Quantitatively distinguishing sediments from the Yangtze River and the Yellow River using delta Eu-N-I REEs pound plot

Sediment samples were collected from the lower channel of the Yangtze River and the Yellow River and the contents of rare earth elements (REEs) were measured. In addition, some historical REEs data were collected from published literatures. Based on the delta Eu-N-I REEs pound plot, a clear boundary was found between the sediments from the two rivers. The boundary can be described as an orthogonal polynomial equation by ordinary linear regression with sediments from the Yangtze River located above the curve and sediments from the Yellow River located below the curve. To validate this method, the REEs contents of sediments collected from the estuaries of the Yangtze River and the Yellow River were measured. In addition, the REEs data of sediment Core 255 from the Yangtze River and Core YA01 from the Yellow River were collected. Results show that the samples from the Yangtze River estuary and Core 255 almost are above the curve and most samples from the Yellow River estuary and Core YA01 are below the curve in the delta Eu-N-I REEs pound plot. The plot and the regression equation can be used to distinguish sediments from the Yangtze River and the Yellow River intuitively and quantitatively, and to trace the sediment provenance of the eastern seas of China. The difference between the sediments from two rivers in the delta Eu-N-I REEs pound plot is caused by different mineral compositions and regional climate patterns of the source areas. The relationship between delta Eu-N and I REEs pound is changed little during the transport from the source area to the river, and from river to the sea. Thus the original information on mineral compositions and climate of the source area was preserved.

一种基于多项式的图像离焦建模方法研究

本文针对显微视觉的图像恢复与3D 重建问题,从显微光学成像的离焦机理和基于点扩散函数的图像模糊化描述出发,通过模糊测度算子分析序列显微图像的离焦分布规律,提出了一种用于构建较为精准离焦模型的方法。该模型采用混合参数多项式结构,与传统高斯模型相比,可以更接近真实离焦过程,这为较为精确的光学显微图像恢复和3D 重构提供了新的技术途径。

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

并联机床平面约束机构误差分析与建模

针对五轴数控机床平面约束机构进行了误差分析 ,指出了并联机床平面约束机构误差主要影响因素为机构的制造误差和安装误差·前者与由其引起的约束机构顶边中点沿x方向的位移成非线性关系 ,而后者则成线性关系·提出了一种依据测量数据反演非线性误差模型的建模方法 ,给出了五轴并联机床约束机构实测信息与模型输出间的多项式误差模型·比较仿真结果与测量结果可知 ,基于上述方法建立的误差模型精确 ,进而利用该模型对机床进行实时精度补偿 ,可使机床x方向定位精度大为提高

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。

一种新型四自由度并联机器人运动学正问题的求解

对一种新型四自由度并联机器人运动学正问题进行了研究，利用３个变量构造 出求解正问题的３个约束方程，然后运用符号计算和析配消元法推导出了只含有一 个变元的３２次多项式方程，并且应用计算机软件系统Ｍａｔｈｅｍａｔｉｃａ进行了求正问 题实解的数值验证。

Bézier曲线间最近距离的计算方法

针对Bzier曲线间最近距离计算问题,提出一种简捷、可靠的计算方法.该方法以Bernstein多项式算术运算为工具,建立Bzier曲线间最近距离的计算模型;然后充分利用Bzier曲面的凸包性质和de Casteljau分割算法进行求解.该方法几何意义明确,能有效地避免迭代初始值的选择和非线性方程组的求解,并可进一步推广应用于计算Bzier曲线/曲面间的最近距离.实验结果表明,该方法简捷、可靠且容易实现,与Newton-Raphson方法的融合可进一步提高该方法的运行速度.

