A reliable phase unwrapping algorithm based on the local fitting plane and quality map

A fast and reliable phase unwrapping (PhU) algorithm, based on the local quality-guided fitting plane, is presented. Its framework depends on the basic plane-approximated assumption for phase values of local pixels and on the phase derivative variance (PDV) quality map. Compared with other existing popular unwrapping algorithms, the proposed algorithm demonstrated improved robustness and immunity to strong noise and high phase variations, given that the plane assumption for local phase is reasonably satisfied. Its effectiveness is demonstrated by computer-simulated and experimental results.

Method for improving classification performance of neural network based on fuzzy input and network inversion

In order to effectively improve the classification performance of neural network, first architecture of fuzzy neural network with fuzzy input was proposed. Next a cost function of fuzzy outputs and non-fuzzy targets was defined. Then a learning algorithm from the cost function for adjusting weights was derived. And then the fuzzy neural network was inversed and fuzzified inversion algorithm was proposed. Finally, computer simulations on real-world pattern classification problems examine the effectives of the proposed approach. The experiment results show that the proposed approach has the merits of high learning efficiency, high classification accuracy and high generalization capability.

基于最小疼痛感的机器人操作臂轨迹规划方法

针对机器人操作臂跟踪运动目标的问题,从仿生学的角度提出一种新的轨迹规划方法。将关节加速度的增量进行编码,同时将疼痛感作为优化指标,利用遗传算法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的具有较小疼痛感的轨迹。仿真试验结果表明,所提出的方法是可行的,可以规划出正确的跟踪轨迹,同时有效的减小了操作臂运动过程中的疼痛感。

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。

星球探测机器人视觉系统标定方法研究

本文介绍了星球探测机器人视觉系统的标定方法,首先介绍了一种新的从视觉坐标系到车体坐标系的变换方法,随后给出了像机的模型,在像机参数优化过程中将三维重投影误差作为评价函数,利用遗传算法完成寻优过程,以保证估计出的像机参数全局最优。真实环境实验结果表明:该方法具有较高的空间定位精度。

一种立体视觉系统高精度标定方法

本文介绍使用广角镜头成像的立体视觉系统的高精度标定方法,该方法利用平面单应矩阵约束估计像机内外参数的初值,优化过程中将三维重投影误差作为评价函数,结合遗传算法完成寻优过程,以保证估计出的像机参数是全局最优,避免陷入局部极小。实验结果表明:该方法的空间定位精度与传统方法相比有很大程度的提高。

基于模型的位姿估计中优化方法研究

介绍了基于模型的位姿估计中所使用的一些优化方法。为了提高位姿估计的精度,摄像机的标定参数必须足够精确,这就对标定过程的非线性优化算法提出了很高的要求,采用了一种新的优化目标函数,用来最小化控制点间的三维重建误差,从而使标定参数是全局最优;在双像机位姿估计中,引入了实时遗传算法进行全局搜索,加快了算法的收敛速度。最后的实验证明了这些方法的正确性并显示出这些方法在精度上比传统方法有了较大程度的提高。

非完整自主车基于圆轨迹的道路避障

本文就四轮非完整自主车提出了一种基于圆轨迹的道路避障策略。先将道路上的障碍按照障碍距离自主车的远近划分层次,使一个层次的障碍能在自主车视场中全部出现。然后给出基于圆轨迹的避障算法,即自主车沿由自主车出发位姿和子目标点确定的圆弧轨迹走行。在此之前推导四轮非完整车的运动模型为提出避障策略的基础准备。尽量减小自主车在走行过程中运动状态的改变,基于圆轨迹避障策略能够很好地满足这一要求。最后引入代价函数,给出对于此方法的评价,体现了本方法的优越性。

基于SQP算法的7000m载人潜水器有约束非线性控制分配研究

以7000m载人潜水器为研究对象,分析了潜水器的推进系统,并给出了6自由度推力转换模型,重点讨论了载人潜水器控制分配的优化问题.结合7000m载人潜水器的推进器布置和推进器特点,设计了优化准则代价函数,采用序列二次规划(sequential quadratic programm ing,SQP)算法求解了载人潜水器的非线性控制分配问题,通过半物理仿真平台实验验证了本文提出的控制分配算法的正确性和有效性.yh

Gonad development of an anadromous fish Coilia ectenes (Engraulidae) in lower reach of Yangtze River, China

