Surface modelling of soil pH

In addition to classical methods, namely kriging, Inverse Distance Weighting (IDW) and splines, which have been frequently used for interpolating the spatial patterns of soil properties, a relatively more accurate surface modelling technique is being developed in recent years, namely high accuracy surface modelling (HASM). It has been used in the numerical tests, DEM construction and the interpolation of climate and ecosystem changes. In this paper, HASM was applied to interpolate soil pH for assessing its feasibility of soil property interpolation in a red soil region of Jiangxi Province, China. Soil pH was measured on 150 samples of topsoil (0-20 cm) for the interpolation and comparing the performance of HASM, kriging. IDW and splines. The mean errors (MEs) of interpolations indicate little bias of interpolation for soil pH by the four techniques. HASM has less mean absolute error (MAE) and root mean square error (RMSE) than kriging, IDW and splines. HASM is still the most accurate one when we use the mean rank and the standard deviation of the ranks to avoid the outlier effects in assessing the prediction performance of the four methods. Therefore, HASM can be considered as an alternative and accurate method for interpolating soil properties. Further researches of HASM are needed to combine HASM with ancillary variables to improve the interpolation performance and develop a user-friendly algorithm that can be implemented in a GIS package. (C) 2009 Elsevier B.V. All rights reserved.

Efficient HOG human detection

While Histograms of Oriented Gradients (HOG) plus Support Vector Machine (SVM) (HOG+SVM) is the most successful human detection algorithm, it is time-consuming. This paper proposes two ways to deal with this problem. One way is to reuse the features in blocks to construct the HOG features for intersecting detection windows. Another way is to utilize sub-cell based interpolation to efficiently compute the HOG features for each block. The combination of the two ways results in significant increase in detecting humans-more than five times better. To evaluate the proposed method, we have established a top-view human database. Experimental results on the top-view database and the well-known INRIA data set have demonstrated the effectiveness and efficiency of the proposed method. (C) 2010 Elsevier B.V. All rights reserved.

Local histogram based geometric invariant image watermarking

Compared with other existing methods, the feature point-based image watermarking schemes can resist to global geometric attacks and local geometric attacks, especially cropping and random bending attacks (RBAs), by binding watermark synchronization with salient image characteristics. However, the watermark detection rate remains low in the current feature point-based watermarking schemes. The main reason is that both of feature point extraction and watermark embedding are more or less related to the pixel position, which is seriously distorted by the interpolation error and the shift problem during geometric attacks. In view of these facts, this paper proposes a geometrically robust image watermarking scheme based on local histogram. Our scheme mainly consists of three components: (1) feature points extraction and local circular regions (LCRs) construction are conducted by using Harris-Laplace detector; (2) a mechanism of grapy theoretical clustering-based feature selection is used to choose a set of non-overlapped LCRs, then geometrically invariant LCRs are completely formed through dominant orientation normalization; and (3) the histogram and mean statistically independent of the pixel position are calculated over the selected LCRs and utilized to embed watermarks. Experimental results demonstrate that the proposed scheme can provide sufficient robustness against geometric attacks as well as common image processing operations. (C) 2010 Elsevier B.V. All rights reserved.

Calculating the equation of state parameters and predicting the spinodal curve of isotactic polypropylene/poly(ethylene-co-octene) blend by molecular dynamics simulations combined with Sanchez-Lacombe lattice fluid theory

Molecular dynamics simulations are adopted to calculate the equation of state characteristic parameters P*, rho*, and T* of isotactic polypropylene (iPP) and poly(ethylene-co-octene) (PEOC), which can be further used in the Sanchez-Lacombe lattice fluid theory (SLLFT) to describe the respective physical properties. The calculated T* is a function of the temperature, which was also found in the literature. To solve this problem, we propose a Boltzmann fitting of the data and obtain T* at the high-temperature limit. With these characteristic parameters, the pressure-volume-temperature (PVT) data of iPP and PEOC are predicted by the SLLFT equation of state. To justify the correctness of our results, we also obtain the PVT data for iPP and PEOC by experiments. Good agreement is found between the two sets of data. By integrating the Euler-Lagrange equation and the Cahn-Hilliard relation, we predict the density profiles and the surface tensions for iPP and PEOC, respectively. Furthermore, a recursive method is proposed to obtain the characteristic interaction energy parameter between iPP and PEOC. This method, which does not require fitting to the experimental phase equilibrium data, suggests an alternative way to predict the phase diagrams that are not easily obtained in experiments.

