A Review of Active Appearance Models

Active appearance model (AAM) is a powerful generative method for modeling deformable objects. The model decouples the shape and the texture variations of objects, which is followed by an efficient gradient-based model fitting method. Due to the flexible and simple framework, AAM has been widely applied in the fields of computer vision. However, difficulties are met when it is applied to various practical issues, which lead to a lot of prominent improvements to the model. Nevertheless, these difficulties and improvements have not been studied systematically. This motivates us to review the recent advances of AAM. This paper focuses on the improvements in the literature in turns of the problems suffered by AAM in practical applications. Therefore, these algorithms are summarized from three aspects, i.e., efficiency, discrimination, and robustness. Additionally, some applications and implementations of AAM are also enumerated. The main purpose of this paper is to serve as a guide for further research.

基于天际线识别的无人机实时姿态角估计

以无人机天际线识别为背景,提出了一种准确、实时的天际线识别算法,并由此估计姿态角。在结合实际情况的基础上,对天际线建立能量泛函模型,利用变分原理推出相应偏微分方程。在实际应用中出于对实时性的考虑,引入直线约束对该模型进行简化,然后利用由粗到精的思想识别天际线。首先,对图像预处理并垂直剖分,然后利用简化的水平直线模型对天际线进行粗识别,通过拟合获得天际线粗识别结果,最后在基于梯度和区域混合开曲线模型约束下精确识别天际线,并由此估计无人机滚动和俯仰姿态角。实验结果表明,该算法对天际线识别具有较好的鲁棒性、准确性和实时性。

基于模型差分析的旋翼飞行机器人航向与垂向预测控制方法

本文针对旋翼飞行机器人全包线机动飞行中的驱动器滞后以及动力学模型时变的问题,提出了应对不确定性动力学模型的基于模型差分析的增量平稳预测控制方法。该方法首先通过建立增量平稳预测过程模型来应对驱动器输出滞后与稳态模型以及系统工作点的不确定性,并提升控制系统鲁棒性。然后通过自适应集员滤波器在线估计系统瞬态动力学与名义模型的偏差来补偿全包线飞行中时变模型对于名义控制器跟踪性能的影响。最后,通过实际的飞行试验验证了此方法能够有效的解决全包线飞行中航向与垂向的驱动器滞后与动力学时变问题,并且可以实用于旋翼机器人航向与垂向的全包线自主飞行控制。

基于人工协调场的多移动机器人实时协调避碰规划

为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷,提出人工协调场法(ACF).将场函数与机器人的风险状态相结合,给出并讨论了人工协调场的基本设计.基于人工协调场,考虑机器人的运动约束,实现了多机器人之间以及机器人与环境间的实时协调避碰,提出了一个多移动机器人无死锁实时避碰规划算法.理论分析和仿真试验证明所提方法的有效性.

基于神经网络的一类非线性系统模型参考控制

针对一类非线性系统,提出了一种神经网络模型参考控制方案。在训练实现对象模型的网络和实现控制器的网络时,由状态方程产生训练样本。通过对倒立摆系统的仿真实验验证了控制方案和样本生成策略的有效性,在仿真实验中用不同初始状态验证了训练后的神经网络的泛化能力。

海潜Ⅱ型遥控潜水器在海洋石油行业的应用

本文以海潜Ⅱ型遥控潜水器的作业实例描述了ROY在海洋石油行业的应用,介绍了在不同的应用中的作业内容,分析了在作业中存在的问题和解决方法.

