基于混合滤波的运动小目标检测

针对对空红外图像中的小目标检测问题,提出了一种基于混合滤波的运动小目标检测方法。首先采用滑窗法对图像进行空域能量累积,增强目标信号强度;随后采用三种空域滤波器分别两两加权组合对图像进行滤波与二值化处理,合并处理结果并提取感兴趣区域。最后在时域上根据目标运动特性通过轨迹确定目标位置。该检测方法与传统的滤波检测相比,充分利用了各滤波器的优点以及目标的运动特性,通过对真实的对空场景图像进行目标检测实验,结果表明即使在低信噪比情况下也能快速准确的检测运动红外小目标。     

一种混合驱动柔索并联仿生眼的轨迹规划

在与眼球运动相关的解剖学和运动学的基础上,设计了一种符合Listing定理的基于混合驱动柔索并联机构的3自由度机器人仿生眼.通过矢量封闭方法建立了逆运动学模型,求解出柔索并联机器人的雅可比矩阵和结构矩阵.利用达朗贝尔定理建立柔索并联机器人的力矩平衡方程组,采用广义逆矩阵的相关理论,以柔索张力矢量的2范数最小为目标进行张力优化.用蒙特卡洛方法计算出仿生眼球可达工作空间.最后,在Simulink环境下进行仿真,规划运动轨迹并得到柔索并联机器人运动特性的仿真结果,证明了本文设计的机构符合Listing定理.结果表明:基于混合驱动柔索并联机构的机器人仿生眼结构合理,数学模型正确.     

基于RGB-D深度相机的室内场景重建

目的 重建包含真实纹理的彩色场景3维模型是计算机视觉领域重要的研究课题之一,由于室内场景复杂、采样图像序列长且运动无规则,现有的3维重建算法存在重建尺度受限、局部细节重建效果差的等问题。方法 以RGBD-SLAM 算法为基础并提出了两方面的改进,一是将深度图中的平面信息加入帧间配准算法,提高了帧间配准算法的鲁棒性与精度;二是在截断符号距离函数(TSDF)体重建过程中,提出了一种指数权重函数,相比普通的权重函数能更好地减少相机深度畸变对重建的影响。结果 本文方法在相机姿态估计中带来了比RGBD-SLAM方法更好的结果,平均绝对路径误差减少1.3 cm,能取得到更好的重建效果。结论 本文方法有效地提高了相机姿态估计精度,可以应用于室内场景重建中。     

Ski jump trajectory with consideration of air resistance

In the case of the ski-jump type energy dissipation,the jet trajectory will be greatly affected by the air entrainment and the air resistance.It is necessary to consider those factors when estimating the trajectory of the jet flow.In this work,the effect of the air resistance on the jet trajectory is theoretically and experimentally investigated.A comprehensive resistance coefficient is proposed.To determine this coefficient,experiments of five models are conducted with the circular-shaped flip bucket placed at the point of the takeoff of ski jumps.It is shown that,this coefficient of the lower jet trajectory is only related to the approach flow Froude number,while that of the upper jet trajectory is dominated by both this Froude number and the deflection angle.Furthermore,the present methodology is validated by experimental data in this work and the maximum errors are not larger than 3.2%and 8.6%for the lower and upper jet trajectories,respectively.     

A Saturating Extension of an Output Feedback Controller for Internally Damped Euler‐Lagrange Systems

In this research, a novel extension of the passivity‐based output feedback trajectory tracking controller is developed for internally damped Euler‐Lagrange systems with input saturation. Compared with the previous output feedback controllers, this new design of a combined adaptive controller‐observer system will reduce the risk of actuator saturation effectively via generalized saturation functions. Semi‐global uniform ultimate boundedness stability of the tracking errors and state estimation errors is guaranteed by Lyapunov stability analysis. An application of the proposed saturated output feedback controller is the stabilization of a nonholonomic wheeled mobile robot with saturated actuators towards desired trajectories. Simulation results are provided to illustrate the efficiency of the proposed controller in dealing with the actuator saturation.     

Prevention of Black Hole Attack in Multicast Routing Protocols for Mobile Ad-Hoc Networks Using a Self-Organized Public Key Infrastructure

ABSTRACT

A mobile ad-hoc network (MANET) is an autonomous system of mobile nodes connected by wireless links in which nodes cooperate by forwarding packets for each other thereby enabling communication beyond direct wireless transmission range. Example applications include battlefield communication, disaster recovery operations, and mobile conferencing. The dynamic nature of ad-hoc networks makes them more vulnerable to security attacks compared with fixed networks. Providing security in mobile ad-hoc networks has been a major issue in recent years. Most of the secure routing protocols proposed by researchers need a centralized authority or a trusted third party to provide authentication. This destroys the self-organizing nature of ad-hoc networks. Black Hole attack is one of the routing attacks that occur in MANETs. In this attack, a malicious node uses the routing protocol to advertise itself as having the shortest path to the node whose packets it wants to intercept. In this article, we propose an enhanced certificate based authentication mechanism, where nodes authenticate each other by issuing certificates to neighboring nodes and generating public key without the need of any online centralized authority. The proposed scheme uses Multicast Ad-hoc On Demand Distance Vector Routing (MAODV) protocol as a support for certification. The effectiveness of our mechanism is illustrated by simulations conducted using network simulator ns-2.     

中型水库挑流消能工原型试验与验证

采用挑流消能工,在我省大中型水库泄洪消能中已被广泛应用,实践证明效果良好。多年来,我们对省十余水库工程中的泄洪洞挑流消能工程进行了原型观测及室内模型试验。本文拟以海龙水库泄洪模型试验为例,对软基挑流消能问题做分析讨论,愿与同行交流,以求共勉。     

某杀伤弹与某子母弹弹道一致性设计

为进行某杀伤弹与某子母弹弹道一致性设计,通过FLUENT对弹丸外流场进行数值仿真,获取相关的气动力参数.用仿真结果进行阻力特性分析和射程估算,根据分析结果进行设计方案调整并进行试验验证,结果表明调整方案满足设计要求,说明采用数值仿真方法设计弹丸气动外形是有效、可行的.     

基于EDA算法的机械手最优轨迹

遗传算法在机械手轨迹优化过程中存在一定的缺陷,为了获得较理想的运动轨迹,提出了基于EDA优化算法的机械手运动轨迹优化算法。由于EDA算法中仅使用选择和基因池重组算子,因而常会过早收敛。为了改变这种不足,提出一种改进的EDA算法(IEDA),IEDA算法中使用了小生境技术来保持解的多样性,斌使用簇的方法保存优良个体。通过实验仿真,所得优化轨迹令人满意,且表现出优良特性。     

<Emphasis Type="Italic">HumanPT</Emphasis>: An Open-source,HumanPT Architecture-based,Robotic Application for Low Cost Robotic Tasks

In this paper, first HumanPT architecture for low cost robotic applications is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot  robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server–client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a real-time one, to ensure – in case that the robotic system provide such a facility – control and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. As implementation of this architecture, HumanPT robotic application and experimental results concerning its performance and its implementation in real tasks are provided. HumanPT robotic application, developed in Visual C++, is an integrated, but simultaneously an open-source software that can be adapted in different types of robotic systems. An important number of robotic tasks or procedures including sensors and particularly vision systems can be generated and executed. Small enterprises by means of the proposed architecture and the open source software can be automated at low cost enhancing in this way their production.