基于复合左右手传输线结构的新型微带天线

基于复合左右手传输线结构的零阶谐振理论,提出了一种新型双层结构的微带天线,仿真结果表明该天线具有比单层微带天线更小的尺寸。研究了天线各结构参数对天线特性的影响,并对各参数进行了优化仿真。仿真结果表明该天线具有全向辐射特性,与传统微带天线相比,该天线具有体积小的特点。     

Improvement of SiC_p Reinforced Cast AluminiumComposites by the ROC Method

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Adaptive Robust Control of an Omnidirectional Mobile Platform for Autonomous Service Robots in Polar Coordinates

This paper presents an adaptive robust control method for trajectory tracking and path following of an omni-directional wheeled mobile platform with actuators’ uncertainties. The polar-space kinematic model of the platform with three independent driving omnidirectional wheels equally spaced at 120 from one another is briefly introduced, and the dynamic models of the three uncertain servomotors mounted on the driving wheels are also described. With the platform’s kinematic model and the motors’ dynamic model associated two unknown parameters, the adaptive robust controller is synthesized via the integral backstepping approach. Computer simulations and experimental results are conducted to show the effectiveness and merits of the proposed control method in comparison with a conventional PI feedback control method.     

Blind omnidirectional image quality assessment with representative features and viewport oriented statistical features

With the development of information technologies, various types of streaming images are generated, such as videos, graphics, Virtual Reality (VR)/omnidirectional images (OIs), etc. Among them, the OIs usually have a broader view and a higher resolution, which provides human an immersive visual experience in a head-mounted display. However, the current image quality assessment works cannot achieve good performance without considering representative human visual features and visual viewing characteristics of OIs, which limited OIs’ further development. Motivated by the above problem, this work proposes a blind omnidirectional image quality assessment (BOIQA) model based on representative features and viewport oriented statistical features. Specifically, we apply the local binary pattern operator to encoder the cross-channel color information, and apply the weighted LBP to extract the structural features. Then the local natural scene statistics (NSS) features are extracted by using the viewport sampling to boost the performance. Finally, we apply support vector regression to predict the OIs’ quality score, and experimental results on CVIQD2018 and OIQA2018 Databases prove that the proposed model achieves better performance than state-of-the-art OIQA models.     

M2OVQA: Multi-space signal characterization and multi-channel information aggregation for quality assessment of compressed omnidirectional videos

Considering the high requirements for omnidirectional video compression, we propose an objective quality evaluation method to assess quality loss in encoding omnidirectional videos. According to characteristics of 360° videos, we consider multi-space signal characterization (MSSC) to fully characterize the distortions of video signals from spatial/image domains to frequency domains and from image content to motion information, and further consider multi-channel information aggregation (MCIA) to fuse scores from multiple projection planes and temporal divided groups. The main innovation of our method is to establish a universal framework in bridging the connection between typical quality assessment and 360° quality assessment to measure 360° video quality effectively and efficiently. Experimental results show that our method outperforms state-of-the-art 2D quality metrics and quality metrics for omnidirectional images.     

Video arrays for real-time tracking of person,head, and face in an intelligent room

Real-time three-dimensional tracking of people is an important requirement for a growing number of applications. In this paper we describe two trackers; both of them use a network of video cameras for person tracking. These trackers are called a rectilinear video array tracker (R-VAT) and an omnidirectional video array tracker (O-VAT), indicating the two different ways of video capture. The specific objectives of this paper are twofold: (i) to present a systematic comparison of these two trackers using an extensive series of experiments conducted in an `intelligent' room; (ii) to develop a real-time system for tracking the head and face of a person, as an extension of the O-VAT approach. The comparative research indicates that O-VAT is more robust to the number of people, less complex and runs faster, needs manual camera calibration, and the integrated omnidirectional video network has better reconfigurability. The person head and face tracker study shows that such a system can serve as a most effective input stage for face recognition and facial expression analysis modules.     

Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows

Described here is a method for estimating rolling and swaying motions of a mobile robot using optical flow. We have proposed an image sensor with a hyperboloidal mirror for the vision-based navigation of a mobile robot. Its name is HyperOmni Vision. The radial component of optical flow in HyperOmni Vision has a periodic characteristic. The circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristic to estimate robustly the rolling and swaying motion of the mobile robot. Correspondence to: Y. Yagi e-mail: y-yagi@sys.es.osaka-u.ac.jp     

在球面运行的万向轮式移动机器人运动学模型的建立

爬壁机器人技术的不断发展,使研制可以吸附在大 型球面工作的轮式移动机器人成为可能．本文采用坐标变换方法,针对工作在球面的万向轮 式移动机器人建立运动学模型．其建模方法对于其它类型的在球面工作的轮式移动机器人也 同样适用．     

双驱动球形机器人的结构设计与分析

本文设计了一种球形机器人,它是通过重心驱动和角动量驱动来实现球体的滚动。机器人的动力部分主要由两个驱动电机和一个转向电机组成,三个电机处于同一水平面上。通过两个驱动电机实现了球形机器人前后向的运动,通过转向电机实现左右转向,包括原地的自转。     

一维光子晶体全角度反射镜

在分析金属反射镜和多层周期反射镜优缺点的基础上，介绍了一维光子晶体出现全偏振全角度反射的原理。讨论了增加禁带宽度的方法及一维光子晶体全角度反射镜中存在的问题。