基于广义正交多项式迭积微分算子的地震波场数值模拟研究

Seismic Numerical Modeling is one of bases of the Exploratory Seismology and Academic Seismology, also is a research field in great demand. Essence of seismic numerical modeling is to assume that structure and parameters of the underground media model are known, simulate the wave-field and calculate the numerical seismic record that should be observed. Seismic numerical modeling is not only a means to know the seismic wave-field in complex inhomogeneous media, but also a test to the application effect by all kinds of methods. There are many seismic numerical modeling methods, each method has its own merits and drawbacks. During the forward modeling, the computation precision and the efficiency are two pivotal questions to evaluate the validity and superiority of the method. The target of my dissertation is to find a new method to possibly improve the computation precision and efficiency, and apply the new forward method to modeling the wave-field in the complex inhomogeneous media. Convolutional Forsyte polynomial differentiator (CFPD) approach developed in this dissertation is robust and efficient, it shares some of the advantages of the high precision of generalized orthogonal polynomial and the high speed of the short operator finite-difference. By adjusting the operator length and optimizing the operator coefficient, the method can involve whole and local information of the wave-field. One of main tasks of the dissertation is to develop a creative, generalized and high precision method. The author introduce convolutional Forsyte polynomial differentiator to calculate the spatial derivative of seismic wave equation, and apply the time staggered grid finite-difference which can better meet the high precision of the convolutional differentiator to substitute the conventional finite-difference to calculate the time derivative of seismic wave equation, then creating a new forward method to modeling the wave-field in complex inhomogeneous media. Comparing with Fourier pseudo-spectral method, Chebyshev pseudo-spectral method, staggered- grid finite difference method and finite element method, convolutional Forsyte polynomial differentiator (CFPD) method has many advantages: 1. Comparing with Fourier pseudo-spectral method. Fourier pseudo-spectral method (FPS) is a local operator, its results have Gibbs effects when the media parameters change, then arose great errors. Therefore, Fourier pseudo-spectral method can not deal with special complex and random heterogeneous media. But convolutional Forsyte polynomial differentiator method can cover global and local information. So for complex inhomogeneous media, CFPD is more efficient. 2. Comparing with staggered-grid high-order finite-difference method, CFPD takes less dots than FD at single wave length, and the number does not increase with the widening of the studying area. 3. Comparing with Chebyshev pseudo-spectral method (CPS). The calculation region of Chebyshev pseudo-spectral method is fixed in , under the condition of unchangeable precision, the augmentation of calculation is unacceptable. Thus Chebyshev pseudo-spectral method is inapplicable to large area. CFPD method is more applicable to large area. 4. Comparing with finite element method (FE), CFPD can use lager grids. The other task of this dissertation is to study 2.5 dimension (2.5D) seismic wave-field. The author reviews the development and present situation of 2.5D problem, expatiates the essentiality of studying the 2.5D problem, apply CFPD method to simulate the seismic wave-field in 2.5D inhomogeneous media. The results indicate that 2.5D numerical modeling is efficient to simulate one of the sections of 3D media, 2.5D calculation is much less time-consuming than 3D calculation, and the wave dispersion of 2.5D modeling is obviously less than that of 3D modeling. Question on applying time staggered-grid convolutional differentiator based on CFPD to modeling 2.5D complex inhomogeneous media was not studied by any geophysicists before, it is a fire-new creation absolutely. The theory and practices prove that the new method can efficiently model the seismic wave-field in complex media. Proposing and developing this new method can provide more choices to study the seismic wave-field modeling, seismic wave migration, seismic inversion, and seismic wave imaging.

复杂条件地层滤波预测的理论与关键技术研究

The theory researches of prediction about stratigraphic filtering in complex condition are carried out, and three key techniques are put forward in this dissertation. Theoretical aspects: The prediction equations for both slant incidence in horizontally layered medium and that in laterally variant velocity medium are expressed appropriately. Solving the equations, the linear prediction operator of overlaid layers, then corresponding reflection/transmission operators, can be obtained. The properties of linear prediction operator are elucidated followed by putting forward the event model for generalized Goupillaud layers. Key technique 1: Spectral factorization is introduced to solve the prediction equations in complex condition and numerical results are illustrated. Key technique 2: So-called large-step wavefield extrapolation of one-way wave under laterally variant velocity circumstance is studied. Based on Lie algebraic integral and structure preserving algorithm, large-step wavefield depth extrapolation scheme is set forth. In this method, the complex phase of wavefield extrapolation operator’s symbol is expressed as a linear combination of wavenumbers with the coefficients of this linear combination in the form of the integral of interval velocity and its derivatives over depth. The exponential transform of the complex phase is implemented through phase shifting, BCH splitting and orthogonal polynomial expansion. The results of numerical test show that large-step scheme takes on a great number of advantages as low accumulating error, cheapness, well adaptability to laterally variant velocity, small dispersive, etc. Key technique 3: Utilizing large-step wavefield extrapolation scheme and based on the idea of local harmonic decomposition, the technique generating angle gathers for 2D case is generalized to 3D case so as to solve the problems generating and storing 3D prestack angle gathers. Shot domain parallel scheme is adopted by which main duty for servant-nodes is to compute trigonometric expansion coefficients, while that for host-node is to reclaim them with which object-oriented angle gathers yield. In theoretical research, many efforts have been made in probing into the traits of uncertainties within macro-dynamic procedures.

