离散数据拟合模型的研究与实现

最小二乘支持向量机引入到离散数据拟合中,代替传统的最小二乘法解决离散数据拟合问题。推导了用于函数估计的最小二乘支持向量机算法,构建了基于最小二乘支持向量机的离散数据拟合模型,并对电机数据拟合进行了研究。结果表明,最小二乘支持向量机拟合离散数据比最小二乘法精度更高、拟合效果更好。     

基于卡尔曼滤波算法的最小二乘拟合及应用

图像处理或在工业控制中经常要用到最小二乘直线拟合,对于有奇异点的直线拟合,传统的最小二乘法拟合误差较大,难以满足较高精度的要求。卡尔曼滤波算法具有最小无偏方差性,能够去除测量系统中的随机误差,将卡尔曼滤波算法与传统最小二乘法结合,建立了一种基于卡尔曼滤波预处理的最小二乘估计的新方法,获得了比传统最小二乘法效果更好的估计结果。试验证明了该方法的有效性和高精度性。     

基于小波分析的最小二乘拟合及应用

直线是图像分析过程中非常重要的描述符号。在工业控制中,图像处理通常采用最小二乘法对直线进行拟合,但在对估计精度要求较高时,传统最小二乘法往往不能满足要求。将离散小波变换和传统最小二乘法相结合,建立了一种基于小波预处理的最小二乘估计的新方法,获得了比传统最小二乘法效果更好的估计结果。试验证明了该方法的有效性和高精度性。     

仪表圆弧齿轮滚刀的计算机辅助设计

本文论述了一种适用于“+Υ”、 “-Υ”、标准齿轮三种齿轮的通用的滚刀CAD 系统的设计环境和模型,并重点论述了滚刀滚动圆半径优化选择算法和齿廓曲线的带约束条件的最小二乘法圆弧拟合算法。     

基于小波分析的直线拟合及应用

直线是图像分析中非常重要的描述符号。对工业控制中的现象进行图像处理时通常用到最小二乘法对直线拟合。对于估计精度要求较高的情形,传统最小二乘法往往不能满足要求。基于此,本文将离散小波变换和传统最小二乘法相结合,建立了一种基于小波测量预处理的最小二乘估计的新型解法,获得了比传统最小二乘法好得多的估计结果,实验证明了该方法的有效性及高精度性。     

AutoCAD实体造型误差分析与补偿方法

本文对ＡＭＥ造型过程的由二维带维度的构造三维实体所产生的误差进行了分析，并且尝试性地采用最小二乘法任意次方程拟合出误差曲线，在大量作图的基础上求解了圆，椭圆，圆弧拟合曲线构造实体过程中最小二乘四次误差方程，绘制了误差曲线，采用误差补偿法，使误差减小３－１０倍，基本上能满足实体造型的需要。     

齐次等式约束线性回归模型条件根方估计的效率

对齐次等式约束线性回归模型回归系数的约束最小二乘估计提出改进,引入一种估计的相对效率,证明在一定条件下,狭义条件根方估计、广义条件根方估计的效率均高于约束最小二乘估计的效率．     

布氏硬度自动测量中多圆检测方法

圆检测应用广泛,是布氏硬度自动测量的关键。针对圆检测中存在圆分裂、多个圆、不完整圆的情况,提出一种基于交叉圆合并、凸包点迭代纯化最小二乘拟合的圆检测方法。首先对图像进行纹理增强并二值化,其次提取有效区域的最小外接矩形,并得到圆弧与最小外接矩形的三个切点,得到初始圆,然后合并有交叉的圆。最后求合并圆的轮廓点与其凸包的交集,进行迭代纯化最小二乘拟合,最终得到亚像素级的圆半径值。最后通过实际应用测试,验证了论文方法的有效性。     

基于抛物线插值的正弦波拟合算法

为了合理利用原始采集数据并提高正弦波形数据拟合重构的精度,在最小二乘法原理的基础上,提出了抛物线拟合细分最小二乘法拟合正弦波形的方法.根据所采集数据点的特点,将数据进行分段抛物线插值细分.按照数据间抛物线变化趋势增加拟合数据量,然后对细分后的数据进行最小二乘拟合得到正弦曲线的参数.通过软件算法仿真并进行了实验数据处理,结果表明,该算法合理利用了所采集的数据,可使正弦波形参数的相位估计重复精度从最小二乘的-4.555×10-4提高到1.367×10-4.     