Interannual horizontal heat advection in the surface mixed layer over the equatorial Pacific Ocean: assimilation versus TAO analysis

The interannual anomalies of horizontal heat advection in the surface mixed layer over the equatorial Pacific Ocean in an assimilation experiment are studied and compared with existing observational analyses. The assimilation builds upon a hindcast study that has produced a good simulation of the observed equatorial currents and optimizes the simulation of the Reynolds sea surface temperature (SST) data. The comparison suggests that the assimilation has improved the simulation of the interannual horizontal heat advection of the surface mixed layer significantly. During periods of interrupted current measurements, the assimilation is shown to produce more meaningful anomalies of the heat advection than the interpolation of the observational data does. The assimilation also shows that the eddy heat flux due to the correlation between high-frequency current and SST variations, which is largely overlooked by the existing observational analyses, is important for the interannual SST balance over the equatorial Pacific. The interannual horizontal heat advection anomalies are found to be sensitive to SST errors where oceanic currents are strong, which is a challenge for ENSO prediction. The study further suggests that the observational analyses of the tropical SST balance based on the TAO and the Reynolds SST data contain significant errors due to the large gradient errors in the Reynolds SST data, which are amplified into the advection anomalies by the large equatorial currents.

最优变分伴随方法及在近岸水位资料同化中的应用

利用二维正压Princeton（POM）海洋模式模拟美国东海岸由表面风场产生的低频非潮汐水位变化特征。模式采用曲线正交网格，表面风场使用每3小时时间间隔、空间分辩率为48公里的EDAS（ETA Data Assimilation System）分析风场。沿岸潮汐观测资料（美国国家水位观测网）用来检验模式模拟结果以评估模拟结果的精度，这些观测资料也被用于动力同化模式中。在美国东海岸，表面风场是产生和引起低频水位及其变化的最重要的动力机制。观测资料的分析结果表明，非潮汐水位的最大振幅可达1以上，其对表面风场的响应大约滞后6～12小时左右。与观测资料相比，模式计算值的均方误差大约为8～12厘米，与观测资料之间的相关系统为0.54～0.91。为了获得更精确的模拟水位，提高实时水位预报系统的精度，本论文用伴随最优方法将尚岸水位观测资料同化到海洋动力模式中。建立一套实时水位预报同化系统。在该同化系统中，二维线性POM模式用作海洋基本模式（向前积分模式）。其伴随模式是通过拉格朗日（Lagrange）方法由离散的基本模式方程获得。观测水位与模拟水位之间的差被定义为价格函数。由于表面风场对美国东海岸低频水位的产生及其变化起着最重要的作用，表面风场的误差及风应力系统的误差都将引起模拟水位的误差。因此，在最优同化系统中，将表面风应力系统定义为控制变量。通过调整风应力系数改变风应力场，使模式计算的水位最好地接近观测值。有限记忆的准牛顿方法用于求解所形成的最优化问题。一致性“孪生”试验（假设的“观测数据”由模式本身产生，因此，控制变量的真实解是已知的）用来检验同化系统的正确性、有效性及收敛性。“孪生”试验结果表明该同化系统所求得的控制变量的解精确地收敛于真实解。在实测水位资料的同化试验中，设计了三种不同情况的试验，其对应的控制变量的个数分别为1，8，16。同化后模式结果表明，即使仅用一个控制变量，模式计算的水位比没有用同化技术的模式结果好，用16个控制变量的同化模式获得最好的结果，对这种情况，观测水位与同化模式的计算结果之间的相关系数在所有观测站均大于0.93，其计算结果的均方误差均小于5.3厘米。因此说同化模式的结果得到了很大的改进。实时水位预报结果表明，对于没有应用同化技术的预报系统，其预报水位均方误差在8.8～12厘米。同化技术对低频非潮汐水位预报结果的改进主要发生在前6小时。使预报的非潮汐水位的预报均方误差减少3厘米。

