基于被动行走原理的双足机器人步态规划

为解决四连杆双足机器人的平面步态规划问题, 提出基于被动行走的平面步态规划。基于3毅向下坡面完全被动行走的动力学方程, 利用角度不变控制方法施加控制力矩, 得到机器人在水平面上的动力学模型。结合常数时间放缩方法对平面参考轨迹进行时间放缩, 得到机器人在水平面上步幅不变, 周期可变的行走步态。通过Matlab 软件数值仿真结果表明, 该研究方法是可行、有效的。     

SIFT特征匹配算法改进研究

为了适应于景象匹配导航及制导等实时性要求较高的领域,对SIFT特征匹配算法进行改进,提出了基于D^2OG特征点检测算子的改进的SIFT特征匹配算法。改进算法用D^2OG金字塔的过零点检测代替DOG金字塔的极值点检测提取尺度不变特征点,巧妙简化高斯金字塔的结构,降低了算法复杂度和时间代价。以标准测试图库中大量不同几何和灰度畸变图像为基础的仿真实验表明,基于D^2OG特征点检测算子的改进的SIFT特征匹配算法在保持原算法鲁棒性和精度的前提下,较大的提高了算法实时性。

Abstract：

An improved Scale Invariant Feature Transform algorithm was proposed based on D^2OG interest point detector for better real time performance in the application of scene matching navigation and so on. In order to detect the scale invariant interest point, a D^2OG pyramid is built and extreme detection in the DOG pyramid was replaced by zero detection in the D^2OG pyramid, which simplified the structure of DOG pyramid, so as to lower the complexity of algorithm, lessen the running time. Numerous experiments were carried out on standard testing images under various shooting conditions such as geometric distortion, illumination variation and so on. The result shows that the method has a big progress in the real time performance compared to the original one, with equally robustness and precision.     

基于矢量重构的相干信源测向

传统的解相干方法主要有空间平滑和子空间拟合两类,但这些方法或者阵列利用率低或者计算复杂度高,因此寻求计算量小且阵列利用率高的解相干测向方法有重要意义. 该文基于前后向矢量重构理论,提出一种相干信源测向方法. 根据信号导向矢量矩阵与信号子空间张成同一空间,充分利用大特征值对应的特征向量,采用前后向矢量重构方法构造列满秩的数据矩阵,利用总体最小二乘¡旋转不变子空间算法进行波达方向估计. 该方法适用于独立信源和相干信源同时存在的情况,具有良好的实用性,且运算过程简单,计算量小. 理论分析和仿真结果表明了所提方法具有优良性能.     

某些边界条件下凝聚算子不动点的存在性

利庸拓扑度理论研究凝聚算子不动点,在确定的边界条件下得到所述非线性算子其不动点存在性,其结论改进或者拓广了已知文献中的相应结果．     

Multi-target localization for bistatic MIMO radar in the presence of unknown mutual coupling

A decoupling-estimation signal parameters via rotarional invariance technique(ESPRIT) method is presented for multi-target localization with unknown mutual coupling in bistatic multiple-input multiple-output(MIMO) radar.Two steps are carried out in this method.The decoupling operation between angle and mutual coupling estimates is realized by choosing the auxiliary elements on both sides of the transmit and receive uniform linear arrays(ULAs).Then the ESPRIT method is resilient against the unknown mutual coupling matrix(MCM) and can be directly utilized to estimate the direction of departure(DOD) and the direction of arrival(DOA).Moreover,the mutual coupling coefficient is estimated by finding the solution of the linear constrained optimization problem.The proposed method allows an efficient DOD and DOA estimates with automatic pairing.Simulation results are presented to verify the effectiveness of the proposed method.     

矩阵方程AX=B的反对称正交对称解及其最佳逼近

讨论了矩阵方程AX=B有反对称正交对称解的充要条件以及解的表达式,并得到了其最佳逼近解,最后给出了它的数值算法和算例.     

Adaptive broadband beamformer for nonuniform linear array based on second order cone programming

Adaptive broadband beamforming is a key issue in array applications. The adaptive broadband beamformer with tapped delay line (TDL) structure for nonuniform linear array (NLA) is designed according to the rule of minimizing the beamformer's output power while keeping the distortionless response (DR) in the direction of desired signal and keeping the constant beamwidth (CB) with the prescribed sidelobe level over the whole operating band. This kind of beamforming problem can be solved with the interior-point method after being converted to the form of standard second order cone programming (SOCP). The computer simulations are presented which illustrate the effectiveness of our bearaformer.     

开边界条件下Fateev-Zamolodchikov模型的潜藏定域规范不变性

本文在量子反散射方法框架内详细研究了开边界条件下Fateev-Zamolodchikov 模型的潜藏定域规范不变性.结果表明,尽管Hamiltonian 量及其本征矢明显规范相关,但其能量本征值与Bethe方程却是规范不变的.     

Investigation of proportional link linkage clustering methods

Proportional link linkage (PLL) clustering methods are a parametric family of monotone invariant agglomerative hierarchical clustering methods. This family includes the single, minimedian, and complete linkage clustering methods as special cases; its members are used in psychological and ecological applications. Since the literature on clustering space distortion is oriented to quantitative input data, we adapt its basic concepts to input data with only ordinal significance and analyze the space distortion properties of PLL methods. To enable PLL methods to be used when the numbern of objects being clustered is large, we describe an efficient PLL algorithm that operates inO(n ² logn) time andO(n ²) space.This work was partially supported by the Natural Sciences and Engineering Research Council of Canada and by the Austrian Fonds zur Förderung der wissenschaftlichen Forschung.     

A CLASS OF TESTS USING L STATISTIC FOR CONSTANT RELATIVE FAILURE RATE AGAINST MONOTONE RELATIVE FAILURE RATE

In this paper we develop tests using L-statistic for constant relativefailure rate against monotone relative failure rate.Scale invariance,monotonepower and locally asymptotic power results are obtained.Some examples arepresented.