电离层行进式扰动的GPS台网监测研究

In this dissertation, we investigated two types of traveling ionospheric disturbances (TIDs)/gravity waves (GWs) triggered separately by auroral energy input during super geomagnetic storms and solar terminator (ST) under quiet geomagnetic conditions (kp<3+) using TEC measurements from the global network of GPS receivers. Research into the generation and propagation of TIDs/GWs during storms greatly enhance our understandings on the evolution processes of energy transportation from the high-latitude’s magnetosphere to the low-latitude ionosphere and the conjugated effect of TIDs propagation between the northern and southern hemispheres. Our results revealed that the conjugacy of propagation direction between the northern and southern hemispheres was subject to the influence of Coriolis force. We also figure out the evolution processes of ionospheric disturbances at the global scale. These are important topics that had not been well addressed previously. In addition, we also obtained thee wave structures of medium scale TIDs excited by the solar terminator (ST) moving over the northern America and physical mechanisms involved. Our observations confirm that the ST is a stable and repetitive source of ionospheric wave disturbances and the evidence of solar terminator generated disturbances has been demonstrated experimentally via the GPS TEC measurement. The main researches and results of this dissertation are as follows. First, the global traveling ionospheric disturbances (TIDs) during the drastic magnetic storms of October 29–31, 2003 were analyzed using the Global Position System (GPS) total electron content (TEC) data observed in the Asian-Australian, European and North American sectors. We collected the most comprehensive set of the TEC data from more than 900 GPS stations on the International GNSS Services (IGS) website and introduce here a strategy that combines polynomial fitting and multi-channel maximum entropy spectral analysis to obtain TID parameters. Moreover, in collaboration with my thesis advisor, I have developed an imaging technique of 2-dimensional map of TIDs structures to obtain spatial and temporal maps of large scale traveling ionospheric disturbances (LSTIDs). The clear structures of TEC perturbations map during the passage of TIDs were displayed. The results of our study are summarized as follows: (1) Large-scale TIDs (LSTIDs) and medium-scale TIDs (MSTIDs) were detected in all three sectors after the sudden commencement (SC) of the magnetic storm, and their features showed longitudinal and latitudinal dependences. The duration of TIDs was longer at higher latitudes than at middle latitudes, with a maximum of about 16 h. The TEC variation amplitude of LSTIDs was larger in the North American sector than in the two other sectors. At the lower latitudes, the ionospheric perturbations were more complicated, and their duration and amplitude were relatively longer and larger. (2) The periods and phase speeds of TIDs were different in these three sectors. In Europe, the TIDs propagated southward; in North America and Asia, the TIDs propagated southwestward; in the near-equator region, the disturbances propagated with the azimuth (the angle of the propagation direction of the LSTIDs measured clockwise from due north with 0°) of 210° showing the influence of Coriolis force; in the Southern Hemisphere, the LSTIDs propagated conjugatedly northwestward. Both the southwestward and northeastward propagating LSTIDs are found in the equatorial region. These results mean that the Coriolis effect cannot be ignored for the wave propagation of LSTIDs and that the propagation direction is correlated with the polar magnetic activity. (3) The day (day of year: 301) before the SC (sudden commencement) of magnetic storm, we observed a sudden TEC skip disturbances (±10 TECU). It should be a response for the high flux of proton during the solar flare event, but not the magnetic storms. Next, the most comprehensive and dense GPS network’s data from North-America region were used in this paper to analyze the medium scale traveling ionospheric disturbances (MSTIDs) which were generated by the moving solar terminator during the quiet days in 2005. We applied the multi-channel maximum entropy spectral analysis to calculated TID parameters, and found that the occurrence of ST-MSTIDs depends on the seasonal variations. The results of our study are summarized as follows: (1) MSTIDs stimulated by the moving ST (ST-MSTIDs) are detected at mid-latitudes after the passage of the solar terminator with the life time of 2～3 hours and the variation amplitude of 0.2～0.8 TECU. Spectral analysis indicated that the horizontal wavelength, average period, horizontal phase velocity of the MSTIDs are around 300±150 km，150±80 m/s and 25±15 min, respectively. In addition, ST-MSTIDs have wave fronts elongating the moving ST direction and almost parallel to ST. (2) The statistical results demonstrate that the dusk MSTIDs stimulated by ST is more obvious than the dawn MSTIDs in summer. On the contrary, the more-pronounced dawn MSTIDs occurs in winter. (3) Further analysis indicates that the seasonal variations of ST-MSTIDs occurrence frequency are most probably related to the seasonal differences of the variations of EUV flux in the ionosphere region and recombination process during sunrise and sunset period at mid-latitudes. Statistical study of occurrence characteristics of TIDs using the GPS network in North-American and European during solar maximum, In conclusion, statistical studies of the propagation characteristics of TIDs, which excited by the two common origins including geomagnetic storms and moving solar terminator, were involved with global GPS TEC databasein this thesis. We employed the multichannel maximum entropy spectral analysis method to diagnose the characteristics of propagation and evolvement of ionospheric disturbances, also, the characteristics of their regional distribution and climatological variations were revealed by the statistic analysis. The results of these studies can improve our knowledge about the energy transfer in the solar-terrestrial system and the coupling process between upper and lower atmosphere (thermosphere-ionosphere-mesosphere). On the other hand, our results of the investigation on TIDs generated by particular linear origin such as ST are important for developing ionospheric irregularity physics and modeling the transionosphere radio wave propagation. Besides, the GPS TEC representation of the ST-generated ionospheric structure suggests a better possibility for investigating this phenomenon. Subsequently, there are scientific meaning of the result of this dissertation to deeply discuss the energy transfer and coupling in the ionosphere, as well as realistic value to space weather forecast in the ionosphere region.