东中国海区域海浪同化系统设计与研究

针对目前海浪同化中没有适合东中国海区的业务应用系统，以及缺乏集合卡尔曼滤波方法（Ensemble Kalman Filter，EnKF）的应用的现状，设计了东中国海区域海浪同化系统。首先比较了目前常用的各种资料同化方法，指出各种同化方法的实质都是一种滤波过程，并选取最优插值方法（Optimal Interpolation，OI）和EnKF方法开展同化试验，动力模式选取WAVEWATCH III，观测资料为Topex/Poseidon卫星高度计观测波高。然后用观测法研究了模式预报误差协方差的统计性质，指出误差相关距离尺度在3°至6°之间。最后用22001号浮标观测资料验证了两个同化系统2000年8月的有效波高计算值，结果表明OI方案的同化系统对有效波高的均方根误差减少了9.0%，系统运行稳定，可应用于业务化部门；EnKF方案的同化系统在集合样本数为50的情况下，对有效波高的均方根误差减少了6.0%，用EnKF方法同化有效波高是可行的。

伴随法在潮汐和海温数值计算中的应用研究

变分数据同化中的伴随法可实现数值模型与观测数据的拟合。随着物理海洋数值计算和数值预报业务的不断发展，其具有广阔的应用前景。本文主要研究关于伴随数据同化的有关理论及其在物理海洋数值模型中的应用。本文介绍了变分伴随数据同化的基本原理，从模型方程的连续和离散形式出发讨论采用两种不同的方法推导伴随方程，一是拉格朗日乘子（Lagrange multiplier）法；二是基于泛函的Gateaux微分概念的方法，这里简称Gateaux微分法。文中讨论了导出离散伴随模型方程和目标函数梯度的两种不同途径，其中一种途径是由连续的正模型得到连续的伴随模型及连续的目标函数梯度表达式，然后再对伴随模型和目标函数梯度进行差分离散（简称“伴随的差分”）；另外一种途径是由离散的正模型直接导出离散的伴随模型及梯度表达式（简称“差分的伴随”）。目前尽管人们比较一致的看法是应该采用后一种途径，即建立伴随模型系统应该采用“差分的伴随”，但对由这两种途径建立的伴随系统的相互关系，人们探讨的并不多。本文利用了简单的模型对该问题进行了研究。另外，对有关初始猜测和伴随优化系统的多解性问题进行了探讨。本文着重研究并实现了利用伴随法优化非线性潮汐模型的开边界条件。其中采用的二维非线性浅水模型既考虑非线性底磨擦和侧向粘性涡动混合，又包括非线性平流项；离散伴随模型的建立是基于ADI格式（不受CFL条件限制），改善了变分伴随数据同化过程中计算量和计算存储问题，使之减小若干倍（约5～7倍），从而使得模式适于业务化的需求，具有实用价值；同化过程中使用的观测数据既包括常规验潮站水位观测资料，又包括TOPEX/POSEIDON卫星测高数据。实测数据同化数值试验表明，开边界条件的最优控制对数值计算结果有一定程度的改进。本文还探讨了将伴随法应用于海表面温度（SST）的数值预报中。其中采用的SST数值预报模型是基于国家“七五”期间科技攻关项目《中国近海海表面温度短期数值预报模式》。文中利用船舶报SST观测数据进行伴随数据同化试验，以优化初始场，其结果是比较满意的，表明变分数据同化对改进SST数值预报的效果是比较明显的，将伴随法引入中国海域SST数值预报业务化中是可行的。本文最后讨论了伴随数据同化中尚待深入研究的问题，着重指出了在物理海洋学领域开展二阶伴随模式应用研究的内容和必要性。

