Fuzzy PID control of space manipulator for both ground alignment and space applications

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential (PID) control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control, the control performance of the fuzzy PID is more effective for manipulator trajectory control.     

浅谈汽车四轮定位检测与调整技术

四轮定位对汽车的正常行驶起着十分重要的作用。对汽车四轮定位参数进行检测和调整,不仅能确保汽车的正常行驶,还能延长轮胎的使用寿命,同时节省油耗。重点研究了汽车四轮定位的检测方法和调整技术。     

基于共生矩阵和形态学的彩色图像边缘检测

针对在RGB空间中难以有效区分颜色相似性的问题,提出了一种基于共生矩阵和HSI空间形态学的彩色图像边缘检测方法。采用二维共生矩阵直方图均衡化方法,解决图像过渡不自然的现象;针对HSI的分量利用形态学方法进行加权分析和图像融合,得到彩色图像边缘。通过MATLAB实验表明,该算法检测准确率高,自适应性好,有较好的检测效果。     

Reputation mechanism for e-commerce in virtual reality environments

The interest in 3D technology and virtual reality (VR) is growing both from academia and industry, promoting the quick development of virtual marketplaces (VMs) (i.e. e-commerce systems in VR environments). VMs have inherited trust problems, e.g. sellers may advertise a perfect deal but doesn’t deliver the promised service or product at the end. In view of this, we propose a five-sense feedback oriented reputation mechanism (supported by 3D technology and VR) particularly for VMs. The user study confirms that users prefer VMs with our reputation mechanism over those with traditional ones. In our reputation mechanism, five-sense feedback is objective and buyers can use it directly in their reputation evaluation of target sellers. However, for the scenarios where buyers only provide subjective ratings, we apply the approach of subjectivity alignment for reputation computation (SARC), where ratings provided by one buyer can then be aligned (converted) for another buyer according to the two buyers’ subjectivity. Evaluation results indicate that SARC can more accurately model sellers’ reputation than the state-of-the-art approaches.     

考虑重力影响的空间机械臂轨迹跟踪滑模控制

针对空间机械臂由地面装调到空间应用过程中重力环境发生变化的问题,使用滑模控制器对空间机械臂进行控制,通过将配置特殊的非线性结构-fal函数引入趋近律的设计中,提出一种新的基于趋近律的滑模控制方法,并基于李亚普诺夫理论证明了闭环系统的渐近稳定性。仿真结果表明该方法能够很好地完成不同重力环境下机械臂的轨迹跟踪控制任务,并具有较强的鲁棒性。     

网络边布局技术研究综述

网络边布局技术是网络可视化研究的重要内容,良好的边布局能够有效地展示网络的整体结构并从中揭示出某些隐含的信息模式.为了全面地总结和分析现有网络边布局技术,首先归纳了网络边布局的主要任务,回顾了指导网络边布局的美学标准.然后将网络边布局技术归纳为3类:边路由技术、边融合技术和边集束技术,分别阐述了各类技术中典型布局方法的主要原理和特征,并重点对边集束技术进行了分类分析.最后总结了目前研究中还存在的一些问题,展望了网络边布局技术的发展前景和面临的挑战,以期为相关领域的研究者提供有益参考.     

Edge Contour Extraction in MR Image Using Edgeflow Contour Model

This paper presents a new model for edge extraction of MR images, based on curve evolution and edgeflow techniques. At first the model for curve evolution is constructed, which automatically detect boundaries, and change of topology in terms of the edgeflow fields, and then the numerical approximation of the model is introduced, which is based on semi-implicit scheme to speed up the proposed approach. Finally, the numerical implementation is present and the experimental results show that the proposed model successfully extracts the edge contours, regardless of the heavy noise.     

亚像素级模糊图像配准算法

针对目前的特征点匹配算法不能有效配准边缘模糊的图像,提出一种灰度偏移极值特征。将局部像素灰度偏移均值最明显的点作为特征点,利用最小二乘拟合曲线,通过曲线导函数将偏移极值点精确定位于亚像素级,最后采用分块的NMI为特征点分配32维特征向量,再对比向量间距离以实现配准。该特征易于提取、运算简单,而且能在阶跃边缘不清晰的图像中稳定存在。经实验验证,算法应用于模糊图像配准具有较高的匹配精度。     

Shear-rate dependence of first normal stress difference of poly(isoprene-b-styrene) in solution near the order-disorder transition temperature

Viscoelastic properties of poly(isoprene-b-styrene) in dioctylphthalate under steady shear flow were measured near the order—disorder transition temperature. In ordered states, first normal stress difference N₁ is proportional to shear rate at low region, but becomes proportional to at the high region, similar to the N₁ behaviour of polymer blends undergoing shear-induced homogenization. Because the existence of microdomains was confirmed at the high region by the flow birefringence method, it is concluded that the above N₁ behaviour is not caused by shear-induced homogenization, but is probably caused by the shear-induced alignment of the microdomain structure.     

多无限远目标模拟装置光轴共面测试技术研究

提出一种基于激光准直五棱镜回转扫描和CCD技术的非接触检测方法,通过检测三块立板平面度来实现对多无限远目标模拟装置光轴共面度的高精度非接触测量。给出误差评定方法,同时对仪器精度进行分析,通过实验测得共面度为0.039mm,满足精度要求。