Stereo and motion correspondences using nonlinear optimization method

This paper presents a new approach for using stereo and motion correspondences to solve the problem of tracking multiple independently moving features. In this approach, quantitative relational structure (QRS) is proposed as a framework for the integration of stereo–motion correspondences. The similarity function, tightly coupled to stereo and motion cues, is constructed on QRS, and then energy function E² consisting of the similarity function is defined. The tracking problem can be converted into the maximization problem of the energy function E². The stereo and motion correspondences that maximize E² are recovered by applying an extended graduated assignment algorithm. The relaxation labeling method is also presented for the comparison with the proposed method. Experimental results are presented to illustrate the performance of the proposed method.     

基于Intel 87c196kc的某机载设备随动系统数字控制器的实现

介绍了某机载光电设备随动系统控制器的设计与实现。该控制器是基于Intel公司87c196kc的数字控制器，设计中充分利用了87c196kc较强的运算能力及其它片内功能，使得控制器设计简捷、调整灵活、体积小，提高了系统的可靠性。     

多任务调度算法在单片机控制系统中的应用

为了满足单片机控制系统的复杂要求 ,提出了多任务调度算法 ,通过与单任务程序结构的对比和分析 ,详细说明了多任务调度算法的实现 ,指出了应用该算法的必要性 ,并且以科研生产的实例说明其具体应用。     

Inversion of confluent Vandermonde matrices

This paper is concerned with the inversion of confluent Vandermonde matrices. A novel and simple recursive algorithm for inverting confluent Vandermonde matrices is presented. The algorithm is suitable for classroom use in both numerical as well as symbolic computation. Examples are included to illustrate the proposed algorithm.     

求通信网生存能力的一种分裂二叉树算法

本文研究了布尔代数方法在通信网生存能力分析中的应用，提出了一种求布尔代数式不交化变换的分裂二叉树算法，与现有的同类算法相比，该算法具有结构清晰、执行效率高、易于实现等优点。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

蒙特卡洛法速度谱的自动拾取

蒙特卡洛速度谱的自动拾取采用一种非线性优化的快速方法，所得叠加速度的精度可以满足常规地震资料处理中叠加的要求，转换为层速度后可用于叠前深度偏移成象，在给定初始速度模型前提下建立优化目标函数。采用蒙特卡洛非线性优化算法，以最大相似度量准则在考虑实际地质条件前提下给出速度约束条件，对初始速度模型加以扰动，自动寻找速度谱中叠加能量的全局最优解，从而获得合理的速度模型。实际地震资料处理的应用结果表明，自动拾取速度谱比常规的人工速度谱解释工作的效率大幅度提高。在SUN Ultra60机上,仅需1h即可完成2000km的地震资料的速度谱拾取任务，而且所获得的速度模型不受人为因素影响，转换所得的层速度模型用于叠前深度偏移后，获得了满意的成象效果。     

数值地形图的生成及其水文地貌特征评价

数值地形图(DEM)是利用地理信息系统(GIS)进行流域水文模拟的基础, 其精度直接影响模拟结果在没有现成的数值地形图时, 应用人员往往利用传统的地形图来生成它. 本文分别采用Arc/Info地理信息系统软件提供的哈奇逊法和不规则三角网五次插值法, 对一个实验流域的高程取样点进行插值, 生成了4种不同的数值地形图, 从凹洼分布、流域界定、河网提取、地面坡度和地形指数、以及地面径流汇成等方面, 对它们的水文地貌精度进行了比较. 结果表明, 两种方法都能生成由高程点群所反映的地形, 然而由于哈奇逊法能够结合流域的河网结构及其具有物理基础的水文地貌加强法来处理凹洼问题, 因此大大地提高了其所生成的流域数值地形图水文地貌特征精度.     

GPS/电子地图组合定位技术在侦察机器人系统中的应用

介绍了GPS／电子地图组合定位技术在侦察机器人系统中的应用。对GPS接收机进行二次开发，在WINDOWS环境下，基于VB6．0，利用通信控件捕获基准站和移动站的RTCM SC－104格式差分GPS电文。分析比较了几种GPS定位算法的优劣，根据侦察机器人系统的特点，选择逆向伪距差分算法对电文进行处理，并与电子地图相结合进行精确定位。对逆向伪距差分算法的实现做了详细介绍并对实验结果做了简要分析，在电子地图的管理上，提出了将监视区域二次划分的方法，利用BMP位图，对侦察机器人所在的方位进行可视化精确定位。     

Hard disc drive air bearing design: modified DIRECT algorithm and its application to slider air bearing surface optimization

Hard disk drives continue to increase in areal data density. This requires air bearing sliders with lower and lower flying heights (FH). Also the uniformity of the FH and the flatness of the roll profile with radius become more critical as the FH gets lower. By using modern optimization techniques, it is possible to optimize slider air bearing surface (ABS) designs according to multiple design goals. In this paper, we discuss two modifications to the DIRECT algorithm: one to handle tolerance and one to deal with hidden constraints. Some numerical experiments were carried out using these modifications and the modified DIRECT algorithm was applied to slider ABS optimization. The results show that these two modifications can improve the efficiency of the DIRECT algorithm and they also provide more flexibility in slider ABS optimization.