基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

火花放电原子发射光谱类型标准化校正方式的探讨

在国内,火花放电原子发射光谱分析广泛使用类型标准化进行方法校正。在国外,标准和文献中鲜见使用此方法的相关论述。类型标准化主要采用平移校正和转动校正两种方式,哪种方式更加合理也鲜见报道。国外设备类型标准化的默认设置优先采用转动校正方式,相关国内标准对最优校正方式的规定尚不明确,此默认设置的合理性有待探讨。实验选用低合金钢20CrNi2Mo、R407标准样品和不锈钢317L、0Cr18Ni9标准样品,引用国内相关标准,以正确度临界差为评判依据,模拟类型标准化样品和待测样品“十分接近”和“接近”两种情况下平移校正和转动校正的数据正确度。经数据统计分析,平移校正分析结果均满足要求,转动校正结果在“接近”情况下部分元素不满足要求。结合相关国家标准中元素含量范围和精密度数据进行分析,通过计算允许最大偏倚量并制作曲线图方式展开分析,得出如下结论:在满足文中类型标准化控制要点前提下,分析设置更适合于采用平移校正方式。     

Quality assessment for color correction-based stitched images via bi-directional matching

With the deepening of social information, the panoramic image has drawn a significant interest of viewers and researchers as it can provide a very wide field of view (FoV). Since panoramic images are usually obtained by capturing images with the overlapping regions and then stitching them together, image stitching plays an important role in generating panoramic images. In order to effectively evaluate the quality of stitched images, a novel quality assessment method based on bi-directional matching is proposed for stitched images. Specifically, dense correspondences between the testing and benchmark stitched images are first established by bi-directional SIFT-flow matching. Then, color-aware, geometric-aware and structure-aware features are respectively extracted and fused via support vector regression (SVR) to obtain the final quality score. Experiments on our newly constructed database and ISIQA database demonstrate that the proposed method can achieve comparable performance compared with the conventional blind quality metrics and the quality metrics specially designed for stitched images.     

SOINN-Based Abnormal Trajectory Detection for Efficient Video Condensation

With the evolution of video surveillance systems, the requirement of video storage grows rapidly; in addition, safe guards and forensic officers spend a great deal of time observing surveillance videos to find abnormal events. As most of the scene in the surveillance video are redundant and contains no information needs attention, we propose a video condensation method to summarize the abnormal events in the video by rearranging the moving trajectory and sort them by the degree of anomaly. Our goal is to improve the condensation rate to reduce more storage size, and increase the accuracy in abnormal detection. As the trajectory feature is the key to both goals, in this paper, a new method for feature extraction of moving object trajectory is proposed, and we use the SOINN (Self-Organizing Incremental Neural Network) method to accomplish a high accuracy abnormal detection. In the results, our method is able to shirk the video size to 10% storage size of the original video, and achieves 95% accuracy of abnormal event detection, which shows our method is useful and applicable to the surveillance industry.     

Extrinsic parameter's adjustment and potential implications in Plasmodium falciparum malaria diagnosis

Malaria is a major public health concern, affecting over 3.2 billion people in 91 countries. The advent of digital microscopy and Machine learning with the aim of automating Plasmodium falciparum diagnosis extensively depends on the extracted image features. The color of the cells, plasma, and stained artifacts influence the topological, geometrical, and statistical parameters being used to extract image features. During microscopic image acquisition, custom adjustments to the condenser and color temperature controls often have an influence on the extracted statistical features. But, our human visual system sub-consciously adjusts the color and retains the originality in a different lighting environment. Despite the use of appropriate image preprocessing, findings from the literature indicate that statistical feature variations exist, allowing the risk of P. falciparum misinterpretation. In order to eliminate this pervasive variation, the current work focuses on preprocessing the extracted statistical features rather than the prepossessing of the source image. It begins with the augmentation of series images for a microscopic field by inducing illumination variations during the microscopic image acquisition stage. A set of such image series is analyzed using a Nonlinear Regression Model to generalize the relationship between microscopic images acquired with variable ambient brightness and a specific feature. The projection point of the centroid feature onto the brightness parameter is identified in the model and it is denoted as the optimum brightness factor (OBF). Using the model, the feature correction factor (CF) is calculated from the rate of change of feature values over the interval OBF, and the brightness of the test image is processed. The present work has investigated OBF for selected image textural features, namely Contrast, Homogeneity, Entropy, Energy, and Correlation individually from its co-occurrence matrices. For performance analysis, the best state-of-the-art method uses selected texture as a subset feature to evaluate the effectiveness of P. falciparum malaria classification. Then, the impact of proposed feature processing is evaluated on 274 blood smear images with and without Feature Correction (FC). As a result, the “p” value is less than .05, which leads to the result that it is highly significant and the classification accuracy and F-score of P. falciparum malaria are increased.     

