双臂空间机器人的通用运动学路径规划算法

提出了一种基于通用运动学模型的双臂空间机器人在自由浮游状态下捕捉目标并避免碰撞障碍物的路径规划算法。过去的双臂空间机器人路径规划问题主要研究双臂的避碰问题 ,而忽略了机器人本体的避碰问题。实际上 ,当机械臂运动时 ,机器人本体也在相对运动 ,这个相对运动随机械臂质量与本体质量之比的增大而增大。利用通用运动学模型计算出双臂空间机器人的各点 (包括本体 )的速度 ,并在路径规划过程中根据机器人本体的速度计算出本体平动的距离 ,克服这个平动来避免与障碍物碰撞。最后 ,通过路径规划算法的计算机仿真结果证明了所提出路径规划算法的可行性     

基于质量评价技术的多信道语音选优决策系统

在分析远距离多信道同源语音信道特性的基础上 ,用若干特征参数来表征信道传输的语音质量并建立了语音质量客观评价模型 ,结合人的听觉特性等因素开发出一种基于语音质量客观评价技术的优质语音信道选优决策系统。该系统能够确保语音通信始终在最佳信道上 ,且在切换过程中无跳变感觉 ,不影响听觉效果 ,现已在实际工程中得到成功运用并取得了满意效果。     

Principle,Method of Object-Relation Hypermedia Data Model and Its Application in the Multimedia Spatial Data Management

1.THEPriNCIPLEOFO-RHDM1.1AnalysisoftheExistingMultimediaDataModelThemultimediadatamodelisthekeytechniquefortherealizationofmultimediaspatialinformationmanagement.ThepresentexistingmultimediadatamodelmainlyincludesNFZmultimediadatamodel,object-originalmultimediadatamodelandhyper-mediadatamodelandsoon.Thoughthesethreekindsofmodelcanrealizetheorganizationandmanagementforthemultimediadatainacertaindegree,allofthemhavesomeweaknessduringthespecificuseinspatialmultimediadatamanagement.1.1.1…     

高分辨率雷达二维图像的图像处理与特征提取

首先分析了雷达目标散射信号特征。在此基础上 ,根据MUSIC算法得到的雷达图像特点 ,通过平滑、量化、增强等适当的图像处理方式对F - 16、HY - 2 0 0 0两种飞机缩比模型在阶梯变频雷达上所获取的雷达图像进行处理 ,并形成雷达二维灰度图 ;最后 ,采用图像矩阵描述方示进行雷达图像的特征提取     

Simulation research on scattering characteristics by complex targets

A simulation approach based on a full-wave numerical method is presented to study electromagnetic characteristics by complex targets. How to validate simulation results is considered thoroughly under no analytical and measured data, where a double-check criterion is designed for our simulation approach. As an example, the scattering of F-117A is studied by using our simulation approach under all polarizations, different frequency bands, incident and scattering directions, etc., some of which, such as cross-polarization, bistatic RCS, have not been considered in the previous literature.     

多状态系统故障树的一种生成方法

介绍一种多状态系统故障树生成方法．首先对传统的可靠性框图方法加以改进,提出一种新的框图分析方法．然后在可靠性框图分析的基础上,依据判定表,自动生成故障树．本方法适合多状态系统可靠性分析     

图像目标的可视识别与智能跟踪

本文研究图像目标的可视识别与跟踪,给出了图像目标识别印章模型和系统总体设计方案。在此基础上,采用智能跟踪算法,实现了正常跟踪、判断、预测和记忆跟踪的功能,而且跟踪方式随着环境条件的变化而变化。正常跟踪算法的图像代数描述是简明的,与算法是内在一致的。通过给出两个实时可视跟踪的实例说明在实时ＤＳＰ可视跟踪系统上算法的性能及其可行性。     

Further results on limitations of sampled-data feedback

To control continuous-time uncertain dynamical systems with sampled data-feedback is prevalent today,but the sampling rate is usually not allowed to be arbitrarily fast due to various physical and/or computational constrains.In this paper,the authors examine the limitations of sampled-data feedback control for a class of uncertain systems in continuous-time,with sampling rate not necessary fast enough and with the unknown system structure confined to a set of functions with both linear and nonlinear growth.The limitations of the sampled-data feedback control for the uncertain systems are established quantitatively,which extends the existing related results in the literature.     

Codebook design for uplink of densely small cells

The shrinking of cell-size brings significant changes to the wireless uplink of densely small cells （DSCs）. A codebook design is proposed that utilizes the strong line of sight （LOS） chan- nel component existing in a DSC system for uplink of the DSC system. To further improve the uplink performance, the high-rank codebook is designed based on singular value decomposition （SVD） due to the unnecessary preservation of strict constant modulus in the DSC system. And according to the simulation result, the proposed codebook leads to significant sum-rate gain and appreciable block error rate （BLER） performance improvement in the DSC system.     

玻璃纤维改性相变沥青混合料路用性能

为研究玻璃纤维对聚乙二醇(PEG)沥青混合料性能的增强效果,探究玻璃纤维掺量对其性能的影响规律,通过车辙试验、半圆弯拉试验、冻融劈裂试验研究了玻璃纤维PEG沥青混合料的高温稳定性、低温抗裂性和水稳定性,并利用室外调温试验研究掺加玻璃纤维前后PEG在沥青混合料中的降温效果.结果表明:玻璃纤维掺量为0.2％时,PEG沥青混...