网络链路性能参数估计的层析成像方法综述

网络层析成像能够在网络内部节点不提供测量协作的情况下,根据端到端的测量结果,间接地估计网络内部链路性能参数,是一种重要的网络测量手段,能直接指导网络管理和网络优化,目前受到国内外学术界和工业界广泛的关注.在广泛收集国内外资料的基础上,首先总结了目前网络层析成像使用的主要端到端测量方法和技术;再根据不同参数对链路性能刻画程度的不同,将链路性能参数的网络层析成像方法分为两类:定量参数推断方法和定性参数推断方法;然后,针对不同类型参数的估计问题,概括分析了现有算法的特点;最后指出该类方法未来的研究方向与潜在的应用前景.     

Quasi-Newton-type optimized iterative learning control for discrete linear time invariant systems

In this paper, a quasi-Newton-type optimized iterative learning control (ILC) algorithm is investigated for a class of discrete linear time-invariant systems. The proposed learning algorithm is to update the learning gain matrix by a quasi-Newton-type matrix instead of the inversion of the plant. By means of the mathematical inductive method, the monotone convergence of the proposed algorithm is analyzed, which shows that the tracking error monotonously converges to zero after a finite number of iterations. Compared with the existing optimized ILC algorithms, due to the superlinear convergence of quasi-Newton method, the proposed learning law operates with a faster convergent rate and is robust to the ill-condition of the system model, and thus owns a wide range of applications. Numerical simulations demonstrate the validity and effectiveness.     

Pulse-order recursive method for inverse covariance matrix computation applied to space-time adaptive processing

The conventional space-time adaptive processing(STAP) method such as the typical sample matrix inversion(SMI)-based STAP method is difficult to implement for a practical system because intense computational complexity arises in calculating the inversion of a space-time covariance matrix directly.According to the block Hermitian matrix property of space-time covariance matrix,a new pulse-order recursive method is proposed in this paper to calculate the inverse covariance matrix for the STAP adaptive weight,which can reduce the computational complexity significantly.The proposed method requires initially calculating the inverse covariance matrix of the first pulse-order recursively based on the block Hermitian matrix property.In the following,the inversion of space-time covariance matrix is obtained recursively based on the previous pulse-order inverse covariance matrix.Next,the STAP adaptive weight is calculated based on the inversion space-time covariance matrix previously obtained.Compared with the conventional SMI-based STAP algorithms,the computational complexity of the proposed method is reduced to more than 50% for the same clutter suppression performance.This method can be applied to practical systems benefiting from small computational complexity and stable clutter suppression performance.     

基于双目视觉的机器人目标定位与机械臂控制

为了更好地与复杂多变的非结构化环境进行交互,完成对目标物体的识别和抓取,提出了一种应用于服务机器人平台的基于双目视觉的仿人机械臂控制方法.文中首先用D-H方法对机械臂进行建模,并对这个模型做了改进,给出了一种更加简便的3+1自由度仿人机械臂的逆解算法,采用基于双目视觉与颜色分割的目标识别方法;然后根据识别出的目标三维坐标信息控制机械臂完成抓取任务;最后,本方法在家庭服务机器人上得到了验证,机器人能够完成对目标物体的识别和抓取动作.     

一种DCT域彩色图像认证方案

提出一种对彩色图像单个颜色通道嵌入水印,实现彩色图像认证的数字水印算法。采用二值图像作为待嵌入水印,实现了盲水印检测。并对基于系数关系的DCT域数字水印算法进行改进,且结合人眼视觉系统的特性,使之对篡改更加敏感。实验结果表明：该算法对压缩攻击具有很好的鲁棒性,同时能检测到其他各类恶性攻击,并且能对剪切进行8＊8块定位。     

基于小波变换的灰度水印嵌入算法

本文针对网络化数字媒体的版权保护提出了一种新的灰度水印图像嵌入到RGB彩色图像中的方法。首先将灰度水印图像进行置乱变换,再将置乱后的图像转换成二值序列,并将二值序列进一步分解成三个二值序列;然后将待嵌入水印的彩色图像分解成R、G、B三个分量,对每个分量分别作二级小波变换,得到小波变换的子带系数,再用奇偶判断法把三个二值序列的值分别嵌入各分量子带;最后用小波逆变换,恢复图像,合并三个分量,得到嵌入水印后的图像。仿真结果表明,本文方法有很好的透明性,且能有效的抵抗剪切、灰度调整、有损压缩等攻击。     

Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.     

管理信息网抗毁构建研究

在机动通信组网时,网络管理信息网是网络管理系统对各节点设备进行参数下发和状态监控的交互通道,在基于ATM虚连接和IP路由器构建的网管信息网中,通过研究网络互连策略和IP动态路由技术,构建了不受限于节点连接接口的抗毁管理信息组网,提高了网络的顽存能力,拓宽了机动通信的适应性,该方法可在工程中推广应用。     

一种基于离散余弦变换的图像放大算法

图像放大算法众多,有的算法简单但是效果不好,放大效果较好的算法又比较复杂。根据尺度变换原理,信号在时域扩展对应于频域的压缩,使信息能量集中于低频部分。本文提出了一种基于离散余弦变换的图像放大算法,保留图像的低频并与相应的增强系数相组合,在频域实现放大操作。本文还从一维数据仿真试验确定增强系数的取值。将放大后图像与利用插值算法放大的图像进行比较,结果表明使用本文算法放大效果优于插值算法,有较好的清晰度．该方法可仅在频域操作,较其他放大方法易于实现,效果较好。