Anadromous Coilia ectenes was sampled from the Yangtze estuary at Chongming and two of the primary upstream spawning grounds at Jingjiang and Anqing in April, May, June and August 2006. Gonad development was analyzed for females. In April, fish were collected in the estuary and at Jingjiang, but not at Anqing. No female was mature (gonad at stages IV or V) at either location. In May, 45% of the females were mature in the estuary, 9% at Jingjiang and 5% at Anqing. In June, 86% were mature in the estuary, 83% at Jingjiang and 7% at Anqing. In August, C. ectenes was absent at Jingjiang. No female was mature in the estuary, and all females were mature at Anqing. Absolute fecundity (AF) increased significantly with standard length (SL) by a power function AF = 2.27 x 10(-6) x SL2.67 (r(2) = 0.57, n = 48, P < 0.05). Mature females in the estuary were smaller than those at Jingjiang and Anqing. Conservation of spawners in the upstream spawning grounds is important because they have a size-related fecundity advantage over the smaller spawners in the estuary.

Injection locked Fabry-Perot laser diodes for WDM passive optical network spare function

In this paper, a protection scheme for transmitters in wavelength-division-multiplexing passive optical network (WDM-PON) has been proposed and demonstrated. If any downstream transmitter encounters problems at the central office (CO), the interrupted communication can be restored immediately by injecting a Fabry-Perot laser diode (FP-LD) with the upstream lightwave corresponding to the failure transmitter. Compared with the conventional methods, this proposed architecture provides a cost-effective and reliable protection scheme employing a common FP-LD. In the experiment, a 1 36 protection capability was implemented with a 2.5 Gbit/s downstream transmission capability. (C) 2009 Elsevier B.V. All rights reserved.

An analysis and simulation about conditioned launch for very short reach (VSR-4)

VSR4 links use graded index multimode fibers (GIMMFs) as the transmission medium with operation wavelength 850nm. For cost reasons, VCSEL has been selected as the optical source to VSR4. The minimum bandwidth specification for 62.5um GIMMF in VSR4 is only 400 MHz(.)km for over-filled-launch (OFL) condition. The distance of 300 meters is limited over transmission rates of 1.25Gbit/s on the basis of this specification. In order to overcome the OFL bandwidth limit by selective excitation of a limited number of modes, conditioned launch technique is investigated. In this paper, based on a comprehensive dispersion theory of GIMMF, a model is built to simulate the transmission of optical signal in GIMMFs and a comparison between OFL and conditioned launch is analyzed. The result can be the guidelines for the best choice of techniques for various LAN and interconnect systems also.

全局优化的Fourier有限差分偏移方法研究

Seismic exploration is the main method of seeking oil and gas. With the development of seismic exploration, the target becomes more and more complex, which leads to a higher demand for the accuracy and efficiency in seismic exploration. Fourier finite-difference (FFD) method is one of the most valuable methods in complex structure exploration, which has obtained good effect. However, in complex media with wider angles, the effect of FFD method is not satisfactory. Based on the FFD operator, we extend the two coefficients to be optimized to four coefficients, then optimize them globally using simulated annealing algorithm. Our optimization method select the solution of one-way wave equation as the objective function. Except the velocity contrast, we consider the effects of both frequency and depth interval. The proposed method can improve the angle of FFD method without additional computation time, which can reach 75° in complex media with large lateral velocity contrasts and wider propagation angles. In this thesis, combinating the FFD method and alternative-direction-implicit plus interpolation(ADIPI） method, we obtain 3D FFD with higher accuracy. On the premise of keeping the efficiency of the FFD method, this method not only removes the azimuthal anisotropy but also optimizes the FFD mehod, which is helpful to 3D seismic exploration. We use the multi-parameter global optimization method to optimize the high order term of FFD method. Using lower-order equation to obtain the approximation effect of higher-order equation, not only decreases the computational cost result from higher-order term, but also obviously improves the accuracy of FFD method. We compare the FFD, SAFFD（multi-parameter simulated annealing globally optimized FFD）, PFFD, phase-shift method(PS）, globally optimized FFD （GOFFD）, and higher-order term optimized FFD method. The theoretical analyses and the impulse responses demonstrate that higher-order term optimized FFD method significantly extends the accurate propagation angle of the FFD method, which is useful to complex media with wider propagation angles.