基于奇异值分解的机器人工具坐标系标定

机器人通过在末端安装不同的操作工具来完成各种作业任务,而工具参数的准确度直接影响着机器人操作精度,因此研究一种准确、快速的工具坐标系标定方法具有重要的意义。该文提出一种称为三点五步法的机器人工具坐标系标定方法,并基于矩阵的奇异值分解理论对该标定方法进行了严密的数学推理,证明该标定方法理论上的可行性。采用该算法进行工具坐标系标定具有操作简单、标定精度高、可靠性强和算法易于程序实现的特点。     

Least squares decoding in binomial frequency division multiplexing

This paper proposes a method that can reduce the complexity of a system matrix by analyzing the characteristics of a pseudoinverse matrix to receive a binomial frequency division multiplexing (BFDM) signal and decode it using the least squares (LS) method. The system matrix of BFDM can be expressed as a band matrix, and as this matrix contains many zeros, its amount of calculation when generating a transmission signal is quite small. The LS solution can be obtained by multiplying the received signal by the pseudoinverse matrix of the system matrix. The singular value decomposition of the system matrix indicates that the pseudoinverse matrix is a band matrix. The signal-to-interference ratio is obtained from their eigenvalues. Meanwhile, entries that do not contribute to signal generation are erased to enhance calculation efficiency. We decode the received signal using the pseudoinverse matrix and the removed pseudoinverse matrix to obtain the bit error rate performance and to analyze the difference.     

Displacement field denoising for high-temperature digital image correlation using principal component analysis

Principal component analysis (PCA) was extended to minimize the noise effect in digital image correlation (DIC) measurement under a high-temperature atmosphere environment. First, the principle of PCA was introduced, and the singular vectors and singular values for each component of the displacement fields from DIC were obtained. Then, the simulated high-temperature speckle images were developed to investigate the influences of noise on the DIC method under a high-temperature environment. Finally, the displacement fields of several special conditions were extracted from the simulated speckle images and experimental images; the effects of noise on the PCA were also analyzed.     

神经元膜电位噪声取值范围的评估

大脑神经元的活动是在复杂的生理学环境下工作的，而生理学环境中的噪声来源于多个方面．如何定量地正确评估神经系统中的噪声环境是神经信息处理的基本问题．本文通过神经能量的计算给出了噪声对神经元膜电位及对应的能量波形产生显著影响的临界值的估计范围，从而定义了神经元赖以活动的生理学意义上的噪声环境．     

αB-spline: a linear singular blending B-spline

A linear singular blending (LSB) technique can enhance the shape—control capability of the B-spline. This capability is derived from the blending parameters defined at the B-spline control vertices and blends LSB line segments or bilinear surface patches with the B-spline curve or surface. Varying the blending parameters between zero and unity applies tension for reshaping. The reshaped curve or surface retains the same smoothness properties as the original B-spline; it possesses the same strict parametric continuities. This is different from the -spline, which introduces additional control to the B-spline by imposing geometrical continuities to the joints of curve segments or surface patches. For applications in which strict parametric continuities cannot be compromised, LSB provides an intuitive way to introduce tension to the B-spline.     

奇异值分解视频水印嵌入与检测及安全性测试

文章针对目前现有的基于小波变换和奇异值分解相结合的数字水印算法存在的缺陷,提出了一种新的视频水印算法:以二值图像为水印的混合整数小波变换和奇异值分解的视频水印盲提取算法,重点论述了奇异值分解的视频水印嵌入与检测以及安全性的测试.实验表明,提出的新算法具有较好的高透明性和鲁棒性.     

基于模糊理论的Ad Hoc网络可信性研究

在分析Adhoc网络的通信能力的基础上,确定网络可信度影响因子,并采用模糊层次分析法计算可信度影响因子的权重值.提出了基于模糊理论的AdHoc网络可信性评判模型.该模型对Adhoc网络进行了单因素评判和综合评判,并通过实例运算证明了模型的科学性与合理性.     

Inference for Weibull distribution under generalized order statistics

Based on generalized order statistics from Weibull distribution the approach of Bayesian and non-Bayesian estimation are discussed. We present a simple and efficient simulational algorithm for generating a generalized order statistics sample from any continuous distribution. Specializations to Bayesian and non-Bayesian estimators, some lifetime parameters and confidence intervals of progressive II censoring and record values are obtained and compared with the existing results. Two examples are given to illustrate the proposed estimators and the simulation algorithm.     

Exponential stability and exponential stabilization of singularly perturbed stochastic systems with time‐varying delay

In this paper, the problems of exponential stability and exponential stabilization for linear singularly perturbed stochastic systems with time‐varying delay are investigated. First, an appropriate Lyapunov functional is introduced to establish an improved delay‐dependent stability criterion. By applying free‐weighting matrix technique and by equivalently eliminating time‐varying delay through the idea of convex combination, a less conservative sufficient condition for exponential stability in mean square is obtained in terms of ε‐dependent linear matrix inequalities (LMIs). It is shown that if this set of LMIs for ε=0 are feasible then the system is exponentially stable in mean square for sufficiently small ε?0. Furthermore, it is shown that if a certain matrix variable in this set of LMIs is chosen to be a special form and the resulting LMIs are feasible for ε=0, then the system is ε‐uniformly exponentially stable for all sufficiently small ε?0. Based on the stability criteria, an ε‐independent state‐feedback controller that stabilizes the system for sufficiently small ε?0 is derived. Finally, numerical examples are presented, which show our results are effective and useful. Copyright © 2010 John Wiley & Sons, Ltd.     

Robust MIMO disturbance observer analysis and design with application to active car steering

A multi‐input–multi‐output extension of the well‐known two control degrees‐of‐freedom disturbance observer architecture that decouples the problem into single‐input–single‐output disturbance observer loops is presented in this paper. Robust design based on mapping D‐stability and the frequency domain specifications of weighted sensitivity minimization and phase margin bound to a chosen controller parameter space is presented as a part of the proposed design approach. The effect of the choice of disturbance observer Q filter on performance is explained with a numerical example. This is followed by the use of structured singular values in the robustness analysis of disturbance observer controlled systems subject to structured, real parametric and mixed uncertainty in the plant. A design and simulation study based on a four wheel active car steering control example is used to illustrate the methods presented in the paper. Copyright © 2009 John Wiley & Sons, Ltd.