基于机器视觉的圆定位技术研究

针对视觉处理中常见的圆形目标检测,提出了结合Blob分析与最小二乘法圆拟合的定位检测方法,利用Blob分析算法实现粗定位,根据粗定位的输出检测目标圆的边界点,将其作为输入参数给最小二乘法圆拟合进行精定位;实现了在视场范围内对圆形区域自动检测及中心定位,在DSP视觉系统上以钢琴弦柱加工为检测背景对算法进行验证,实验结果表明算法满足工业应用中的实时性和精确性要求。     

A method of defuzzification based on the approach of areas' ratio

The new method of defuzzification of output parameters from the base of fuzzy rules for a Mamdani fuzzy controller is given in the paper. The peculiarity of the method is the usage of the universal equation for the area computation of the geometric shapes. During the realization of fuzzy inference linguistic terms, the structure changes from the triangular into a trapezoidal shape. That is why the universal equation is used. The method is limited and can be used only for the triangular and trapezoidal membership functions. Gaussian functions can also be used while modifying the proposed method. Traditional defuzzification models such as Middle of Maxima − MoM, First of Maxima − FoM, Last of Maxima − LoM, First of Suppport − FoS, Last of Support − LoS, Middle of Support − MoS, Center of Sums − CoS, Model of Height − MoH have a number of systematic errors: curse of dimensionality, partition of unity condition and absence of additivity. The above-mentioned methods can be seen as Center of Gravity − CoG, which has the same errors. These errors lead to the fact that accuracy of fuzzy systems decreases, because during the training root mean square error increases. One of the reasons that provokes the errors is that some of the activated fuzzy rules are excluded from the fuzzy inference. It is also possible to increase the accuracy of the fuzzy system through properties of continuity. The proposed method guarantees fulfilling of the property of continuity, as the intersection point of the adjustment linguistic terms equals 0.5 when a parametrized membership function is used. The causes of errors and a way to delete them are reviewed in the paper. The proposed method excludes errors which are inherent to the traditional and non- traditional models of defuzzification. Comparative analysis of the proposed method of defuzzification with traditional and non-traditional models shows its effectiveness.     

An approach to the synthesis of fuzzy stabilization systems with a priori unknown model of an object

A method of synthesis of fuzzy stabilization systems for a broad class of dynamic objects under the assumption that the mathematical model of the object is not known a priori is proposed. The control is formulated in the form of a proportional law of adjustment as a function of a macro-variable; the square of the Euclidean norm of the phase variables is adopted as the macro-variable. An analogous variable characterizes the distance of the object from the equilibrium position. Despite the simplicity of the control law, its sign remains constant due to the fact that the macro-variable is positive-definite over the entire phase space. The switching times of the signals are determined by fuzzy identification of the system’s dynamic modes on the basis of measurement of the derivatives of the macro-variable.     

Complement of Source Equation of Elastic Line

A new notion of joint, defined in terms of the state of motor (active or locked) and type of the elastic or rigid element, gear and/or link that follows after the motor, is introduced. Special attention is paid to the motion of the flexible links in the robotic configuration. The paper deals with the relationship between the equation of elastic line equilibrium, the “Euler–Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the elasticity moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and cannot be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. The choice of reference trajectory is analyzed. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the gear and of the link (two modes), as well as the environment force dynamics.     

3 Laser transmission joining in microtechnology

The laser is a joining tool which is particularly suitable for the application in microtechnology. The process variant laser transmission joining can be used both for welding thermoplastics and bonding of silicon and glass. The investigations presented in this paper cover detailed examinations of both processes. Concerning laser transmission welding of plastics it is examined how far the content of carbon black in the material influences the formation of the weld seam. It is shown that the optical depth of penetration, the weld seam width as well as the formation of the weld morphology differ with varying content of carbon black. Selective laser radiation bonding (SLB) is a novel method for joining silicon and glass based on the transmission heating of the interface of both joining partners and the thermo-chemical principles of silicon direct bonding. SLB shows advantages in reference to the thermal load of sensitive components like sensors and to the selectivity of the joining geometry. In this study the principle method of SLB and the latest advances like the integration of the thermal process control in the laser processing head will be presented. Also experimental test results of the process with constant laser power and thermal process control and the comparison of them will be shown.An erratum to this article can be found at     

Remote sensing of spring phenology in boreal regions: A free of snow-effect method using NOAA-AVHRR and SPOT-VGT data (1982-2004)