复杂介质中地震波场数值模拟研究——基于广义正交多项式迭积微分算子法

In this paper, we propose a new numerical modeling method – Convolutional Forsyte Polynomial Differentiator (CFPD), aimed at simulating seismic wave propagation in complex media with high efficiency and accuracy individually owned by short-scheme finite differentiator and general convolutional polynomial method. By adjusting the operator length and optimizing the operator coefficient, both global and local informations can be easily incorporated into the wavefield which is important to invert the undersurface geological structure. The key issue in this paper is to introduce the convolutional differentiator based on Forsyte generalized orthogonal polynomial in mathematics into the spatial differentiation of the first velocity-stress equation. To match the high accuracy of the spatial differentiator, this method in the time coordinate adopts staggered grid finite difference instead of conventional finite difference to model seismic wave propagation in heterogeneous media. To attenuate the reflection artifacts caused by artificial boundary, Perfectly Matched Layer (PML) absorbing boundary is also being considered in the method to deal with boundary problem due to its advantage of automatically handling large-angle emission. The PML formula for acoustic equation and first-order velocity-stress equation are also derived in this paper. There is little difference to implement the PML boundary condition in all kind of wave equations, but in Biot media, special attenuation factors should be taken. Numerical results demonstrate that the PML boundary condition is better than Cerjan absorbing boundary condition which makes it more suitable to hand the artificial boundary reflection. Based on the theories of anisotropy, Biot two-phase media and viscous-elasticity, this paper constructs the constitutive relationship for viscous-elastic and two-phase media, and further derives the first-order velocity-stress equation for 3D viscous-elastic and two-phase media. Numerical modeling using CFPD method is carried out in the above-mentioned media. The results modeled in the viscous-elastic media and the anisotropic pore elastic media can better explain wave phenomena of the true earth media, and can also prove that CFPD is a useful numerical tool to study the wave propagation in complex media.

