适用于复杂环境下的实时目标跟踪技术

针对复杂环境下目标跟踪过程中目标存在旋转、视角、尺度等变化以及噪声干扰的问题,提出了一种基于尺度不变特征与快速模板匹配相结合的目标跟踪技术;该技术通过分别提取预先存储模板和实时采集图像的尺度不变特征,建立初始模板;采用菱形搜索策略对模板的低分辨率子图和待跟踪图像的低分辨率子图进行快速互相关检测,根据检测结果在该帧高分辨率图像中建立紧凑ROI,在此区域内进行模板匹配,对目标进行精确定位;在目标跟踪的过程中采用自适应模板更新策略,以保证在目标发生变化时跟踪的稳定性;实验结果表明,该技术在稳定性、准确性和实时性等方面均优于传统方法。     

基于PLC的火电厂电除尘器振打控制的研究

为了提高火电厂中静电除尘器的稳定性、可靠性、自动化水平,采用了高性能施耐德Twido可编程控制器(PLC)以及Twidosoft编程软件,设计了电除尘器电机振打控制方案,编制了振打控制梯形图程序;当沉降室侧壁振打3分钟,停7分钟;第一电场振打2分钟,停8分钟;第二电场振打2分钟,停18分钟;第三电场振打2分钟,停28分钟时,振打效果较好;运行结果表明:采用Twido可编程控制器之后,实现了电机振打的自动运行,与传统继电器振打控制系统相比,可靠性高,稳定性好,除尘效率高,粉尘排放浓度低于50mg/m3,为火电厂静电除尘器电机振打系统的自动控制提供了新的方法。     

Optimal tracking performance of MIMO discrete‐time systems with communication constraints

The optimal tracking problem for multiple‐input multiple‐output linear‐time‐invariant discrete‐time systems with communication constraints in the feedback path is studied in this paper. The tracking performance is measured by the energy of the error signal between the output of the plant and the reference signal. The objective is to obtain an optimal tracking performance, attainable by all possible stabilizing compensators. It is shown that the optimal tracking performance consists of two parts, one depends on the nonminimum phase zeros and zero direction of the given plant, as well as the reference input signal direction, and the other depends on the nonminimum phase zeros, unstable poles, and pole direction of the given plant, as well as the bandwidth and additive white Gaussian noise of the communication channel. It is also shown that, if the constraint of the communication channel does not exist, the optimal tracking performance reduces to the existing tracking performance of the control system without communication constraints. A typical example is given to illustrate the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Stability analysis and H∞ control for hybrid complex dynamical networks with coupling delays

This paper formulates and studies a model of complex dynamical networks with switching topology and coupling delays. Based on the hybrid control and Lyapunov function, the stability and robust H_∞ control of such networks with impulsive and switching effects, which have not been studied before, are addressed with some criteria derived. Examples are given to illustrate the effectiveness of the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Optimal Performance in Tracking Stochastic Signal Under Disturbance Rejection

The analysis method of optimal tracking performance is proposed for multiple‐input multiple‐output (MIMO) linear time‐invariant (LTI) systems under disturbance rejection. An H₂ criterion of the error signal between the output of the plant and the reference signal is used as a measure for the tracking performance. Spectral factorization is applied to obtain the optimal solution of the system tracking error. The explicit expressions are derived for this minimal tracking error with respect to random reference signals under disturbance rejection. It is shown that the nonminimum phase zeros, the zero direction, the unstable poles, the pole direction of a given plant, statistical characteristics of the reference input signal, and disturbance signal have a negative effect on a feedback system's ability to reduce the system error with disturbance rejection. The results show that the optimal tracking performance will further be damaged because of disturbance rejection. Some typical examples are given to illustrate the theoretical results.     

方柱体镦粗的两个新力学模型

在对平板间镦粗圆柱体的研究［１，２，３］基础上，进一步对普通平板间的方柱体镦粗，进行了工程力学的分析，提出了二个新力学模型，并进行了实验验证。这为形成新的拔长理论［４，６］奠定了力学基础。     

侧向土体影响下盾构隧道引起上覆管线变形

目前盾构隧道开挖对邻近管线影响的理论研究一般基于Winkler地基模型和Pasternak地基模型,较少考虑精度更高的Kerr地基模型及管线侧向土体影响对管线变形的约束作用. 将管线简化成Euler-Bernoulli梁搁置在Kerr地基模型上,利用差分法得到盾构隧道引起上覆管线竖向位移半解析解,在此基础上进一步推导考虑管线侧向土体影响的Kerr地基模型差分解. 通过与已有工程案例和离心机数据对比,验证Kerr地基模型相比于其他地基模型的优越性,也验证了考虑管线侧向土体影响的Kerr地基模型计算结果更加符合实测数据. 参数分析表明, 随着隧道开挖地层损失率和土体弹性模量的增大,管线的竖向位移和弯矩均增大;随着管线与隧道夹角的增大,管线的竖向位移和弯矩均减小.     

Crystallographic structure- and texture-dependent fracture behavior of polycrystalline lead zirconate titanate ceramics

Journal of Electroceramics - The effect of crystallographic structure and texture on the fracture behavior of lead zirconate titanate (PZT) ceramics was investigated. PZT ceramics with Zr/Ti ratio...     

焊接热源有效利用率的测试计算法

给出实际热输入值是正确求解焊接热弹塑性问题和焊接残余应力与变形问题的前提;因而,准确地确定热源有效利用率η,在焊接力学的发展中是一个急待解决的命题。本文推荐采用的“测试计算法”提供了一个能够准确、简捷地求得η值的新途径。引入被焊材料的熔化潜热系数后,给出了线热源加热焊缝金属至熔化温度(处于液态)时的实际热有效利用率ηt 的表达式。在四种不同类型的薄板材料上进行了钨极氩弧焊试验,测试计算结果与理论值相符合。理论推导与试验结果均证明,形成焊缝所需要的线能量的无量纲数值等于焊缝金属熔化热有效利用率ηt 的倒数。文中给出的焊接规范参数选择原则也适用于符合线热源条件的其它熔焊热源。η值不但与焊接工艺方法、规范参数有关,而且也随被焊材料的热物理特性不同而异。     

基于粒子群算法的移动机器人全局最优路径规划*

以栅格法和粒子群算法为基础,提出了一种新的机器人实时全局最优路径规划方法.该方法包括采用栅格法对环境进行建模和直接运用粒子群算法在环境模型中搜索全局最优路径.在计算机上进行了仿真,仿真结果证明了该方法的可行性和有效性.