A connection theory for a nonlinear differential constrained system

An Ehresmann connection on a constrained state bundle defined by nonlinear differential constraints is constructed for nonlinear nonholonomic systems. A set of differential constraints is integrable if and only if the curvature of the Ehresmann connection vanishes. Based on a geometric interpretation of d－δ commutation relations in constrained dynamics given in this paper, the complete integrability conditions for the differential constraints are proven to be equivalent to the three requirements upon the conditional variation in mechanics: (1) the variations belong to the constrained manifold; (2) the time derivative commutes with variational operator; (3) the variations satisfy the Chetaev's conditions.     

Dependence of in—tube doping on the radius and helicity of single—wall carbon nanotubes

Using the Lennard－Jones interaction potential between the impurity atom and carbon atom, we have studied the dependence of in-tube impurity doping on the radius of a single-wall carbon nanotube (SWNT), as well as its helicity. The obtained results show that the radius of the most stably doped SWNT is different for different kinds of impurity atoms. This is useful for producing the required doped SWNT. In addition, it is found that the helicity of tube has a strong effect on the potential energy of the atoms doped in the SWNT.     

Full-range optical pH sensor array based on neural networks

A neural network multivariate calibration is used to predict the pH of a solution in the full-range (0–14) from hue (H) values coming from imaging an optical pH sensor array based on 11 sensing elements with immobilized pH indicators. Different colorimetric acid-base indicators were tested for membrane preparation fulfilling the following conditions: 1) no leaching; 2) change in tonal coordinate by reaction and 3) covering the full pH range with overlapping between their pH responses. The sensor array was imaged after equilibration with a solution using a scanner working in transmission mode. Using software developed by us, the H coordinate of the colour space HSV was calculated from the RGB coordinates of each element.The neural network was trained with the calibration data set using the Levenberg–Marquardt training method. The network structure has 11 input neurons (each one matching the hue of a single element in the sensor array), 1 output (the pH approximation value) and 1 hidden layer with 10 hidden neurons. The network provides an MSE = 0.0098 in the training data, MSE = 0.0183 in the validation data and MSE = 0.0426 in the test data coming from a set of real water samples. The resulting correlation coefficient R obtained in the Pearson correlation test is R = 0.999.     

外骨骼机器人手指鲁棒跟踪控制

基于外骨骼机器人手指系统动力学,提出了机器人鲁棒μ控制器的设计方法。分析了系统模型的不确定性,将负载动力学作为系统的反馈不确定,建立了合理的被控对象标称模型。基于高速DSP实现鲁棒控制器的数字化,在μ控制器设计和数字实现过程中考虑了机器人系统的计算延时。通过实验评估采样延时对机器人控制器鲁棒性能的影响。实验结果表明,μ控制器能够抑制干扰和模型不确定对机器人系统的影响,系统具有很好的鲁棒稳定性和鲁棒性能。     

无人驾驶车野外环境水体障碍物检测

野外环境下水体障碍物会对陷入其中的无人驾驶车造成损害。针对静态水面特征呈现出的较高亮度、较低饱和度以及平滑的纹理特征,提出将饱和度亮度比值颜色特征和从灰度共生矩阵中提取的纹理特征融合的野外水体障碍物检测方法。对图像进行HSV颜色空间转换提取颜色特征,计算灰度共生矩阵提取纹理特征,构成特征矩阵并训练SVM分类器用于实际检测。仿真和试验结果表明该水体障碍物检测方法有效,并能够有效地减弱光照变化对单纯基于颜色特征检测水体的负影响。     

基于HSV的敦煌艺术图案颜色特征分析

利用计算机图形图像技术对中国敦煌艺术图案的颜色特征进行了数值分析。对原始图像进行基于HSV颜色空间三个分量的分布统计。利用优化类内距离之和的方法来确定合适的量化参数。通过具体算例,可以看出该方法原理简单、实现容易,得到了较好的分析结果,为传统民族艺术图案的计算机分析与处理提供了参考。     

硅表面硅镱键合与量子级联结构的发光

用纳秒强激光脉冲制备了纳米硅和硅表面的硅镱键合结构,检测了纳米硅表面硅镱键合的发光特性,并对这种结构相应的光致发光（PL）和电致发光（EL）的动力学机理进行了研究。观察到纳米硅表面硅镱键合在700 nm附近尖锐的强发光峰,结合第一性原理计算认为是硅镱键合在弯曲纳米硅表面的局域态发光;利用纳秒脉冲激光沉积技术（PLD）制备多晶硅薄膜,发现由硅镱界面的失配形成表面的突触,其上的硅镱键合产生带隙中的电子局域态,该局域态发光分布在1250~1650 nm波长范围,有增强的EL发光;用PLD方法制备硅镱多层膜量子级联结构,测量到光通信窗口的多个发光峰,并观察到随膜层数增加且发光峰增多。     

大亚湾反应堆中微子实验

中微子振荡是目前唯一超出粒子物理标准模型的新现象,它证明了中微子质量不为零,对粒子物理、天体物理与宇宙学均有非常重要的意义.在描述中微子振荡的6个参数中,目前仍有两个未知：交叉混合角θ13与CP相角δ. 作者建议在大亚湾反应堆附近建设一个中微子实验站,测量混合角sin22θ13在90%的置信度下达到0.01 的精度,较过去的实验提高近一个数量级.这将对中微子物理的未来发展提供方向性指导,特别是对理解宇宙中“反物质消失之谜”具有重要意义.     

空间颜色聚类算法及其在图像特征提取中的应用

针对目前图像基本颜色特征单一、 可提取信息不足的问题, 提出将图像进行HSV颜色空间转换, 先用均衡化直方图增强空间颜色互转后的图像空间 颜色像素, 再用融入rgb2ind的K-means均值聚类算法提亮均衡图像, 以增强图像颜色特征的提取目标和数量. 实验结果表明, 该方法优于普通空间颜色图像进行特征提取的效果, 实现了为颜色特征识别提供更多的检索信息.     

一种非均匀照明彩色图像自适应校正方法

为解决非均匀照明条件下彩色图像亮度不均、细节丢失、对比度低等问题,提出一种非均匀照明彩色图像自适应校正方法研究非均匀照明图像的自适应增强.首先,提出一种双伽马校正直方图均衡(bilateral Gamma adjustment histogram equalization,BIGAHE)算法处理HSV颜色空间的V通道,...