Robust reversible image watermarking scheme based on spread spectrum

Robust reversible watermarking can provide robustness against various attacks besides the ability to recover the cover image. However, robustness and reversibility are somewhat separate in many schemes. The original cover image cannot be recovered even if the watermarked image suffers from a tiny distortion. This paper presents a new robust reversible watermarking scheme by exploring the reversibility of spread-spectrum codes. Watermark bits are embedded by a suggested adaptive spread-spectrum code. The embedding amplitude used in the algorithms is determined by quantizing the source interference of the cover. The proposed scheme is robust to various attacks. Furthermore, since the embedding amplitude is available at the receiver, the original image can be recovered losslessly when there is no attack. Even in the presence of attacks, the original cover images can still be partially recovered. Experimental results demonstrate that the proposed scheme performs well on robustness and watermarked image quality, and provide extra reversibility that resists image distortions.     

基于三阶超螺旋滑模观测器算法的机器人力矩估计方法

本文研究了六自由度(6-DOF)机器人关节力矩估计问题.为了提高机器人关节力矩估计精度,本文设计了一种三阶超螺旋滑模关节力矩观测器.在对观测器系统进行稳定性分析时,本文设计了一种新的Lyapunov函数证明了观测器闭环系统的稳定性.与已有的机器人力矩观测器结果不同,该力矩观测器仅以机器人关节角度作为观测器输入信号,减少了对机器人系统信息的依赖.最后,以6-DOF工业机器人为对象,开展实验验证.实验结果表明,与传统线性力矩观测器相比,本文提出的滑模力矩观测器估计误差小,验证理论的正确性.     

Crack propagation of pipeline steel exposed to a near-neutral pH environment under variable pressure fluctuations

This investigation attempts to understand the corrosion fatigue crack propagation behavior of pipeline steels exposed to near-neutral pH environments. The fatigue loading was designed to simulate the underload-type variable amplitude pressure fluctuations found during pipeline operation. The effects of amplitudes (R ratios) of underload and minor cycles were investigated. It has been found from this investigation that the crack growth rate is enhanced significantly through load interaction of the variable amplitude fatigue. The acceleration factor is found to be up to 2.7 and 5.3 for tests in air and in the near-neutral pH solution, respectively. The crack growth rate decreases with R ratios of underload and minor cycles for tests both in air and in near-neutral pH environments. The latter could enhance crack propagation by a factor of up to 11, as compared with the crack growth rate in air. The critical R ratio of minor cycles at which the minor cycles do not contribute to crack propagation through load interaction was determined to be as high as 0.982, which is much lower than the threshold determined by constant amplitude fatigue. This critical R ratio could be utilized to demarcate stress corrosion cracking and corrosion fatigue, and should be incorporated as one of the design principles for components/structures subjected to variable amplitude cyclic loading.     

平面声场中四传声器阵列理论精度的对比分析

主要探讨了两种四传声器阵列的理论精度,针对相应的传声器布置形式进行数值计算,比较了正四面体和直角四面体传声器探头在不同工况下的幅值误差和方向误差。结果表明,在平面波作用下,1~4 k Hz范围内正四面体传声器的幅值误差小于直角四传声器,且两者均小于1 d B,外接球心位置的幅值精度在高频段优势明显;当频率小于5 k Hz时,方向误差均控制在2°以内,因此可以满足相关的建筑声学测试要求。     

一种新型高速动态液压加载装置

介绍了一种自行设计的用于高速齿轮试验台的新型液压加载装置,阐明了该装置的结构及工作原理．对影响加载装置的转矩和效率的几个主要参数进行了公式推导和分析．     

国产600MW汽轮机组轴系扭振设计专题的研究

根据国内对大机组轴系扭振的研究近况,对轴系扭振过程中的随机性、快关汽门与轴系扭力矩的相对关系进行了计算分析和定性研究,并首次在大机组轴系研究领域中提出电力系统动态行为过程中“机电一体化”的新概念。     

汽轮机组振动信号的测量与分析

针对目前汽轮机组振动的特点,将振动信号分为两类,即轴振（相对振动）和瓦振（绝对振动）。首先分析了汽轮机组的振动概况及其对机组的影响;然后分别介绍了机组振动的测量和分析方法。具体地从传感器谈起,解释了机组的轴振和瓦振的不同测量原理。针对振动的三要素即振幅、频率及相位分别做了介绍;最后以300MW机组为例,说明其振动测点的一般布置。     

基于高效信道化的侦察接收机设计与实现

为了解决电子侦察接收机中同时到达信号的接收问题,从传统的低通滤波器结构出发,给出了一种无盲区高效数字信道化接收模型。信道化之后进行瞬时幅度和相位差提取。通过系统仿真,验证了该信道化模型的正确性;通过搭建信道化接收机的硬件平台并对实际系统测试,验证了瞬时幅度及相位差测试的正确性。     

刚体目标大机动飞行的仿真研究

分析典型航迹的特征规律,根据多段航迹组合生成航迹的思想,运用3种基本的目标状态方程模拟刚体目标大机动飞行的三维航迹。针对模型切换时的航迹平滑问题,提出基于最小二乘拟合的航迹仿真方法,以准确描述刚体目标的运动规律。修正基于航迹的刚体目标姿态角计算方法,避免模型切换时的姿态角振荡现象,便于相关应用的实现。