Asynchronous control for two‐dimensional hidden Markovian jump systems with partly known mode observation conditional probabilities

This study focuses on the asynchronous control problem for two‐dimensional discrete‐time hidden Markovian jump systems where the mode observation conditional probability matrix is partly known. Considering the original system modes are invisible, the observed modes emitted from an observer serve as an alternative for stability analysis and controller design where a mode observation conditional probability matrix is constructed to characterize the emission between system modes and observed modes. Specially, only partly known information of the mode observation conditional probability matrix is accessible. With the introduction of the free‐connection weighting matrices, the asymptotic mean square stability criterion is firstly derived based on Lyapunov method. This introduction provides a further degree of relaxation and less conservatism is therefore achieved. Secondly, we present synthesis conditions for asynchronous state feedback controller design given in terms of a set of interconnected linear matrix inequalities. Moreover, cluster concept based on the partitions of observed modes is adopted which helps to decrease the number of controllers and simplify the design complexity. A numerical example, regarding the cases with and without clustering of the observed modes, is presented to illustrate the effectiveness of the proposed method.     

H∞ control for uncertain one‐sided Lipschitz nonlinear systems in finite frequency domain

The current article discusses the H_∞ disturbance attenuation control design problem for one‐sided Lipschitz systems in finite frequency domain. Models containing norm‐bounded parameter uncertainties, disturbances, and input nonlinearities are considered. By contrast to existing full frequency methods, the H_∞ controller is computed depending on the frequency ranges of disturbances. The finite frequency disturbance attenuation index is initially defined. Thanks to Finsler's lemma, sufficient and less conservative analysis conditions are also derived for the closed‐loop system. Then, synthesis conditions in the low, middle, and high frequency ranges as well as the whole frequency range, are formulated in terms of linear matrix inequalities. At last, to prove the effectiveness and the superiority of the proposed approach, a physical example is used and a comparative study is done.     

基于云平台的矿井水害智慧应急救援系统与应用

随着云计算、物联网、大数据、人工智能等技术的发展,智慧应急救援已成为矿山安全生产监察的迫切需求。提出了基于云平台的矿井水害智慧应急救援服务体系,采用混合云架构,提供按需和弹性计算能力及存储资源。通过集成与挖掘所有可能的历史和实时数据,建立云环境下多源异构、大规模、跨领域、动态信息资源"一张图",推动信息资源共享,建设应急救援智库。在此基础上,研发了应急救援系统,实现数值模拟、预测预警、应急疏散、应急评估、人员设备管理等功能,支持矿山应急演练和应急决策,依托现代信息技术为矿井水害应急救援提供智能化的服务和管理,实现矿井水害事故预防、检测、预警、处置、评估等全过程动态管理和控制。     

Experimental study on free and submerged multi-jets

The flow characteristics of the hydraulic jump due to parallel jets are different from the classical jump emerging from a single gate. Due to the highly complex flow field at the downstream pool, deciding about the tailwater measuring location is a challenging issue affecting the flow measuring accuracy. Experiments are conducted herein, on different parallel jets’ configurations for both free and submerged flow conditions. To quantify the flow uniformity, for any downstream cross section, the associated momentum correction factors, β₂, were estimated for the free-flow condition. It is found that β₂-values depend significantly on the measuring location, and consequently the available conjugated depths relationship results in poor estimation when measuring location moves downstream. Employing Buckingham analysis, a general formula is proposed to calculate the momentum correction factors associated with the free hydraulic jump at different downstream measuring locations. The experimental results of this study indicated that such a formula enhances distinguishing between free and submerged flow conditions of the gates installed in parallel. Finally, a dimensionless stage-discharge formula is presented to predict the submerged flow rate through parallel gates of different gate openings and widths.