扩散波勘探方法基础及其在石油油气藏开发中的应用研究

As we know, the essence of exploration is objective body determined by getting the information. Such as seismic、electrical and electromagnetic prospecting, they are the common methods of the exploration. Therefore, They have a complete set of theory now. In fact, the effective information can also be got by the diffusion way, it is called diffusion prospecting. The diffusion way prospecting is necessary and important. The way of diffusion prospecting is studied in the paper and main works include below: (1) On the basis of studying basic law of the diffusion, the paper gives the idea of diffusion wave and the formulas of computing diffusion wave function. (2) The paper studies the way of the diffusion prospecting and the methods of data processing. At the same time, it also expounds the characteristics and the applied foreground of the diffusion prospecting. (3) The paper gives the tomography idea and the basic method of diffusion CT. Meanwhile, it also expounds the foreground that the diffusion CT is applied in oil development prospecting. (4) As the inversion of the diffusion equation is a part of the diffusion prospecting way, the methods of diffusion equation inversion are studied and the two formulas are deduced --Laplace transform and polynomial fitting inversion formulas. As the other important result of diffusion equation inversion, the inversion can offer a new analysis method for well Testing in oil development. In order to show a set of methods in the paper feasible, forward、inversion and CT numerical simulation are done in the paper.

中国北方典型生态区表土孢粉组合特征及其与现代植被和气候的关系

Surface pollen assemblages and their relationhips with the modern vegetation and climate provide a foundation for investigating palaeo-environment conditions by fossil pollen analysis. A promising trend of palynology is to link pollen data more closely with ecology. In this study, I summarized the characteristics of surface pollen assemblages and their quantitative relation with the vegetation and climate of the typical ecological regions in northern China, based on surface pollen analysis of 205 sites and investigating of modern vegetation and climate. The primary conclusions are as follows:The differences in surface pollen assemblages for different vegetation regions are obvious. In the forest communities, the arboreal pollen percentages are more than 30%, herbs less than 50% and shrubs less than 10%; total pollen concentrations are more than 106 grains/g. In the steppe communities, arboreal pollen percentages are generally less than 5%; herb pollen percentages are more than 90%, and Artemisia and Chenopodiaceae are dominant in the pollen assemblages; total pollen concentrations range from 103 to 106 grains/g. In the desert communities, arboreal pollen percentages are less than 5%. Although Chenopodiaceae and Artemisia still dominate the pollen assemblages, Ephedra, Tamaricaceae and Nitraria are also significant important in the pollen assemblages; total pollen concentrations are mostly less than 104grains/g. In the sub-alpine or high and cold meadow communities, arboreal pollen percentages are less than 30%. and Cyperaceae is one of the most significant-taxa in the pollen assemblages. In the shrub communities, the pollen assemblages are consistent with the zonal vegetation; shrub pollen percentages are mostly less than 20%, except for Artemisia and Hippophae rhamnoides communities.There are obvious trends for the pollen percentage ratios of Artemisia to Chenopodiaceae (A/C), Pinus to Artemisia (P/A) and arbor to non-arbor (AP/NAP) in the different ecological regions. In the temperate deciduous broad-leaved forest region, the P/A ratios are generally higher than 0.1, the A/C ratios higher than 2 and the AP/NAP ratios higher than 0.3. In the temperate steppe regions, the P/A ratios are generally less than 0.1, the A/C ratios higher than 1 and the AP/NAP ratios less than 0.1. In the temperate desert regions, the P/A ratios are generally less than 0.1, the A/C ratios less than 1, and the AP/NAP ratios less than 0.1.The study on the representation and indication of pollen to vegetation shows that Pinus, Artemisia, Betula, Chenopodiaceae, Ephedra, Selaginella sinensis etc. are over-representative in the pollen assemblages and can only indicate the regional vegetation. Some pollen types, such as Quercus, Carpinus, Picea, Abies, Elaeagus, Larix, Salix, Pterocelis, Juglans, Ulmus, Gleditsia, Cotinus, Oleaceae, Spiraea, Corylus, Ostryopsis, Vites, Tetraena, Caragana, Tamaricaceae, Zygophyllum, Nitraria, Cyperaceae, Sanguisorba etc. are under-representative in the pollen assemblages, and can indicate the plant communities well. Populus, Rosaceae, Saxifranaceae, Gramineae, Leguminosae, Compositae, Caprifoliaceae etc. can not be used as significant indicators to the plants.The study on the relation of pollen percentages with plant covers shows that Pinus pollen percentages are more than 30% where pine trees exist in the surrounding region. The Picea+Abies pollen percentages are higher than 20% where the Picea+Abies trees are dominant in the communities, but less than 5% where the parent plants are sparse or absent. Larix pollen percentages vary from 5% to 20% where the Larix trees are dominant in the communities, but less than 5% where the parent plants are sparse or absent. Betula pollen percentages are higher than 40% where the Betula trees are dominant in the communities" but less than 5% where the parent plants are sparse or absent. Quercus pollen percentages are higher than 10% where the Quercus trees are dominant in the communities, but less than 1% where the parent plants sparse or absent. Carpinus pollen percentages vary from 5% to 15% where the Carpinus trees are dominant in the communities, but less than 1% where the parent plants are sparse or absent. Populus pollen percentages are about 0-5% at pure Populus communities, but cannot be recorded easily where the Populus plants mixed with other trees in the communities. Juglans pollen accounts for 25% to 35% in the forest of Juglans mandshurica, but less than 1% where the parent plants are sparse or absent. Pterocelis pollen percentages are less than 15% where the Pterocelis trees are dominant in the communities, but cannot be recorded easily where the parent plants are sparse or absent. Ulmus pollen percentages are more than 8% at Ulmus communities, but less than 1% where the Ulmus plants mixed with other trees in the communities. Vitex pollen percentages increase along with increasing of parent plant covers, but the maximum values are less than 10 %. Caragana pollen percentages are less than 20 % where the Caragana plant are dominant in the communities, and cannot be recorded easily where the parent plants are sparse or absent. Spiraea pollen percentages are less than 16 % where the Spiraea plant are dominant in the communities, and cannot be recorded easily where the parent plants are sparse or absent.The study on the relation of surface pollen assemblages with the modern climate shows that, in the axis 1 of DCA, surface samples scores have significant correlation with the average annual precipitations, and the highest determination coefficient (R2) is 0.8 for the fitting result of the third degree polynomial functions. In the axis 2 of DCA, the samples scores have significant correlation with the average annual temperatures, average July temperatures and average January temperatures, and the determination coefficient falls in 0.13-0.29 for the fitting result of the third degree polynomial functions with the highest determination coefficient for the average July temperature.The sensitivity of the different pollen taxa to climate change shows that some pollen taxa such as Pinus, Quercus, Carpinus, Juglans, Spiraea, Oleaceae, Gramineae, Tamariaceae and Ephedra are only sensitive to the change in precipitation.

