基于视觉信息的移动机器人控制系统设计

机器人的视觉相当于机器人的眼睛,机器人视觉系统是当下研究热点。本文主要研究基于视觉信息的机器人系统,通过对获得的图像信息的处理来实现对机器人的控制。详细讨论了摄像机标定、图像处理等方面的设计,实现了对机器人控制系统的设计。     

航天相机热实验测试系统设计

为了检测航天相机在高低温环境中的电子学性能及可靠性,针对某型号航天相机地面热实验测试需求,设计开发出了一种热实验测试系统,详细介绍了系统的软硬件设计方案及控温策略。系统使用人机交互界面实现热控策略,能实时完成最高80个测试点(160个温度传感器及80路加热器)的控温任务,可以在－30℃～＋50℃范围内对航天相机进行全方位的温度监控,最高控温精度达到0.5℃。经过实际测试验证,系统具有很好的稳定性,能满足航天相机地面热实验的测试需求,工程应用价值高。     

Characteristic X-ray detector: In-situ imaging of radioactive contaminant distributions

The characteristic X-ray detector (CXRD), a CsI(Tl) scintillator with a 50-mm diameter, is a directional X-ray sensor that measures characteristic X-rays from radioactive material, such as ¹³⁷Cs, and identifies the direction of radioactive contamination. We evaluated a CXRD and visualized the distribution of radioactivity in the contaminated area near the Fukushima Dai-ichi nuclear power station, where the ambient dose equivalent rate was 2.1 μSv/h at 1 m above ground level. We found a good correlation between the characteristic X-ray fluxes and the distribution of radioactive contaminants with a 0.823 Pearson product–moment correlation coefficient.     

Observation of radially polarized terahertz radiation generated by a sub-picosecond electron beam

The fundamental property of radially polarized terahertz radiation, which is axial symmetry of the polarization state in the radial direction, was measured with a Schottky diode detector and with a terahertz camera and wire-grid linear polarizer. Radially polarized terahertz radiation was generated from coherent transition radiation using a 30-MeV sub-picosecond electron beam. Bow-tie intensity distributions, aligned along the polarization direction, were clearly observed with the terahertz camera and could be rotated by changing the direction of the linear polarizer. The measured intensity distribution agreed with the calculated value. A video of the data can be found online.     

Evaluation of radiation damage behavior in polyimide aerogel by infrared camera and photoacoustic spectroscopy

In this work, the optical absorption and thermal properties of polyimide aerogel have been investigated by Infrared Camera, ultraviolet–visible and photoacoustic spectroscopy under low energy proton irradiation. The characterization method of the infrared camera can obtain the optical absorption ratio, and meanwhile get the information of specific heat capacity. Moreover, it can acquire the nature information of damaged area rather than the overall performance. The results show an increase in optical absorption after proton irradiation, which is in good coincidence with Ultraviolet–visible spectroscopy analysis. And the specific heat capacity decreased linearly with proton fluences, which can be attributed to the irradiation damage and carbonization in polyimide aerogel. The Raman spectra suggested the cleavage of chemical bonds and carbonization in polyimide aerogel. This work provides the novel, non-destructive and sensitive methods to characterize irradiation damage of aerogel.     

一种鲁棒的摄像机运动分类算法

摄像机运动分类是基于内容的视频分析和理解的重要问题.本文通过对运动矢量场的分析,提出了一种基于统计学习的、分层次的摄像机运动分类算法.该算法利用支持向量机(SVM)在有限样本条件下的学习能力,实现摄像机运动类型的初步分类;然后,充分考虑运动矢量场的方向和位置信息,进一步区分缩放和旋转操作,并识别摄像机平移操作的方向.算法在运动矢量的预处理过程中引入摄影规则,有效地降低了前景运动噪声的影响.     

基于NVMe的超高速多通道遥感相机模拟源设备研制

针对当前遥感卫星电荷耦合器件(CCD)相机幅宽越来越大,速率越来越高,现有相机模拟源设备数据输出带宽不足的问题,提出并实现了一种基于非易失性存储器Express(NVMe)的超高速多通道遥感相机模拟源设备。该设备利用现场可编程逻辑门阵列(FPGA)实现4组NVMe SSD主机控制器,完成对固态硬盘(SSD)的读写操作;同时利用DMA控制器读取DDR4中缓存数据,数据经封装处理后通过光纤接口输出。实验结果表明：NVMe主机控制器的写平均速率可以达到1.7 GBps,读平均速率达到3.2 GBps。模拟源系统整体存储容量8 TB,对外输出带宽高达80 Gbps,支持8路光纤接口输出。该模拟源具有较强的稳定性及良好的可扩展性,已成功应用在某遥感卫星CCD相机模拟源系统中,为数传等设备的测试以及调试提供了充分保障。     

微钢管内部强迫对流换热的实验研究

本文对以蒸馏水为工质,流过内径和外径分别为168μm、406μm和399μm、798μm的电加热不锈钢管时的换热进行了实验研究。通过对微钢管直接通电进行加热,并采用红外成像仪及专用放大镜头的非接触式方法,获得了各种恒定加热功率及不同雷诺数下的微钢管壁面的温度场分布,进而得到较为精确的壁面平均温度。由此计算了在层流态下的换热系数Nu数。实验结果表明,在层流下,内径为168μm及399μm的微钢管内部的Nu数分别比经典的Hansen准则式所得到的Nu数高出很多。     

基于特征圆单目视觉的飞机舵面角位移标定技术

提出了一种基于特征圆单目视觉的非接触式飞机舵面角位移标定技术。用一台数码摄像机对固定在飞机舵面上的特征圆进行拍照,经数字图像处理后确定五个特征点的坐标,利用针孔成像和射影变换原理建立物像空间坐标解算模型,计算出特征圆的法线相对方向和圆心的相对位置,舵面角位移由该圆的法线方向确定。仿真结果表明,该方法具有标定过程简单、实时、快速和准确的特点,标定精度可达到0.1°。该技术也可用于航天器上实时测量交会对接时的相对位姿参数。     

基于智能相机的高速三维表面信息获取

为了大幅度提高三维信息获取速度,提出了一种基于智能相机和激光三角法的高速三维信息获取与表面重建的系统,介绍了该系统的硬件架构和信号处理。实验结果表明,采用数字信号处理器和并行处理方式,该系统获取三维表面信息速度可达5600点/s以上。