基于外极线分区的动态立体匹配算法

基于区域的立体匹配算法仅针对支撑窗内的灰度信息定义匹配代价函数,导致在弱(无)纹理区域采用WTA优化出现歧义性。该文在外极线分区的基础上,改用区域作为匹配基元,针对歧义性区域,在代价函数中引入遮挡项和平滑项,并按照区域优先级的高低,动态匹配相应区域,获得可靠的视差信息。实验证明,该算法在保持实时性的同时对弱纹理区域处理具有有效性。

机器人操作臂跟踪动态目标的轨迹规划方法

针对机器人操作臂跟踪运动目标问题,提出一种基于遗传算法的轨迹规划方法。通过对关节加速度的增量进行编码,实现在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中所需要的轨迹。仿真计算的结果表明,所提出的方法是有效的。

一种新的多智能体强化学习算法及其在多机器人协作任务中的应用

在多机器人系统中 ,评价一个机器人行为的好坏常常依赖于其它机器人的行为 ,此时必须采用组合动作以实现多机器人的协作 ,但采用组合动作的强化学习算法由于学习空间异常庞大而收敛得极慢 .本文提出的新方法通过预测各机器人执行动作的概率来降低学习空间的维数 ,并应用于多机器人协作任务之中 .实验结果表明 ,基于预测的加速强化学习算法可以比原始算法更快地获得多机器人的协作策略 .

基于模糊推理水下作业系统运动控制研究

水下作业系统是运动学冗余系统,本文将模糊推理方法融入基于任务优先运动学控制算法,对系统载体与机械手进行协调运动分配,同时对系统多个任务进行优化。通过带有3自由度水下机械手的水下作业系统进行算例仿真研究,说明运动控制算法的有效性。

基于信道估计的RS纠错编码改进算法的设计与实现

提出了一种基于信道估计的RS纠错编码改进算法,该算法可以自适应地根据外界条件和环境对传输信道的干扰变化实时地调节编码系统的数据冗余量。仿真与完整的分析结果证实了该改进算法有效地改善了RS编码算法的传输效率;并且通过实际应用表明:良好的性能,高容错性适应于该通信系统的多种传输信道,具有很强的实用性。

一种基于优化算法的机械手运动学逆解

本文给出一种基于优化算法的机械手运动学逆解的方法 ,这种优化方法基于信赖域方法 ,,具有超线性的收敛速率 .这种方法不仅具有牛顿方法的快速收敛性 ,又具有理想的总体收敛性 .这种方法较 CCD& BFS有明显的优点 ,可以在一般的 PC机上实现实时求解 .在 P II40 0上仅需不到 10 ms就可以求得最优解 .

基于专家系统的多移动机器人模糊自校正协调系统

研究多移动机器人的运动规划问题，在实时运动规划专家系统的基础上提出了一种串级模糊控制器，以校正实际工作环境下各机器人的运动状态与理想情况下可能产生的误差，使各机器人正确调整各自运动状态，达到协调工作的目的。

随机系统模型参数在线辨识的一种算法及负荷预报

本文提出了一种简化的多变量随机系统状态模型参数在线辨识方法。与最小二乘自适应递推算法比较,不仅需要辨识的参数减少,而且针对一类模型参数缓慢变化的系统,可以通过选择不同的遗忘因子序列来控制参数变化的幅度,解决了电力系统负荷预报中季节模型的老化问题。本方法基于带有随机噪声状态模型的典范型,大大节省了计算机的运算量和存贮容量,适于微处理机的在线应用。

叠前时间偏移：各向异性、多次波衰减及应用

At present, in order to image complex structures more accurately, the seismic migration methods has been developed from isotropic media to the anisotropic media. This dissertation develops a prestack time migration algorithm and application aspects for complex structures systematically. In transversely isotropic media with a vertical symmetry axis (VTI media), the dissertation starts from the theory that the prestack time migration is an approximation of the prestack depth migration, based on the one way wave equation and VTI time migration dispersion relation, by combining the stationary-phase theory gives a wave equation based VTI prestack time migration algorithm. Based on this algorithm, we can analytically obtain the travel time and amplitude expression in VTI media, as while conclude how the anisotropic parameter influence the time migration, and by analyzing the normal moveout of the far offset seismic data and lateral inhomogeneity of velocity, we can update the velocity model and estimate the anisotropic parameter model through the time migration. When anisotropic parameter is zero, this algorithm degenerates to the isotropic time migration algorithm naturally, so we can propose an isotopic processing procedure for imaging. This procedure may keep the main character of time migration such as high computational efficiency and velocity estimation through the migration, and, additionally, partially compensate the geometric divergence by adopting the deconvolution imaging condition of wave equation migration. Application of this algorithm to the complicated synthetic dataset and field data demonstrates the effectiveness of the approach. In the dissertation we also present an approach for estimating the velocity model and anisotropic parameter model. After analyzing the velocity and anisotropic parameter impaction on the time migration, and based on the normal moveout of the far offset seismic data and lateral inhomogeneity of velocity, through migration we can update the velocity model and estimate the anisotropic parameter model by combining the advantages of velocity analysis in isotropic media and anisotropic parameter estimation in VTI media. Testing on the synthetic and field data, demonstrates the method is effective and very steady. Massive synthetic dataset、2D sea dataset and 3D field datasets are used for VTI prestack time migration and compared to the stacked section after NMO and prestack isotropic time migration stacked section to demonstrate that VTI prestack time migration method in this paper can obtain better focusing and less positioning errors of complicated dip reflectors. When subsurface is more complex, primaries and multiples could not be separated in the Radon domain because they can no longer be described with simple functions (parabolic). We propose an attenuating multiple method in the image domain to resolve this problem. For a given velocity model，since time migration takes the complex structures wavefield propagation in to account, primaries and multiples have different offset-domain moveout discrepancies, then can be separated using techniques similar to the prior migration with Radon transform. Since every individual offset-domain common-reflection point gather incorporates complex 3D propagation effects, our method has the advantage of working with 3D data and complicated geology. Testing on synthetic and real data, we demonstrate the power of the method in discriminating between primaries and multiples after prestack time migration, and multiples can be attenuated in the image space considerably.

Study on system identification of linear and non-linear liquid chromatography separation

The paper proposes the identification method of linear and non-linear chromatographic system. The non-linear isotherms and lumped mass transfer coefficients of chromatography separating sorbitol and mannitol are determined. And the theoretical elution curves calculated by non-linear chromatographic model are more accurate than those calculated by linear chromatographic model.