激光-PSD传感器在焊缝跟踪中的应用

详细介绍了扫描式激光 -PSD传感器工作原理 ,包括发射光路、接收光路和扫描机构的设计。该系统已经成功地应用于我国大型耐压壳体焊接中。     

激光技术在医学领域中的应用

激光是一种非常特殊的光，它是传类近几十年的一项重大科学发明。1960年，美国科学家梅曼利用红宝石晶体做发光材料，用发光强度很高的脉冲氙灯做激发光源，获得了传类有史以来的第一束激光。能产生激光的系统，传们称它为激光器。随着现代科学技术的发展，激光器的设计和制造日趋完善。近年来，激光技术在医学领域中应用十分活跃，取得了很大进展。下面介绍一下激光技术在医学领域中应用的最新进展情况。目前，激光美容技术已经取得了很大进展。正在美国和澳大利亚进行的临床试验表明，用脉冲式二氧化碳高能量的激光，可消除脸部的皱纹、疤…     

单片机在激光手术器中的应用

本文详细地叙述了单片机在激光手术器中的应用，该手术器电气系统控制部分以及单片机８０３１为核心。取代了传统的用分立元件或集成电路构成的控制部件，并实现激光工作参数的预置，数显及打印。     

数控系统在激光热处理中的应用

讨论数控系统在激光热处理中的应用。     

物流跟踪码在食品安全跟踪体系中的应用

为了食品安全,食品制造企业、食品流通企业纷纷建立了食品安全跟踪体系,基于此,可从食品生产源头,到生产加工、产成品流通、销售给最终顾客的整个供应链过程中,跟踪每个产品的流通过程,确保到消费者手中的,都是经过严格食品安全控制的商品。     

激光的特点及其在测距上的应用

本文介绍了激光的原理及其特点,并由其特点和原理出发,介绍了利用激光进行测距的几种方法。     

激光气体分析仪在催化烟道气中的应用

主要介绍了激光的产生、特点及应用技术,并且以催化烟道气体分析为应用实例,介绍了LGA-4000激光气体分析仪在工业生产过程中的应用及经济价值。并分析了激光气体分析仪在实际使用中需改进的问题。     

三站测距中的副站及其在FY—2气象卫星中的应用

设计和研制的两个副站和北京的主站相互配合形成三站测距系统，可以完成对ＦＹ－２气象卫星的测距定轨任务。     

基于激光传感器的移动机器人运动目标跟踪

针对室外环境下移动机器人基于激光传感器对运动目标的实时跟踪问题进行了研究。利用激光传感器检测运动目标,对均值滤波与中值滤波处理后的激光扫描点进行数据对比后,提出一种递推型中值均值混合滤波方法,用以减少激光扫描数据孤点并提高扫描返回值的准确性。设计了目标检测视窗提前剔除与被检测目标无关的障碍数据;设计利用激光扫描点在物体表面连续的特性,在检测视窗内完成对激光数据点的分类。提出以跟踪过程中机器人与目标之间的距离信息作为跟踪算法的评价标准,使用卡尔曼滤波跟踪算法和平滑接近图算法有效实现了机器人对运动目标的平稳自主跟踪。     

强跟踪卡尔曼滤波在视频目标跟踪中的应用

针对经典卡尔曼滤波器在滤波数学模型与实际过程的数学规律不匹配、滤波特性较差的情况,提出利用强跟踪卡尔曼滤波器对视频序列图像中的运动目标进行跟踪。该方法是在经典卡尔曼滤波递推公式中的一步验前误差方差阵中引入可在线计算的时变渐消矩阵,从而调节增益K,使之能够不断变化,保证对新息序列的自适应调节,使状态滤波更准确。实验结果表明,较之经典卡尔曼滤波,该方法具有对运动目标更强的跟踪能力,跟踪精度更高,均方误差更小。     

Automatic calibration of laser range finder positions for pedestrian tracking based on social group detections

Laser range finders (LRF’s) are non-invasive sensors which can be used for high-precision and anonymous tracking of pedestrians in social environments. Such sensor networks can be used in robotics to assist in navigation and human–robot interaction. Typically, multiple LRF’s are used together for such tasks, and the relative positions of these sensors must be precisely calibrated. We propose a technique for estimating relative LRF positions using observations of social groups in the pedestrian flow as keypoint features for determining coarse estimates of relative sensor offsets. The most likely offset is estimated using a generalized Hough transform and used to identify sets of possible shared observations of individual pedestrians between pairs of sensors. Outliers are rejected using the RANSAC technique, and the resulting shared observations from each sensor pair are combined into a constraint matrix for the sensor network, which is solved using least-squares minimization. Results show calibration accuracy of sensor positions within 34?mm and 0.51°, and an analysis of pedestrian data collected from ubiquitous networks in three public and commercial spaces shows that the proposed calibration technique enables pedestrian tracking within 11?cm accuracy.     

