高提升滤波在低对比度目标相关探测中的应用

光电混合联合变换器可实现对目标的实时探测、识别及自动定位。但低对比度目标的相关峰强度很弱,甚至得不到相关峰．影响了目标的识别率。利用高提升滤波处理技术和图像分割对功率谱进行增强处理,可以有效提高功率谱对比度,最大限度保留光谱图像的细节信息,提高光电联合相关系统的目标识别率。     

Exaggerating Character Motions Using Sub‐Joint Hierarchy

Motion capture cannot generate cartoon‐style animation directly. We emulate the rubber‐like exaggerations common in traditional character animation as a means of converting motion capture data into cartoon‐like movement. We achieve this using trajectory‐based motion exaggeration while allowing the violation of link‐length constraints. We extend this technique to obtain smooth, rubber‐like motion by dividing the original links into shorter sub‐links and computing the positions of joints using Bézier curve interpolation and a mass‐spring simulation. This method is fast enough to be used in real time.     

Characterization of surface deformation with the Edge of LightTM technique

The aircraft lap joints are inspected with an enhanced visual inspection technique named “Edge of Light”, which is patented by the NRC Institute for Aerospace Research. This technique is applicable for rapid detection of possible hidden corrosion in lap joints. The surface deformation due to hidden corrosion can be characterized by this optical-based inspection method. In this study, a calibration procedure is developed to quantify the lap joint surface deformation. The effect of surface reflectivity is investigated with the solid film highlighting technique (SolidHi^TM), which helps achieve a uniform reflectivity during the inspection. The efficiency of the technique is demonstrated with the experimental results. This work is supported by NRC-IAR New Initiative Research Funding.     

基于关节力矩的柔性关节机器人的控制策略

由于关节柔性降低了系统的带宽并影响系统的鲁棒稳定性,因此,采用基于关节力矩负反馈的控制策略。通过减小电机端有效惯量的方法可以大大提高系统带宽并增强鲁棒稳定性;在机器人的控制上,采用一种基于全状态反馈的复合控制结构,证明了系统的稳定性,并在现有的机械臂上实现了位置和阻抗控制实验,验证了该控制策略的有效性和可行性。     

基于DSP/FPGA的反步法阻抗控制柔性关节机械臂

针对柔性关节机械臂与环境接触时的柔顺控制问题,提出一种反步法阻抗控制方法,并基于李雅普诺夫稳定性理论证明了控制器的稳定性.该方法是在建立柔性关节机器人模型的基础上,将李雅普诺夫函数选取与控制器设计相结合的一种回归设计方法.它从系统的最低阶次微分方程开始,逐步设计满足要求的虚拟控制,最终设计出真正的控制器.轨迹跟踪和阻抗控制实验结果表明,该方法是有效而可行的.     

单搭接接头温度场与热应力分布的研究

为了对胶接接头承受热载荷时的温度场和热应力分布进行数值模拟,利用有限元法对单搭接接头的被粘物外表而承受不同温度、速度气流时的温度分布情况进行了分析.在考虑接头变形为几何非线性的前提下,研究了约束方式、胶层厚度及搭接长度对接头热应力分布的不同影响.结果表明,峰值热应力出现在搭接区边缘;当约束方式使胶层发生较大转动时,胶层处于高应力水平;随胶层厚度的增加,热应力降低且在胶层中分布更趋于均匀;搭接长度对热应力的影响因接头所受约束方式的不同,呈现不同的规律.     

基于依赖注入的移动终端应用开发

提出了一种基于依赖注入和控制反转提高移动终端应用移植性和重用性的解决方案,并在Spring框架上实现了手机拍照应用在不同平台间的移植.结果表明该方案取得了较好的效果,提高了移动终端应用软件的移植性和重用性.     

Output regulation of nonaffine nonlinear systems using singular perturbation theory

A control synthesis method for output regulation based on singular perturbation theory combined with inverting design is considered for a class of nonaffine nonlinear systems. The resulting control signal is defined as a solution to ＂fast＂ dynamics which inverts a series error model, whose state is exponentially stable. It is shown that, under sufficient conditions being consistent with the assumptions of singular perturbation theory, this problem is solvable with （ε） tracking error if and only if a set of first-order nonlinear partial differential equations are solvable. The control law can be easily constructed and the simulations show the feasibility and effectiveness of the controller.     

Partial state observers for linear systems with unknown inputs

We consider the problem of constructing partial state observers for discrete-time linear systems with unknown inputs. Specifically, for any given system, we develop a design procedure that characterizes the set of all linear functionals of the system state that can be reconstructed through a linear observer with a given delay. By treating the delay as a design parameter, we allow greater flexibility in estimating state functionals, and are able to obtain a procedure that directly produces the corresponding observer parameters. Our technique is also applicable to continuous-time systems by replacing delayed outputs with differentiated outputs.     

多星侦察移动目标：一种基于潜在区域的求解策略

针对面向移动目标侦察的多星联合调度,提出了一种新颖的求解策略:将移动目标问题转变为区域目标问题,即在多星联合侦察的框架内利用电子侦察引导信息构建移动目标的潜在区域,基于约束满足问题(CSP)描述方法以最大覆盖率为目标建立了面向潜在区域目标的多星联合调度模型,并提出了相应的禁忌搜索算法。通过基于潜在区域的求解策略,可以优化星载遥感器的侦察方案,指导移动目标侦察任务的执行。