Study on thermodynamic properties of polypyromellitimide molding powder

Polypyromellitimide molding powder has been prepared. In the 78-370 K range, the dependence of the specific heat capacity (c(p)) on the temperature (T) is given by the polynomial: c(p)=0.8163+0.4592X+0.02468X(2)+0.1192X(3)+0.05659X(4) (J K-1 g(-1)) where X=(T-225.5)/144.5. Thermal decomposition in air starts at 716 K, and is complete at 1034 K. The standard combustion enthalpy is Delta(c)H=-26.442 kJ g(-1). (C) 2000 Elsevier Science B.V. All rights reserved.

Feature Matching for Object Localization in the Presence of Uncertainty

We consider the problem of matching model and sensory data features in the presence of geometric uncertainty, for the purpose of object localization and identification. The problem is to construct sets of model feature and sensory data feature pairs that are geometrically consistent given that there is uncertainty in the geometry of the sensory data features. If there is no geometric uncertainty, polynomial-time algorithms are possible for feature matching, yet these approaches can fail when there is uncertainty in the geometry of data features. Existing matching and recognition techniques which account for the geometric uncertainty in features either cannot guarantee finding a correct solution, or can construct geometrically consistent sets of feature pairs yet have worst case exponential complexity in terms of the number of features. The major new contribution of this work is to demonstrate a polynomial-time algorithm for constructing sets of geometrically consistent feature pairs given uncertainty in the geometry of the data features. We show that under a certain model of geometric uncertainty the feature matching problem in the presence of uncertainty is of polynomial complexity. This has important theoretical implications by demonstrating an upper bound on the complexity of the matching problem, an by offering insight into the nature of the matching problem itself. These insights prove useful in the solution to the matching problem in higher dimensional cases as well, such as matching three-dimensional models to either two or three-dimensional sensory data. The approach is based on an analysis of the space of feasible transformation parameters. This paper outlines the mathematical basis for the method, and describes the implementation of an algorithm for the procedure. Experiments demonstrating the method are reported.