图像处理中自适应数学形态学的研究

实际图像处理中当视场的变化引起目标变形时,固定大小的形态学算子很难达到较好的处理效果。研究了利用距离变换自适应地调整结构元大小的方法,即根据图像的不同位置来调整结构元素的大小,从而实现图像的形态学运算,并由此推导出了快速计算方法,最后测试了这种新算法的有效性。实验结果表明,该算法取得了较为理想的效果。     

改进灰色神经网络模型在电量预测中的应用

研究过程中分析比较了人工神经网络和灰色模型的优缺点,尝试将人工神经网络模型与改进灰色模型进行有机结合,从而提出了改进灰色神经网络模型。新的耦合方式发挥了灰色预测方法中累加生成的优点,便于神经网络进行训练,又避免了灰色预测方法带来的误差,提高了预测精度,是一种新的有益探索;为实际工程应用提供了重要的参考。     

龙滩水电站水轮机转轮残余应力的测试及评价

龙滩水电站水轮机转轮在工地制作。其制作过程中,首次对转轮进行了系统地残余应力测试,测试成果可比性强。龙滩水电站混流式水轮机转轮残余应力的测试目的、方法和手段、测试结果及对测试成果所作的分析和评价可供今后类似工程参考。     

Lyapunov‐stable discrete‐time model reference adaptive control

Discrete‐time model reference adaptive control (MRAC) is considered with both least squares and projection algorithm parameter identification. For both cases complete Lyapunov proofs are given for stability and convergence. The results extend the approach of Johansson (Int. J. Control 1989; 50 (3):859–869) to include Lyapunov stability for MRAC when the normalized projection algorithm is used for parameter identification. Copyright © 2005 John Wiley & Sons, Ltd.     

The Effect of Post-Cooking Holding Times on Sensory Assessment of Low- and High-Fat Beefburgers

ABSTRACT: The effect of post-cooking holding-time on sensory assessment of low (89 g/kg) and high (218 g/kg) fat beefburgers was assessed. Burgers were served to panelists approximately 3 or 18 min after cooking. Fat content influenced fattiness, moistness/juiciness and overall appearance (P < 0.05), overall acceptability and overall texture (P< 0.01) and tenderness and crumbliness (p<0.001). Burgers with the higher fat content had higher scores. Holding-time influenced sensory overall appearance only with lower scores at extended holding times (P < 0.01). Treatment differences were small, mostly less than one sensory scale unit. Higher lightness and yellowness values were found for burgers with higher fat contents.     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

61单元分立式压电变形反射镜的研制

用于校正波前误差的61单元分立式压电变形反射镜是61单元自适应光学系统（AO）的关键器件之一。由于系统对单元数（61单元）和变形量（±3μm）的要求超过以往曾研制的变形镜，对研制工作带来许多困难。我们从理论分析到工艺研究采取措施，使研制的变形镜成功用于AO系统实验。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

Minimum switching control for adaptive tracking

The switching adaptive control method has been used for quite a few years to solve the adaptive stabilization and model reference adaptive control problems. However, a serious problem with the switching control method is that the number of ‘candidate’ controllers can potentially be very large, especially for multi‐input–multi‐output systems. In this paper, we consider a class of minimum‐phase multi‐input–multi‐output plants with some mild compactness assumptions. Given any polynomial reference input, we provide a switching control law which guarantees exponentially stability of the closed‐loop system with exponential tracking performance. The main contribution of the paper is that we give the minimum number of candidate controllers required for switching. In particular, the number is equal to 2 for single‐input–single‐output plants (one for each sign of the high‐frequency gain), and is equal to 2^m for m‐input–m‐output plants. That is, the number is independent of the degree and the relative degree of the plant. Copyright © 2006 John Wiley & Sons, Ltd.     

Dynamical adaptive synchronization

The notions of dynamical synchronization and adaptive dynamical synchronization problems are introduced. The algorithm solving adaptive synchronization problem for a subclass of Lurie systems with exciting input is proposed. The performance and potentialities of proposed solutions are demonstrated by two examples related to formation control and self‐organization of swarm systems. Copyright © 2006 John Wiley & Sons, Ltd.