Stereo matching cost computation based on nonsubsampled contourlet transform

A new matching cost computation method based on nonsubsampled contourlet transform (NSCT) for stereo image matching is proposed in this paper. Firstly, stereo image is decomposed into high frequency sub-band images at different scales and along different directions by NSCT. Secondly, by utilizing coefficients in high frequency domain and grayscales in RGB color space, the computation model of weighted matching cost between two pixels is designed based on the gestalt laws. Lastly, two types of experiments are carried out with standard stereopairs in the Middlebury benchmark. One of the experiments is to confirm optimum values of NSCT scale and direction parameters, and the other is to compare proposed matching cost with nine known matching costs. Experimental results show that the optimum values of scale and direction parameters are respectively 2 and 3, and the matching accuracy of the proposed matching cost is twice higher than that of traditional NCC cost.     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

波动方程数值模拟的隐式差分法

在有限差分波动方程数值模拟中,通常采用高阶差分方法来提高空间导数的数值逼近精度,以实现降低数值频散,提高数值模拟精度的目的。首先对差分频散进行了理论分析;然后讨论了估计一阶空间导数的隐式差分格式,并与通常采用的高阶精度显式差分格式进行了对比分析,结果表明,隐式差分格式能够在更宽的波数范围使差分频散控制在可接受的水平,如8阶精度的显式差分格式所适应的波数带宽约为O．55kmax,而隐式差分格式所适应的波数带宽约为0．7kmax;最后通过模型试算,对隐式差分格式的有效性进行了验证。模拟结果表明,用隐式差分格式在一定程度上降低了差分频散,提高了模拟精度。     

Precision equipment for symmetrical bending— Part 1. The loading system

The design and performance of precision bending equipment for testing straight beams with constant rectangular section under a pure bending moment is described. Part 1 deals with the loading arrangements and Part 2 with the rig for measuring beam deflection. The methods for recording deflection of strain gauges applied on the beam have been described elsewhere.^1–4
The reactions to the deadweight gravity loads are taken via ball bearings. The total bending moment inaccuracy, i.e. the sum of estimated systematic errors and random errors, the latter expressed as the 2Ga confidence interval about the mean (2G_cim), is about ± 25 x. 10^-4%, for 23 tests with a steel beam with 15 mm × 75 mm cross sectional dimensions, loaded to 1-1.5 mm/m strain.
The measuring rig stands on the beam via hardened and polished spherical segment feet and uses a capacitive transducer system with less than 5nm resolution. Various application tasks are described. The total inaccuracy of the measured deflection, i.e. apart from bending moment inaccuracy, is about ± 35 times 10^4% for about 10 reproduced, not repeated, tests with the same steel beam. The deflection for such a beam is of the order of 2 to 4 mm.     

基于DSP+CPLD的高精度信号发生器

介绍了基于直接数字式频率合成(DDS)原理的全数字信号发生器(DSP),利用DSP芯片快速、高精度的运算优势以及CPLD芯片灵活的编程逻辑、大容量存储功能的特点,采用通用可编程芯片以及数字波形合成技术,形成高稳定、高精度、高动态的数字合成信号.该信号发生器可产生0～25 kHz的正弦波、三角波和方波,输出电压峰峰值为0～5 V,频率步进1 Hz,幅度步进0.001 V.     

一种外置式视频同步信号发生器的设计

对随机视频信号的特点进行了研究，提出了采用谱分析提取随机视频信号的同步频率的方法，根据数据传输的要求设计了基于USB接口的外置式视频同步信号发生器并给出了系统的硬件框图和软件流程。系统具有自动分析随机视频信息隐含的同步信号频率，精确产生同步脉冲信号的特点，满足随机视频信号采集和稳定显示的同步要求。同步精度达到300帧内图像漂移小于1个像素。利用该视频同步信号发生器控制非标准图像采集卡实现了计算机辐射的随机视频信号的采集和稳定显示。     

RTK技术在黄土塬地震勘探测量中的应用

在对RTK技术进行简要介绍的基础上，叙述了这一技术在黄土塬地区地震勘探测量中的应用，及所取得的良好测量资料。     

铸铁热分析用试样新型激冷剂的实验研究

从冷却曲线上相变段倾角最小原则出发，研究了新型激冷剂的配比与热分析法检测铸铁成分精度的关系，实验结果表明，能使相变段倾角最小的成分配比，也能提高对铸铁成分的热分析和检测精度。     

一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

Reaction steady states and stationary states in modelling semi-batch enzyme hydrolysis

Dimensionless material balance equations describing an uninhibited enzyme hydrolysis process in a semi-batch reactor (i.e. fed-batch reactor) are formulated; numerical solution of these equations provided concentration profiles of the enzyme-substrate complex by using published kinetic parameters. The unrestricted values obtained are compared with estimates based separately on the reaction steady state and stationary state assumptions. Results are discussed in terms of the enzyme/substrate inventory used and it is found that the reaction steady state is a satisfactory approximation only when this ratio is sufficiently small. The stationary state may be a better approximation at other values, particularly when enzyme is added to substrate or when an empty tank is being filled. Reaction yields from semi-batch and batch operations are compared. Processing takes longer in the semi-batch operations and complete conversions are only practical in this mode when enzyme is added to substrate.