面向微装配机器人的TSB分级智能控制结构

提出了一种面向微装配机器人的TSB(任务 策略 行为 )分级智能控制结构 ,该结构自上而下有三个控制层组成 :任务层、策略层和行为层 .操作者在任务层通过人机交互接口进行微装配任务规划 ,策略层将抽象的装配规划分解为具体的显微视觉伺服策略控制微装配机械手的运动 ,行为层则涉及微装配机器人基本行为的生成与执行监督 .TSB控制结构通过人机交互的方式将操作者的任务规划能力和机器人显微视觉伺服策略结合起来 ,实现了微装配机器人的半自主控制 .     

辽宁新宾满族自治县乡村景观的视觉感知评价

通过实地踏勘,对民族地区乡村景观视觉感知进行研究。按照视觉特性总结出7类典型乡村景观类型。从拍摄的151张照片中选取21张各类典型景观照片,对当地及周边100名村民进行喜好的风景问卷调查。结果显示:对与自己生活相关的景观和自然风貌景观喜好较高;对有规则、管理良好的景观喜好度较高;对该地区的历史文化景观(如古树、古庙、古建筑等)的保护与开发充满期待。乡村景观的良好维护和合理规划对当地居民均有良好的积极效果。     

图像美学质量评价技术发展趋势

 图像质量评价是利用计算机模拟人类视觉系统自动评价图像的失真程度,而图像美学质量评价是利用计算机模拟人类对美的感知与认知,自动评价图像的"美感",分析图像在构图、颜色、光影、景深、虚实等美学因素影响下所形成的美感刺激,这是计算美学与计算机视觉、心理学、虚拟现实等领域的学科交叉新方向,其在摄影摄像、电影电视、电子商务、服装设计、平面设计、文稿设计、工业设计、汽车行业、建筑行业、美容美妆等多个行业具有良好的应用前景。本文回顾了图像美学质量评价的发展历史,从基于人工设计美学特征的方法、基于美学特征深度学习的方法、图像美学质量评价的新任务、图像美学质量评价数据集构建等方面综述了该领域关键技术的发展情况,并展望了图像美学质量评价及其关键技术的发展趋势。     

旋转弹引信用卫星定位接收信号旋转解调方法

为解决旋转弹飞行中的高旋转、高动态条件会造成卫星定位接收系统无法正常定位的问题,针对旋转、动态环境开展了旋转弹卫星定位接收信号旋转解调方法的研究.详细分析了旋转条件对卫星定位信号接收的影响,并针对旋转特性设计了旋转跟踪解调环,用于对旋转的跟踪与解调,给出了旋转弹卫星定位信号接收系统的设计方案,基于Simulink实现了旋转弹卫星定位信号接收系统的仿真,并给出了相应的仿真与实验结果.结果表明,设计的以旋转跟踪环为核心的旋转弹卫星定位信号接收系统,在中心频率为200 Hz的情况下跟踪范围可达到±40 Hz,较好地满足了转速在200转/s左右的旋转弹信号接收要求.      

基于毫米波探测器的炸高可选择近炸引信的炸高解算方法

为满足新一代箱式远程制导火箭弹系统及其新型战斗部的需求,对单型炸高可选择近炸引信进行研究.该型引信的炸高覆盖范围大且炸高可选择,既能满足大威力整体战斗部和电磁脉冲战斗部的炸高需求,又能满足子母战斗部的精确定高开舱需求,对提高陆军精确打击能力具有重要的军事价值.为此,提出一种基于毫米波相控阵探测器的炸高解算方法,通过相控阵探测器测高数据与惯性导航数据的融合处理,实时计算火箭弹飞行高程,从而实现炸高控制.并且将融合结果作为惯导的初值来计算下一时刻的惯导测高数据,在一定程度上减少了由于时间积累造成的惯导测量误差,提高了测高精度.仿真实验证明了该方法的有效性和炸高解算精度.      

基于视觉相关性的无线多媒体传感器网络节能策略

针对资源受限的纯相机无线多媒体传感器网络的能量消耗问题,改进了视觉相关性算法,并提出了一种新颖的基于视觉相关性的完全分布式节能策略.首先,根据视觉相关性系数算法计算相机的视觉相关性系数向量;其次,利用视觉相关性系数向量得到相机的竞争筹码并以此确定相机的角色;然后,运行两个并行且相互交互的操作:簇头相机根据簇头权重向量确定下一跳并完成路由建立;非簇头相机计算亲密度向量并且得到自己的簇ID.最后,实验结果表明本文提出的节能策略能有效地延长资源受限无线多媒体传感器网络的生命周期.     

A survey of occlusion detection method for visual object

Occlusion problem is one of the challenging issues in vision field for a long time , and the occlu-sion phenomenon of visual object will be involved in many vision research fields .Once the occlusion occurs in a visual system , it will affect the effects of object recognition , tracking, observation and operation , so detecting occlusion autonomously should be one of the abilities for an intelligent vision system .The research on occlusion detection method for visual object has increasingly attracted atten-tions of scholars .First, the definition and classification of the occlusion problem are presented . Then, the characteristics and deficiencies of the occlusion detection methods based on the intensity image and the depth image are analyzed respectively , and the existing occlusion detection methods are compared.Finally, the problems of existing occlusion detection methods and possible research directions are pointed out .     

浅谈如何营造图书馆特色空间——以山东交通学院交通文化特色库空间设计为例

图书馆特色空间建设是图书馆特色文化的重要组成部分。阐述了交通文化特色库馆藏资源的判别,分析了交通文化特色库馆藏内容的排序,提出了创造空间环境视觉美感的途径。     

New rapid transfer alignment method for SINS of airborne weapon systems

Transfer alignment is an effective alignment method for the strapdown inertial navigation system （SINS） of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment use nonlinear transfer align- ment models and incorporate nonlinear filtering. A rapid transfer alignment method with linear models and linear filtering for ar- bitrary misalignment angles is presented. Through the attitude quaternion decomposition, the purpose of transfer alignment is converted to estimate a constant quaternion. Employing special manipulations on measurement equation, velocity and attitude linear measurement equations are derived. Then the linear trans- fer alignment model for arbitrary misalignment angles is built. An adaptive Kalman filter is developed to handle modeling errors of the measurement noise statistics. Simulation results show feasibili- ty and effectiveness of the proposed method, which provides an alternative rapid transfer alignment method for airborne weapons.     

Self-alignment of full skewed RSINS：observability analysis and full-observable Kalman filter

Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.