Use of wrist mounted range profile scanners for real-time tracking

The results of experiments in realtime tracking of a moving object using wrist mounted laser range finders are presented. The objective is to have the robot endeffector maintain a constant pose with respect to a flat object moving in three-dimensional space in the field of view of the range finders. Tracking is done with maximum linear and angular speeds of the target object being 25 cm/s and 0.5 rad/s, respectively. The software is designed to ensure that the robot has smooth motion, without any sharp discontinuities. A performance study of the tracking experiment is presented.NRC #33164     

基于全光捕获法的机载激光通信跟踪控制系统设计

为了保证机载激光通信的质量和稳定性,基于全光捕获方法优化设计机载激光通信跟踪控制系统。加设激光器、激光告警器和运动转台设备,为全光捕获方法的运行提供硬件支持。改装目标跟踪探测器、跟踪控制器、AD数据转换器和电机驱动器,通过系统供电电路的连接实现硬件系统的优化。根据机载激光通信原理,从发送模块、激光通信接收模块等方面,构建机载激光通信模型。利用全光捕获法生成机载激光通信链路,根据机载激光通信跟踪目标相对信息的计算结果,确定通信光斑中心的位置,实现系统机载激光通信的跟踪和控制功能。通过系统测试实验得出结论：综合室内和外场两个应用环境,机载激光通信跟踪控制系统的平均跟踪偏移量为0.875m,通信误码率和丢包率分别为0.275%和0.384%,均高于预设值。     

A tracking loop based on tightly coupled range and velocity filter equations

A joint range-velocity closed tracking loop,which is based on tightly coupled range and velocity filter is proposed.When the measured velocity value is adopted in the range tracking loop to modify the velocity and acceleration equations from traditional α-β-γ filter,the tracking loop based on tightly coupled range and velocity filter can not only track the range and the velocity simultaneously,but also improve the range tracking accuracy.The experimental results show that the tracking errors about range thermal noise in the proposed loop is lower than those in the traditional loop over 2.2 dB,when filter parameters satisfy least mean-square error criterion.Moreover,with the increase of the filter parameter,the tracking performance of our schemes are improved accordingly.     

Joint range ambiguity resolving and multiple maneuvering targets tracking in clutter via MMPHDF-DA

It is difficult to track multiple maneuvering targets of which the number is unknown and time- varying, especially when there is range ambiguity. The random finite sets （RFS） based probability hypothesis density filter （PHDF） is an effective solution to the problem of multiple targets tracking. However, when tracking multiple targets via the range ambiguous radar, the problem of range ambiguity has to be solved. In this paper, a multiple model PHDF and data association （MMPHDF-DA） based method is proposed to address multiple maneuvering targets tracking with range ambiguous radar in clutter. Firstly, by introducing the turn rate of target and the discrete pulse interval number （PIN） as components of target state vector, and modeling the incremental variable of the PIN as a three-state Markov chain, the problem of multiple maneuvering targets tracking with range ambiguity is converted into a hybrid state filtering problem. Then, by implementing a novel ＂track-estimate＂ oriented association with the filtering results of the hybrid filter, target tracks are provided at each time step. Simulation results demonstrate that the MMPHDF-DA can estimate target state as well as the PIN simultaneously, and succeeds in multiple maneuvering target tracking with range ambiguity in clutter. Simulation results also demonstrate that the MMPHDF-DA can overcome the limitation of the Chinese Remainder Theorem for range ambiguity resolving.     

Categorization of indoor places by combining local binary pattern histograms of range and reflectance data from laser range finders

This paper presents an approach to categorize typical places in indoor environments using 3D scans provided by a laser range finder. Examples of such places are offices, laboratories, or kitchens. In our method, we combine the range and reflectance data from the laser scan for the final categorization of places. Range and reflectance images are transformed into histograms of local binary patterns and combined into a single feature vector. This vector is later classified using support vector machines. The results of the presented experiments demonstrate the capability of our technique to categorize indoor places with high accuracy. We also show that the combination of range and reflectance information improves the final categorization results in comparison with a single modality.     

基于LabWindows／CVI的激光跟踪测量系统校准软件设计

针对自主研制激光跟踪测量系统的校准需求,基于虚拟仪器软件开发平台LabWindows／CVI,设计了面向测量用户的校准软件。该软件能够按要求对测量数据进行分析与处理,实现了激光跟踪测量系统重要校准项目的自动化。     

Active,optical range imaging sensors

Active, optical range imaging sensors collect three-dimensional coordinate data from object surfaces and can be useful in a wide variety of automation applications, including shape acquisition, bin picking, assembly, inspection, gaging, robot navigation, medical diagnosis, and cartography. They are unique imaging devices in that the image data points explicitly represent scene surface geometry in a sampled form. At least six different optical principles have been used to actively obtain range images: (1) radar, (2) triangulation, (3) moire, (4) holographic interferometry, (5) focusing, and (6) diffraction. In this survey, the relative capabilities of different sensors and sensing methods are evaluated using a figure of merit based on range accuracy, depth of field, and image acquisition time.