机器人头部的视觉跟踪系统研究

对运动目标进行识别和跟踪是机器人视觉的一项关键技术。提出了一种可以快速跟踪运动目标的系统设计方案,采用了双计算机处理和Memolink通信方式的机器人控制结构,以图像处理为基础,在图像经过校正之后,通过区域分割和目标识别两个步骤来确定目标的位置,并控制机器人对目标进行跟踪。实验表明,该方法具有较高的速度和准确性。     

基于爆轰波原理声源定位方法初探

基于弹丸发射时所发出的爆轰波,利用传感器接收时差信息,从而确定声源位置。本文建立了该声源定位反问题的物理和数学模型,并依据该模型寻求适当的数值解法,最后针对延拓-广义逆法声源定位问题进行了演算和简要分析。     

一种基于粒子滤波的测向定位跟踪算法

基于多站测向定位提供的目标辐射源方位角信息,提出了一种基于粒子滤波的测向定位跟踪算法.该算法采用序贯蒙特卡罗的粒子滤波技术,对目标辐射源方位信息进行粒子滤波融合处理,实现了对机动目标辐射源的无源定位跟踪.仿真实验表明,该算法适用于非线性模型和非高斯噪声的目标跟踪,与传统的基于卡尔曼滤波的多传感器融合跟踪算法相比,定位跟踪更为精确,从而对提高战场电子目标定位跟踪和精确打击具有广泛的应用价值.     

Noncooperative facility location games

A noncooperative game theoretical approach is considered for the multifacility location problem. It turns out that the facility location game is a potential game in the sense of Monderer and Shapley and some properties of the game are studied.     

Multicriteria Semi-Obnoxious Network Location Problems (MSNLP) with Sum and Center Objectives

Locating a facility is often modeled as either the maxisum or the minisum problem, reflecting whether the facility is undesirable (obnoxious) or desirable. But many facilities are both desirable and undesirable at the same time, e.g., an airport. This can be modeled as a multicriteria network location problem, where some of the sum-objectives are maximized (push effect) and some of the sum-objectives are minimized (pull effect).We present a polynomial time algorithm for this model along with some basic theoretical results, and generalize the results also to incorporate maximin and minimax objectives. In fact, the method works for any piecewise linear objective functions. Finally, we present some computational results.     

Discretization and resolution of the (<Emphasis Type="Italic">r</Emphasis>|<Emphasis Type="Italic">X</Emphasis><Subscript><Emphasis Type="Italic">p</Emphasis></Subscript>)-medianoid problem involving quality criteria

In this paper an extension of the (r|X _p )-medianoid on networks introduced by Hakimi (1983) is studied. In this extension the customer considers not only the distance but some characteristics of the facilities such as store size, quality of service and parking space. A new firm wants to establishr new facilities which have to compete with thep facilities that already exist in the market. The entry firm wants to find their locations and characteristics to maximize profits. Three different customer choice rules (binary, partially binary and proportional preferences) are considered. Some discretization results are obtained and a resolution procedure is proposed. The problem is solved combining a global search algorithm based on a branch and bound procedure with some combinatorial heuristics (greedy, interchange, and tabu search). Some computational experiences are presented. Partially supported by Ministerio de Ciencia y Tecnología (Spain) and FEDER, grant BFM2002-04525-C02-01.     

The location of median paths on grid graphs

In this paper we consider the location of a path shaped facility on a grid graph. In the literature this problem was extensively studied on particular classes of graphs as trees or series-parallel graphs. We consider here the problem of finding a path which minimizes the sum of the (shortest) distances from it to the other vertices of the grid, where the path is also subject to an additional constraint that takes the form either of the length of the path or of the cardinality. We study the complexity of these problems and we find two polynomial time algorithms for two special cases, with time complexity of O(n) and O(nℓ) respectively, where n is the number of vertices of the grid and ℓ is the cardinality of the path to be located. The literature about locating dimensional facilities distinguishes between the location of extensive facilities in continuous spaces and network facility location. We will show that the problems presented here have a close connection with continuous dimensional facility problems, so that the procedures provided can also be useful for solving some open problems of dimensional facilities location in the continuous case.     

测定透镜厚度新法及其误差探讨

本文介绍利用景深短、高倍率、大口径的物镜，采用光学方法，对被测透镜上下表面调焦，从而测定其中心厚度的一种新方法，并对测量误差进行了探讨。     

单链四苯酚基卟啉在CTAB胶束微环境中的去质子化现象

叶绿素分子的光能转化功能的实现与其聚集状态、所处微环境性质及条件密切相关[1,2]．如何设计控制叶琳类分子在膜介质中的增溶位置，对于研究叶琳在膜体系中的跨膜电子传递、光能转化过程具有重要意义．本文研究了长链双亲卟啉──单链四苯酚基叶琳THPPH2在CTAB胶束中的去质子化，该过程能控制叶琳环在胶束中的增溶位置，使其由内核转移到胶束表面．1实验部分1·1仪器和测试条件岛津UV－240型紫外可见光谱仪（带有恒温夹套），狭缝宽2nm，石英池厚1cm，所用试剂皆为分析纯．UV光谱测试均在恒温条件下进行．1．2溶液的配制含一个十六…