输电线巡检机器人越障机理与试验

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

Elliptic Object Detection Based on Shape Preserving and Active Contour

本文通过形状约束方程(组)与一般主动轮廓模型结合,将目标形状与主动轮廓模型融合到统一能量泛函模型中,提出了一种形状保持主动轮廓模型即曲线在演化过程中保持为某一类特定形状。模型通过参数化水平集函数的零水平集控制演化曲线形状,不仅达到了分割即目标的目的,而且能够给出特定目标的定量描述。根据形状保持主动轮廓模型,建立了一个用于椭圆状目标检测的统一能量泛函模型,导出了相应的Euler-Lagrange常微分方程并用水平集方法实现了椭圆状目标检测。此模型可以应用于眼底乳头分割,虹膜检测及相机标定。实验结果表明,此模型不仅能够准确的检测出给定图像中的椭圆状目标,而且有很强的抗噪、抗变形及遮挡性能。

基于形状保持主动轮廓模型长直条的检测

通过形状约束方程(组)与一般主动轮廓模型结合,将目标形状与主动轮廓模型融合到统一能量泛函模型中,提出一种形状保持主动轮廓模型。模型通过参数化水平集函数的零水平集表示某一类特定形状,不仅达到了分割即目标的目的,而且能够给出特定目标的定量描述。根据形状保持主动轮廓模型,建立一个用于长直条状目标检测的统一能量泛函模型,导出相应的Euler-Lagrange常微分方程并用水平集方法实现了长直条状区域的检测。此形状保持模型的一种特殊情况可以用于直线状地平(海天)线提取。实验结果表明,该模型不仅能够准确地检测出给定图像中的长直条状区域而且有很强的抗噪、抗变形及遮挡性能。

双足爬壁机器人壁面凹过渡步态规划研究

针对腿足式爬壁机器人在壁面过渡时的步态规划问题,以一种真空吸附式双足爬壁机器人为研究对象,在步态分析的基础上,基于有限状态机建立了机器人的步态模型,进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法,为提高机器人壁面过渡的自主控制能力奠定了基础.仿真分析和实验结果表明,该步态规划算法对于实际的机器人系统是有效的和可行的.

新型蛇形机器人蜿蜒运动的动力学分析

为提高蛇形机器人执行各种运动的能力,研制了新型蛇形机器人系统.重点研究了该蛇形机器人的动力学.建立了机器人的运动学模型,并根据运动学模型提出了控制蛇形机器人蜿蜒运动的复合运动控制方法.用拉格朗日方法建立动力学模型,对不同参数下蛇形机器人的关节力矩特性和摩擦力特性进行了分析比较,为蛇形机器人的有效运动提供了理论依据.

一种并联机床的位置、速度和加速度逆解

本文针对一种混合结构的并联机器人机床,采用串并联运动学等效的方法,进行了运动学研究,推导了系统的位移、速度和加速度逆解的表达式,这可用于机床在加工时的运动规划及插补算法的实现。本文还进行了运动学仿真研究,机床的实际加工操作应用的结果表明,推导的运动学算法的正确性。

控制受限的一类非完整动力学系统的镇定问题

考虑了控制受限的一类非完整动力学系统的镇定问题，在一定条件下经典非完整约束下的Lagrange方程可化为扩展的链式系统，利用滑动模态的思想和多步控制策略，设计了不连续反馈镇定律，该镇定律一方面满足控制受限条件，另一方面使得闭环系统的状态收敛到预先给定的原点的任意小的ε领域中，最后对移动机器人进行了仿真，验证了该方法的有效性。