自适应环境的机器人视觉伺服控制方法

机器人和机器视觉的迅速发展,使得基于视觉的智能机器人得到更加广泛的应用。机器视觉提高了机器人控制系统对环境的适应程度,但其适应程度也受到周围环境对机器视觉算法的影响。针对这一情况,本文对机器人视觉伺服控制系统中的机器视觉算法进行了改进,提出了一种基于帧间差分法的自适应环境的机器人视觉伺服控制方法,从而提高了控制系统对环境的自适应程度,提高了对机器人控制的精确度,实验和理论分析证明,该方法具有较大的应用前景和实用价值。     

“Eigen-Operator” Method of the Square of Schroedinger Operator in Interaction Picture and Its Application in Describing Parametric Amplifiers

We extend the method of searching “eigen-operator” of the square of the Schroedinger operator to the interaction picture, which not only helps to construct Hamiltonians of two kinds of parametric amplifiers but also leads to a new uncertainty relation regarding to the free Hamiltonian and the interacting Hamiltonian.     

Nonlinear Squeezed States and Multiplication Rule of Nonlinear Squeezing Operators Gained via Nonlinear Coherent State Representation and IWOP Technique

Using the nonlinear coherent state representation we derive nonlinear squeezed states and the multiplication rule of nonlinear squeezing operators. We find that the symplectic matrices multiplication rule in nonlinear coherent state projection operator representation maps into the multiplication rule of successive nonlinear squeezing operators.The technique of integral within an ordered product of operators plays an essential role in deriving the multiplication rule.     

一般阻尼随机微分方程的拟局部振荡算法

提出了一种模拟随机微分方程的拟局部振荡算法,即利用算符劈裂方法和势函数的泰勒展开,对噪声作用下耗散粒子的时间演化算符进行分解,得到了对应涨落行为的扩散算符和对应确定轨迹的漂移算符.其中局部简谐势场的涨落过程可获得解析解,而剩余的确定项则利用简单的Euler算法积分.应用到几个算例并与常用的两种算法相比较,结果表明:本算法随时间步长最稳定,可使用较大的时间步长.     

相位差与一般相干迭加态压缩特性

研究一般相干态的迭加态|ψ＞=a|β＞ beiψ|mβeiδ＞的k次方压缩特性,结果表明:一般相干态的迭加态和量子涨落的k次方压缩,在m=1时可表为k≠2nπ/δ,此处n是整数;在m≠1时,压缩的次方数可以是偶数也可以是奇数;当δ=π时,无论m[m∈(0.∞)]取何值均存在奇次方压缩,当δ=π/2时,无论m取何值均存在奇次方压缩和偶次方压缩.这说明参数相位差δ对一般相干态的k次方压缩的次方数起关键性的作用.     

任意相位差条纹信号细分方法的研究

为消除传统细分方法中由于两路条纹信号不正交引入的细分误差，提出了一种可对任意相位差条纹信号直接细分的新方法。根据两路条纹信号的极性和幅值大小，把一个信号周期分成8个区段。高速采集两路条纹信号，通过判断信号采样点所处的区段是否跳变对信号幅值交点进行动态跟踪。对不足一个周期的条纹移动，当测量出起点与终点的幅值，计算出其所在的区段及位置后，结合两路信号的交点，可实现对任意相位差条纹信号的细分。实验结果表明，该方法突破了传统细分方法必须信号正交的限制，可对任意相位差信号进行准确地细分，降低了条纹测量中器件安装与调试的难度，具有更强的环境适应性和抗干扰能力。     

全息照相实验的探讨

本文简要介绍了全息照相的基本原理,分析了影响激光全息照相实验的诸因素,并对这些因素进行了深入的探讨。实验中采用有良好散射性能的硬币为被拍摄对象,以RSP-I型红敏光致聚合物全息干板为记录介质,使得学生实验成功率大大提高,取得非常好的实验教学效果。     

Correspondence between quantum-optical transform and classical-optical transform explored by developing Dirac’s symbolic method

By virtue of the new technique of performing integration over Dirac’s ket–bra operators, we explore quantum optical version of classical optical transformations such as optical Fresnel transform, Hankel transform, fractional Fourier transform, Wigner transform, wavelet transform and Fresnel–Hadmard combinatorial transform etc. In this way one may gain benefit for developing classical optics theory from the research in quantum optics, or vice-versa. We cannot only find some new quantum mechanical unitary operators which correspond to the known optical transformations, deriving a new theorem for calculating quantum tomogram of density operators, but also can reveal some new classical optical transformations. For examples, we find the generalized Fresnel operator (GFO) to correspond to the generalized Fresnel transform (GFT) in classical optics. We derive GFO’s normal product form and its canonical coherent state representation and find that GFO is the loyal representation of symplectic group multiplication rule. We show that GFT is just the transformation matrix element of GFO in the coordinate representation such that two successive GFTs is still a GFT. The ABCD rule of the Gaussian beam propagation is directly demonstrated in the context of quantum optics. Especially, the introduction of quantum mechanical entangled state representations opens up a new area in finding new classical optical transformations. The complex wavelet transform and the condition of mother wavelet are studied in the context of quantum optics too. Throughout our discussions, the coherent state, the entangled state representation of the two-mode squeezing operators and the technique of integration within an ordered product (IWOP) of operators are fully used. All these have confirmed Dirac’s assertion: “...for a quantum dynamic system that has a classical analogue, unitary transformation in the quantum theory is the analogue of contact transformation in the classical theory”.