南堡油田测试资料综合评价及试油配套工艺技术研究与应用

A series of significant oil-gas exploration progresses have been achieved in Nanpu depression with 1.02 billion ton oil-gas reserves have been proven. It has been confirmed that Nanpu beach has a geologic condition to be a major field based on exhaustive research. This finding, which is integrated reservoir，great reserves, thick oil layer and high productivity in Nanpu depression, is the most excited success in Chinese oil-gas exploration in recent years. This abundant oilfield found is significant to the strategy of oil production stability in the east of China. Nanpu depression exploration is also a crucial exploration project for Petrochina. Based on the comprehensive research on Nanpu formation testing data, we reevaluate and analyze the reservoir property and the structure characteristics, and propose a series of testing technique that are suitable for Jidong oil field development. The results are summarized as follows: 1. The reservoir parameters and characters are defined by formation test data interpretation and systemic dynamic-static data comparison. 2. Based on sources analysis and statistical research related to formation contaminants, some technique measures, which can not only prevent or reduce invasion damage for different formations but also can effectively improve completion efficiency, are proposed. 3. By selecting the testing pressure drawdown, optimum working regulation and flow /shut-in duration, and adopting dynamic-static flow parameters correlation analysis to predict production, an optimum research on working regulation and flow /shut-in duration was accomplished. Optimization formation test principles suitable for any kinds of Nanpu oilfield are established, which can improve test quality, construction efficiency and data recording quality. 4. By reasonable selection of perforating gun and penetrating charge, the perforation penetration has been improved effectively and the flow channel of the oil gas have been expanded, so that the communication between formations and the wellbore is improved better. 5. One joint working procedure which combining formation test, perforation, unloading and stimulation treatment has become the dominant testing technology in the Nanpu offshore Oilfield. This combination technique can implement several procedures using one pipe string, and achieve rapid testing purpose.

磁层－电离层电流的暴时变化以及主磁场对空间环境的影响

Two problems are studied in this thesis, the relationship of the magneto-spheric - ionospheric current systems during storms, and the effects of the main field to the space environment. The thesis includes three parts. 1. Magnetic disturbances caused by magnetospheric - ionospheric current systems Transient variations of the geomagnetic field at middle-low latitudes are mainly caused by the ionospheric dynamo current (IDC), the symmetric ring current (SRC), the partial ring current-region II field-aligned current-ionospheric current system (PRFI), and the region I field-aligned current-ionospheric current system (FACI). The storm on May 1 ～ 6, 1998 is analyzed. Firstly, the S_q-field caused by IDC current is removed by using the modified Hibberd's method in which the effect of SRC is considered. The neglect of SRC-field can give as much as 40% error in S_q-field evaluation. Secondly, the disturbance fields at the middle and low latitudes are separated according to their origins. As a result, the disturbance caused by FACI-current is an important part of the asymmetrical depression of H-component in middle and low latitudes during storms. The results show that the relative intensity of the Sq-field increases in the main phase of the storm and decreases in the recovery phase. The latitudinal gradient of the Sq-field is positive during the whole storm. The storm of May 1 ～ 6, 1998 contains two events. In the first event on May 2, the SRC-field is similar to Dst index. But in the second event on May 4 ～ 5, the SRC-field delays to Dst index, and the SRC-field depresses while the PRFI- and FACI-fields recovery. 2. Analysis of S_q~p variation in CGM coordinates In order to study the conjugation of geomagnetic variations between northern and southern hemispheres, we use the corrected geomagnetic coordinates (CGM) instead of the geomagnetic coordinates (GM) to analyze the S_q~P equivalent current system. The CGM coordinates are built up by International Geomagnetic Reference Field (IGRF) model. The S_q~p variations and equivalent current systems in the northern and southern polar regions are more symmetrical in CGM coordinates than in GM co-ordinates. This fact implies that the current distributions in polar regions are governed by the configuration of the geomagnetic field lines. As the elaborate structure of S_q~p current system in quiet time is obtained, we summarize the seasonal variation of the electrojet in quiet time. 3. The magnetospheric configuration of non-parallel-dipole model The magnetospheric configurations are calculated for two possible geomag-netic field models during the geomagnetic field reversals. These models are the dipole field with the axis to the sun and the quadrupole field model. We use the finite element method to solve the magnetic equation, and use the surface evolution method to solve the equilibrium equation. The results show that the main field greatly affects the space environment.

