磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

ANALYSIS OF THE SCATTERING OF RIVET ON AIRCRAFT

This letter investigates the scattering characteristic of the rivets on aircraft.The electric Field Integral Equation (EFIE)is used with the moment to calculate the current distribution on the surface of the rivet.With the application of Gaussian integral corresponding triangular cell,the time to fill the Z matrix is greatly reduced.Finally,the RCS of a type of rivet on aircraft is analyzed.     

3D Motion Estimation and Motion Fusion by Affine Region Matching

In this paper,a new method is presented for 3D motion estimation by image region correspondences using stereo cameras.Under the weak perspectivity assumption.we first employ the moment tensor theory (Cyganski and Orr^[11]) to compute the monocular affine transformations relating images taken by the same camera at different time instants and the binocular affine transformations relating images taken by different cameras at the same time instant.We then show that 3D motion can be recovered from these 2D transformations.A space-time fusion strategy is proposed to aim at robust results.No knowledge of point correspondences if requred in the above processes and the computations involved are linear.To find corresponding image regions,new affine invariants,which show stronger invariance,are derived in term of tensor contraction theory.Experiments on real motion images are conducted to verify the proposed method.     

基于矩的异分辨率图象边界检测

（１）本文引入仿射变换，提出了一种用矩算子以民分辨率图象直接进行边界检测的方法，利用同分辨率图象正方形窗口的模板行矩的计算，推导出了相应用的边界参数公式。（２）本文提出一种隐线笥插值矩计算方法，得到一组与正方形窗口对应的正方形模板，避免了费时的预插值过程，（３）对本文提出的方法进行了实验验证，并给出了实验结果。     

Zernike矩结合Sigmoid曲线拟合边缘检测方法

为了改进Zernike矩边缘检测方法对非直线边缘检测精度低的弱点,提出了一种改进的基于Zernike矩方法和Sigmoid拟合法的边缘检测方法。用Zernike矩边缘检测方法检测边缘,然后用Sigmoid拟合方法检测边缘,根据边缘类型对两种方法检测的边缘结果进行加权求和,所得结果为边缘位置。分别利用理想图像和实际工业CT图像进行了实验验证,实验结果表明对非直线边缘的检测,该方法检测精度相对于Zernike矩方法提高了一个数量级。     

基于Zernike多项式的波前像差研究

波前像差的大小直接影响着视网膜的成像质量。就波前像差的Zernike多项式的单索引表示方法,双索引表示方法进行介绍,并探究波前像差重建的原理和波前像差重建的方法,以及Zernike函数项的改变与视觉质量之间的关系。基于波前像差的重建方法的优缺点进行分析,并探讨基于波前像差的数学统计模型的研究方向以及在临床应用上的广阔前景。     

Extending Dynamic Range of Phase Diversity

A method for extending dynamic range of phase diversity (PD) is proposed. The estimating of pupil phase is divided into two steps. Low-order Zernike coefficients of the phase are estimated firstly before all of the Zernike coefficients estimated. The method is based on the assumption that the aberrations of the system are dominated by low order Zernike modes, which is true to most practical situations. The algorithm of Broyden-Fletcher-Goldfarb-Shanno(BFGS) is used in the two steps for optimizing process. Computer simulations are conducted after the theoretical analysis. The result shows that this method can effectively avoid the trap in local minimum during iteration process, and the dynamic range that PD can detect extends from about 2λ to about 4λ.     

基于ZMP的双足机器人稳定性分析

引入双足机器人研究中一个重要物理量——零力矩点ZMP（zero Moment Point）,研究其计算和测量方法,利用其分析双足机器人在单腿和双腿支撑时的作用范围,最后在二维和三维平面内对机器人的ZMP计算进行探讨,为稳定步态的设计做了理论铺垫。     

基于Zernike矩亚像素边缘检测的改进算法

通过分析Zernike矩以及基于Zernike矩的亚像素图像边缘检测原理,针对Ghosal提出的基于Zernike矩的亚像素图像边缘检测算法检测出的图像存在边缘较粗及边缘亚像素定位精度低等不足,提出一种改进算法。推导了Zernike矩模板系数,提出一种新的边缘判断依据。改进的算法能较好检测图像边缘并实现较高的边缘定位。最后,设计两组实验,实验结果将各尺寸模板结果及与Ghosal算法进行比较,证明了改进算法的优越性。