基于MQP模型的电离图参数反演解析算法研究

针对现今普遍采用的偏导迭代电离图反演算法存在的求解依赖于初值选择的不足,给出了一种初值选择准则,保证了该算法的收敛性。同时,利用该准则,以及在对电离图虚高表达式进行合理近似的基础上,提出了一种新的电离图参数反演算法,该方法实现电离图参数反演的解析计算,较偏导迭代法计算量大大减少,更好满足工程实时性要求。     

双目视觉的新颖实时局部2维地图构建方法

根据轮式机器人移动的特点,提出一种采用双目视觉的新颖实时局部2维栅格地图构建算法。首先,提出虚拟高度线投影成像原理,将场景均匀栅格化,在栅格中引入虚拟高度线,并将其投影到立体视觉系统的立体图对中产生投影线,将求解场景点高度值的问题转化为在投影线上和水平视差搜索范围内寻找具有最大相似测度的对应点问题;然后,提出一种新颖的局部2维地图构建方法,该方法以机器人所能越过的最大高度为阈值,对高于阈值部分的虚拟高度投影线上的场景点由其在图像对中的相似测度确定其是否为障碍物区域。实验结果表明,该方法满足机器人导航所要求的有效性和实时性,并可应用到构建3维地图。     

一种测力传感器固有频率的提高与测试

提高测力传感器的固有频率能有效增强被测力数据的可靠性。介绍了一种悬臂梁测力传感器提高固有频率的设计方案,以及用高温火焰烧断承载线产生阶跃激励以测试实体传感器固有频率的新方法。该方案使用有限元软件ANSYS对传感器进行模态分析和结构静力分析,结合仿真结果和悬臂梁固有频率公式修改模型,使测力传感器固有频率提高了60%以上,达到了360 Hz。实际测试结果与有限元仿真结果十分接近,充分证明了改进方案的有效性。     

The impact of misregistration on SRTM and DEM image differences

Image differences between Shuttle Radar Topography Mission (SRTM) data and other Digital Elevation Models (DEMs) are often performed for either accuracy assessment or for estimating vegetation height across the landscape. It has been widely assumed that the effect of sub-pixel misregistration between the two models on resultant image differences is negligible, yet this has not previously been tested in detail. The aim of this study was to determine the impact that various levels of misregistration have on image differences between SRTM and DEMs. First, very accurate image co-registration was performed at two study sites between higher resolution DEMs and SRTM data, and then image differences (SRTM–DEM) were performed after various levels of misregistration were systematically introduced into the SRTM data. It was found that: (1) misregistration caused an erroneous and dominant correlation between elevation difference and aspect across the landscape; (2) the direction of the misregistration defined the direction of this erroneous and systematic elevation difference; (3) for sub-pixel misregistration the error due solely to misregistration was greater than, or equal to the true difference between the two models for substantial proportions of the landscape (e.g., greater than 33% of the area for a half-pixel misregistration); and (4) the strength of the erroneous relationship with aspect was enhanced by steeper terrain. Spatial comparisons of DEMs were found to be sensitive to even sub-pixel misregistration between the two models, which resulted in a strong erroneous correlation with aspect. This misregistration induced correlation with aspect is not likely specific to SRTM data only; we expect it to be a generic relationship present in any DEM image difference analysis.     

An LMI approach to synthesis subject to almost asymptotic regulation constraints

A multi-objective controller synthesis problem is considered in which an output is to be regulated approximately by assuring a bound on the steady-state peak amplification in response to an infinite-energy disturbance, while also guaranteeing a desired level of performance measured in terms of the worst-case energy gain from a finite-energy input to a performance output. Relying on a characterization of the controllers with which almost asymptotic regulation is accomplished, the problem of guaranteeing the desired level of performance is reduced to solving a system of linear matrix inequalities subject to a set of linear equality constraints. Based on the solution of this system, a procedure is outlined for the construction of a suitable controller whose order is equal to the order of the plant plus the order of the exogenous system.     

一种基于音频特征的自适应量化数字音频水印算法

针对传统的固定步长量化方法对不同种类音频载体适应性较差的缺点,提出了一种新的自适应量化步长的数字音频盲水印算法．该算法结合音频载体自身特点自适应确定量化步长,大大增强了算法对不同音频载体的适应性．仿真实验表明,该算法对于不同种类音频载体不仅具有较好的不可感知性,并且对于重采样,重量化,噪声,低通滤波及MP3压缩等攻击都具有较好的鲁棒性.     

自校准电子水平仪的设计与实现

由于现有的电子水平仪随时间、温度的变化会产生零点漂移,测量前需进行手动调零。根据水平尺旋转180°找平的古老方法设计出带有自动消除零点漂移的智能型电子水平仪,介绍了带自校准功能的电子水平仪的硬件框图、软件设计和实验分析。实验结果表明:该方法能够大幅提高仪器测量精度。     

双积分系统阶跃响应快速无超调控制: 一种增益切换非线性PD控制

采用标准PD或PID控制器镇定双积分对象时,系统的阶跃响应必然存在超调:为此,设计了一种可以切换增益的非线性PD控制器,给出了系统阶跃响应无超调的充要条件,以及减小调节时间的方法.采用的切换规律是:当误差的幅值大于设定门限时,设计好的快速PD控制器投入工作,以加快误差的收敛:当误差的幅值小于设定门限时,设计好的强阻尼PD控制器投入工作,以抑制可能出现的超调.通过这两个控制器的配合作用,既能实现阶跃响应无超调,又能有效减小调节时间.仿真验证了该结论.     

基于光伏电池输出特性的MPPT算法研究

为了寻找更好的实现光伏发电系统最大功率点跟踪控制方法,基于单个光伏电池的物理特性建立了太阳能光伏电池阵列的Matlab仿真模型,分析了太阳能光伏电池阵列所具有的随着光照强度和温度不同而变化的P-U和I-U非线性特性.基于光伏电池的动态特性,在最大功率点跟踪算法的设计中增加一个电流监测回路,并结合自寻优技术对电导增量法进行改进,提出了一种自适应变步长寻优算法.仿真结果表明,该算法能够快速准确的跟踪最大功率点.     

基于多级空间压缩测度积分的中值计算方法

中值滤波由于可有效去除脉冲噪声,且能保护细节信息,因而成为应用最广泛的滤波算法之一,然而中值计算的速度问题在一定程度上制约了中值滤波的应用。为提高中值计算的速度,提出了一种利用测度积分快速计算中值的方法。该方法首先使用阶梯函数对数组进行拓展,并通过给出中值与函数测度积分的关系,实现了基于函数测度积分的中值计算算法;然后针对数组值分布范围较大时,中值计算时间增长的情况,给出了对测度空间进行压缩的解决方案;最后将空间压缩的方案推广到了多级压缩。实验表明,新方法计算中值的速度优于已往各种中值算法,并能与多数改进的中值滤波算法相结合。