热察绥地区过去300年土地利用覆被变化

The historical land use and land cover changes is one of the key issues in LUCC research. However, the achievement of China in this field doesn't match her position in the world yet. And the reliability of the quantitive records in Chinese historical literature, the basic data for historical land use research, has been doubted. This research focuses on Re-Cha-Sui, a typical area for the farming-pastoral region in the north of China, to make a detailed case study in this field. Based on a deep mining and calibration on the data from massive historical documents and land-use surveys, the author gives a detailed analysis on the administrative region evolution, historical population dynamics, reclamation policy, and the land statistic system. According to textual researches, parallel validation and physical geographical analysis, a unified land use series for recent 300 years, which founded on the results of modern land-use surveys, is constructed. And the thematic maps on the cultivation index for different counties in several temporal sections are plotted. Based on the endeavor above, the dynamic of forest and steppe is reconstructed as well. The temporal-spatial patterns of land use/land cover changes in the area is analyzed. And the influence of different driving forces are discussed. The main conclusions of the research are as followed: 1. The quantitive records in literatures on Re-Cha-Sui area are reflection of real amounts of croplands. It is practical to reconstruct a result comparable with the modern land-use surveys, based of a deep mining and considerate validation on historical documents. The unexceptional negative attitude towards the numerical records in historical documents is unnecessary. 2. In recent 300 years, 3 climax of reclamation appeared in Re-Cha-Sui area and altered the pure pastoral area into a farming-pastoral region. The interval were respectively the early time till mid time of the Qing dynasty, the end of the Qing dynasty till early time of the Republic of China(ROC), and the time after A.D. 1949. After the first expansion, the area of cropland in this region reached 2.0 million ha. Among them, Guisui area, which was most densely cultivated, had a cultivation index over 30%, which is similar with modern situation. The second expansion covered broader area, and the amount of cropland reached 3.5 million ha. The increase of farming area after 1949 is due to the recultivation of abandoned farmland. The current area of cropland in this region is 5.6 million ha. In the southern area where the land was reclaimed early, the amount on of the cropland has some fluctuation in 300 years. While in the new reclaimed area in the north, the area of cropland has kept the trend of increasing. 3. Due to the different natural conditions, most forests in Re-Cha-Sui area distribute in the mountain area of North Hebei province, and the upland of West Liaoning province, especially the former, which has a forest coverage near 70%. However, most of these forests were destroyed before the end of the Qing dynasty. In 1949, the natural forest near Chengde was nearly cleared up. They were partly renewed after 1949 due to plantation. 4. In the steppe zone such as northern Rehe, Suiyuan and Chahar, the area of steppe has a negative correlation with that of cropland. With the expansion of cropland, the percentage of steppe has shrunk from over 80% to 53%. In the mountain area of North Hebei province, steppe expanded with the shrinkage of forest, though cropland was expanding. The percentage once reached 60%, and then fell with the renew of forest. However, in the upland of West Liaoning province, the steppe shrink slowly from original 50% to current 26%, with the expansion of cropland. 5. The land use and land cover change in Re-Cha-Sui area in recent 300 years is driven by various factors, including human dimensions such as population, policy of the government, disorder of the society, cultural tradition, and natural factors such as climate change and natural disasters. Among them, pressure from surplus population is the basic driving force.

A combined DFT and SCRF study of solvent effects on 4-methyl-3-penten-2-one

The IR spectrum of 4-methyl-3-penten-2-one is interpreted with the aid of normal coordinate calculations within the Onsager self-consistent reaction field (SCRF) model, using a density functional theory (DFT) method at the Becke3LYP/6-31G* level. The solvent effects on the geometry, energy, dipole moment, and vibrational frequencies of 4-methyl-3-penten-2-one in the solution and in the liquid phase are calculated using the Onsager SCRF model. The calculated vibrational frequencies in the liquid-phase are in good agreement with the experimental values. The solvent reaction field has generally weak influence. For the two main bands of C=C and C=O mixed vibrational modes, small frequency shifts (5-6 cm(-1)), but relatively large changes in IR intensities (up to 101 km mol(-1) in the liquid phase) are found. (C) 1999 Elsevier Science BV. All rights reserved.