基于UKF航迹滤波的干扰目标智能识别算法研究

针对雷达导引头末制导阶段抗干扰技术,建立了典型的距离-速度拖引干扰模型,采用无迹卡尔曼滤波(UKF),研究了基于速度、加速度、过载等指标的干扰目标智能识别技术。首先建立距离-速度拖引干扰模型,通过引入弹目相对距离、径向速度、高低角与方位角建立了系统跟踪模型。其次,给出了基于UKF实现目标跟踪与识别的滤波框架。在此基础上,以径向速度、径向加速度、角加速度与过载为评价指标,建立了目标智能识别指标体系。最后,通过典型的目标运动模型(目标跃升),对目标施加的四次距离-速度拖引干扰(两次前拖、两次后拖)进行目标识别。仿真结果表明,利用UKF滤波信息能够有效实现对距离-速度拖引干扰下的干扰和目标智能识别,仿真结果验证了该识别方法的可行性与有效性。     

采用注视控制器实现复杂运动的仿真

注视控制器是3DS MAX软件的众多控件之一，它能使多个物体彼此间产生运动约束。通过使用注视控制器功能，笔者成功制作出八足爬壁式仿生机械昆虫的运动场景动画，并使该仿生机械昆虫各足的行走动作符合机械零件作平面复杂运动时所应遵守的正确运动规律。由此证明，3DS MAX软件注视控制器对正确模拟特殊机械装置的复杂运动可产生极大作用。     

汽车摩擦片厚度测量装置驱动电路的研究

本文通过对摩擦片厚度在线测量装置系统构成的全面分析，对其驱动电路子系统进行了理论探索和技术研究，完成了相应的电路设计、误差分析及器件选择等工作，并进行了具体的实验验证，证明该驱动电路具有良好的性能，可圆满实现摩擦片厚度在线检测和实时分析的工作任务。     

自支撑尼龙66/钼酸铋/碘化银复合纳米纤维的制备及其光催化性能

利用静电纺丝和溶剂热法制备了尼龙66/钼酸铋复合纳米纤维,在室温下利用沉积-沉淀法将碘化银沉积在尼龙66/钼酸铋复合纳米纤维表面,制备了具有可见光响应的自支撑尼龙66/钼酸铋/碘化银复合纳米纤维.通过X射线衍射、扫描电子显微镜、能谱扫描仪、紫外-可见漫反射、光电流等表征分析了晶型结构、表面形貌及其光学性能.以罗丹明B为污染物,考察了尼龙66/钼酸铋/碘化银的光催化性能.实验结果表明,当碘化银复合量为10％ 时,尼龙66/钼酸铋/碘化银复合纳米纤维展示出最优异的光催化活性,在120 min时其降解率可达99.8％.这种尼龙66/钼酸铋/碘化银复合纳米纤维在多次循环后仍保持较高的光催化稳定性,相比粉体光催化剂,还具有更优秀的可回收性.     

自含砷合碳难处理金矿中提取金的研究─Ⅰ.氨水脱砷-石灰加压氧化-氰化

针对甘肃省坪定金矿含金、砷高、金部分地赋存于脉石、脉石为碱性、属于难选难冶矿的特点，提出了氨水脱砷－石灰加压氧化－氰化新工艺．当原矿含金8．7g／t及13．0％砷时，砷可脱除95％，金可浸出85％．技术及经济指标预计均较满意．     

Biomimetic Experimental Research on Hexapod Robot's Locomotion Planning

To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots’ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs’ falling points. The last two give criterions of multi-legged robots’ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.     

3D reconstruction method based on contour features

To guarantee the accuracy and real-time of the 3D reconstruction method for outdoor scene, an algorithm based on region segmentation and matching was proposed. Firstly, on the basis of morphological gradient information, obtained by comparing color weight gradient images and proposing a multi-threshold segmentation, scene contour features were extracted by a watershed algorithm and a fuzzy c-means clustering algorithm. Secondly, to reduce the search area, increase the correct matching ratio and accelerate the matching speed, the region constraint was established according to a region''s local position, area and gray characteristics, the edge pixel constraint was established according to the epipolar constraint and the continuity constraint. Finally, by using the stereo matching edge pixel pairs, their 3D coordinates were estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield a high stereo matching ratio and reconstruct a 3D scene quickly and efficiently.     

新型仿生六足机器人导航系统的建模与仿真

针对新型仿生六足机器人工作任务和作业环境的要求,设计了一种基于INS-GPS器件的专用组合式导航系统。该导航系统采用集中开环式组合方式,以INS和GPS器件输出的导航数据差作为滤波器的输入值,运用经典卡尔曼滤波理论对该导航系统进行了实时修正,并根据仿生六足机器人运动特性和测量任务的要求,建立了该导航系统的位置、速度组合测量方程,并运用MATLAB软件进行了仿真,仿真结果表明:采用该组合式导航系统可大大提高仿生六足机器人的导航精度,为仿生六足机器人实现智能化、实时化控制奠定了基础。     

基于AVR和STM32的仿生六足机器人控制系统

本文设计了一种以Arduino为开发平台的控制系统,该控制系统以ATmega328P为主机控制芯片,以STM32F103C8T6为从机控制芯片,并通过串口方式实现通信,集两款控制芯片的优势于一体.本文主要介绍了控制系统的硬件组成和软件算法.经过实物试验,仿生六足机器人可以实现姿态自动调整、稳定行走以及自主避障.本研究内容可为相关领域研究工作提供参考与借鉴.