Measurements of spring phenological dates in boreal regions using NDVI can be affected by snowmelt. This impacts the analysis of interannual variations in phenology and the estimates of annual carbon fluxes. For these two objectives, snowmelt effect must be removed from the phenological detection. We propose a methodology for determining the date of onset of greening in the 1982-2004 period using SPOT-VEGETATION (VGT) and NOAA Advanced Very High Resolution Radiometer (AVHRR) data. From 1998 onwards, the date of onset of greening is taken as the date at which the Normalized Difference Water Index (NDWI), calculated from SPOT-VGT near and short-wave infrared bands, starts increasing. This index decreases with snowmelt but increases with vegetation greening. For the 1982-2001 period, the date of onset of greening is the date at which AVHRR-NDVI equals a pixel specific threshold (PST), determined using the results of the NDWI method in the years common to the two datasets. The methods are validated using in situ measurements of the dates of leaf appearance. RMSE of 6.7 and 7.8 days, respectively, is found using NDWI-VGT and PST-NOAA methodologies, and the difference between the two methodologies in the common years is small. Very importantly, the dates are not biased. The interannual variations of the 23-year spring phenology dataset on the study area in northern Eurasia are analysed. In average over the study area, an advance of 8 days and a delay of 3.6 days are, respectively, found over the periods 1982-1991 and 1993-2004. These results confirm and complete previous studies about the greening trend, remove the uncertainty due to snow, and may improve carbon budget calculations.     

Spark平台下聚类算法的性能比较

通过实验,从运行时间、加速比、可扩展性和规模增长性4个方面比较了 Spark平台中3种典型的聚类算法即K-means聚类算法、二分K-means聚类算法和高斯混合聚类算法 的性能。实验结果表明:1)随着节点个数的增加,3种算法对百兆以上规模数据集聚类的运行时间明显减少;2)当数据集规模大于500MB时,3种算法的加速比均有明显提高,且随着节点个数的增加,加速比近似于线性增长;3)3种算法的可扩展性随着节点个数的增加而降低,当数据集规模大于500MB时,相对于K-means和高斯混合算法,二分K-means算法的可扩展性最差;4)当数据集规模大于100MB时,高斯混合算法的规模增长性远高于K-means和二分K-means算法。     

Mr. Twinn’s bombes

This article discusses the history and design of the special versions of the bombe key-finding machines used by Britain’s Government Code & Cypher School (GC&CS) during World War II to attack the Enigma traffic of the Abwehr (the German military intelligence service). These special bombes were based on the design of their more numerous counterparts used against the traffic of the German armed services, but differed from them in important ways that highlight the adaptability of the British bombe design, and the power and flexibility of the diagonal board. Also discussed are the changes in the Abwehr indicating system that drove the development of these machines, the ingenious ways in which they were used, and some related developments involving the bombes used by the U.S. Navy’s cryptanalytic unit (OP-20-G).     

协作机器人的构型分析研究

针对协作机器人的构型分析研究,得出了偏置是影响机器人构型的一个重要因素。首先,对现有典型协作机器人的构型进行分析,通过构型间的内在联系与演化过程得到构型之间的差异。然后利用构型之间的差异引出了偏置的定义,并通过偏置对关节运动范围的影响将其分为S型偏置和Y型偏置。最后以全局性能指标、工作空间体积指标和灵活工作空间指标为性能评价标准,对iiwa、Sawyer、Yumi三种典型构型的性能进行了仿真。通过对比分析可知,偏置的存在使构型的全局性能和工作空间体积性能降低,但对灵活工作空间性能有提高作用。结果表明偏置是影响机器人性能的重要因素,该分析研究为协作机器人的构型设计提供了理论依据。     

Overview of ATM networks: functions and procedures

The purpose of this paper is to present an overview of the ATM technique. The basic principles of the ATM transfer technique, the B-ISDN layered protocol reference model, as well as the architecture and the main functions of the ATM network, are described in this tutorial. In particular, we present the main characteristics of the ATM technique, the structure of the ATM cell, the functions which deal with the protection from errored cells (HEC procedure) and the identification of the boundaries of the ATM cells (cell delineation and scrambling). The VP/VC concept is explained in detail, and the main principles and functions of the three lowest layers (Physical, ATM and Adaptation) of the B-ISDN layered protocol reference model are surveyed. The issue of Quality of Service parameters in ATM networks is reviewed, and the problem of the allocation of the network resources in response to user demands, as well as the problems of congestion control, Usage Parameter Control (UPC) and traffic modelling in ATM networks, are assessed. Finally, we present ‘possible’ sets of traffic characterization parameters, and show how possible B-ISDN sources can be modelled according to the basic on-off ATM traffic source model.