying errors in one state variable filters is presented. Finally, the use of an interactive graphic system for real time display and for filter evaluation is described.     

Internal stabilization of standard sampled‐data systems

The paper presents necessary and sufficient conditions under which for a standard sampled‐data system there exists a digital controller, that ensures the internal stability of the system. For the case of stabilizability a general expression for the set of all stabilizing controllers is given. The stabilizability conditions are formulated as divisibility of certain polynomials, controllability and observability concepts are not used.     

Damping of Vibrations in a SystemWith Two Beams by Structural Friction

This paper presents the results of tests on free and forced harmonic vibrations in a system with two beams with structural friction taken into account. The beams are clamped together with uniform unitary pressure. The hysteresis loop describing the frictional-elastic properties of the system has a form of a parallelogram. The autor created a mathematical model of the vibrating system with two beams. During free vibrations of the system, its damping characteristics were tested by a digital simulation method. The vibration damping decrement as a function of amplitude displacement was determined. When vibrations were harmonically forced, the amplitude - frequency characteristics of the system were determined numerically. The system was used as a nonlinear vibration damper in a linear system with a harmonic force. The equations of motion of the nonlinear two-degree of freedom system were solved by means of a digital simulation method. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A new auto-switched chaotic system and its FPGA implementation

This paper presents a 3D chaotic system which is constructed by an auto-switched numerical resolution of multiple three dimensional continuous chaotic systems. The designed chaotic system provides complex chaotic attractors and can change its behaviors automatically via a chaotic switching-rule. Some complex dynamical behaviors are investigated and analyzed. The originality of the proposed architecture is that allows to solve the problem of the finite precision due to the digital implementation while provides a good trade-off between high security, performance and hardware resources (low power and cost). Hardware digital implementation and FPGA circuit experimental results demonstrate a promising technique can be applied in efficient embedded ciphering communication systems. Moreover, the proposed chaotic system should be very useful for the consideration of reducing negative influence of dynamical degradation in real-time embedded applications.