基于SVD和能量最小原则的图像自适应降噪算法

基于奇异值分解和能量最小原则,提出了一种自适应图像降噪算法,并给出了基于有界变差的能量降噪模型的代数形式。通过在矩阵范数意义下求能量最小,自适应确定去噪图像重构的奇异值个数。该算法的特点是将能量最小法则和奇异值分解结合起来,在代数空间中建立了一种自适应的图像降噪算法。与基于压缩比和奇异值分解的降噪方法相比,由于该算法避免了图像压缩比函数及其拐点的计算,因此具有快速去噪和简单可行的优点。实验结果证明,该算法是有效的。

一种3自由度并联柔索驱动柔性操作臂的建模与控制

以一种3自由度并联柔索驱动机器人为研究对象,研究这种并联柔性系统的控制规律。考虑到运动描述的唯一性及易测性,取约束关节的位置作为广义关节变量,用以描述操作臂的运动状态。在此基础上分析了操作臂的运动学和静力学关系,建立了并联柔性系统的动力学模型。然后,以轨迹控制为目标,分别基于刚性模型和柔性模型设计控制器,并对系统的性能进行分析和仿真。结果表明:基于刚性模型控制器的性能较差,而基于柔性模型的奇异摄动方法则可以获得较好的控制效果。

一种基于线性模型的机器人手眼标定新方法

针对基于传统手眼标定模型AX=XB的标定问题,引入了由摄像机投影矩阵M构成的数学模型MY=M'YB,并针对该模型提出了一种新解法。该方法运用矩阵直积和特征向量理论,将关于机器人手眼关系矩阵X的问题描述转换成关于关联矩阵Y的线性方程,运用最小二乘法求得线性闭解。该方法消除了传统方法多次分解摄像机传感器系统的内外参数而引入的摄像机传感器系统的固有误差和随机误差的影响。实验表明该方法可以提高手眼系统标定精度。

约束机构在柔索并联机器人设计中的应用

柔索并联机构是一类新型的机构 ,具有一些优于其他机构的特点 ,但因柔索特性的限制 ,可实现的运动形式较少。本文通过增加约束机构对运动平台运动进行限制 ,扩大了柔索并联机构的应用范围。文章提出约束机构的概念 ,讨论了约束机构的种类 ,并进行奇异位形的分析。

7自由度机器人的图谱问题

本文在分析、归纳、综合的基础上作出了7自由度机械臂的图谱.包括位置空间、奇异空间、回避障碍和回避奇异等问题.给出了一种普遍适用的方法.并介绍了该方法的使用,对7自由度机器人的结构设计和选型有一定的参考价值.

奇异性分析方法及其在储层预测中的应用研究

In research field of oil geophysical prospecting, reservoir prediction is refers to forecasting physical properties of petroleum reservoir by using data of seismic and well logging, it is a research which can guide oil field development. Singularities of seismic and logging data are caused by the heterogeneity of reservoir physical property. It's one of important methods that using singularity characteristics of seismic and logging data to study the reservoir physical property in recently. Among them, realization of reservoir quantitative prediction by analyzing singularity of the data and enhancing transition description of data is difficulty in method research. Based on wavelet transform and the fractal theory, the paper studied the singularity judgment criterion for seismic and logging data, not only analyzed quantitative relation between singularity data and reservoir physical property, but also applied it in practical reservoir prediction. The main achievements are: 1. A new method which provides singular points and their strength information estimation at only one single scale is proposed by Herrmann (1999). Based on that, the dissertation proposed modified algorithm which realized singularity polarity detection. 2. The dissertation introduced onset function to generalize the traditional geologic boundaries variations model which used singularity characteristics to represent the abruptness of the lithologic velocity transition. We show that singularity analysis reveals generic singularity information conducted from velocity or acoustic impedance to seismogram based on the convolution seismic-model theory. Theory and applications indicated that singularity information calculated from seismic data was a natural attribute for delineating stratigraphy boundaries due to its excellent ability in detecting detailed geologic features. We demonstrated that singularity analysis was a powerful tool to delineate stratigraphy boundaries and inverse acoustic impedance and velocity. 3. The geologic significances of logging data singularity information were also presented. According to our analysis, the positions of singularities indicate the sequence stratigraphic boundary, and there is subtle relationship between the singularity strength and sedimentary environment, meanwhile the singularity polarity used to recognize stratigraphic base-level cycle. Based on all those above, a new method which provided sedimentary cycle analysis based on the singularity information of logging data in multiple scales was proposed in this dissertation. This method provided a quantitative tool for judging interface of stratum sequence and achieved good results in the actual application.

基于广义Lippmann-Schwinger方程的地震波场模拟算法与应用

In the last several decades, due to the fast development of computer, numerical simulation has been an indispensable tool in scientific research. Numerical simulation methods which based on partial difference operators such as Finite Difference Method (FDM) and Finite Element Method (FEM) have been widely used. However, in the realm of seismology and seismic prospecting, one usually meets with geological models which have piece-wise heterogeneous structures as well as volume heterogeneities between layers, the continuity of displacement and stress across the irregular layers and seismic wave scattering induced by the perturbation of the volume usually bring in error when using conventional methods based on difference operators. The method discussed in this paper is based on elastic theory and integral theory. Seismic wave equation in the frequency domain is transformed into a generalized Lippmann-Schwinger equation, in which the seismic wavefield contributed by the background is expressed by the boundary integral equation and the scattering by the volume heterogeneities is considered. Boundary element-volume integral method based on this equation has advantages of Boundary Element Method (BEM), such as reducing one dimension of the model, explicit use the displacement and stress continuity across irregular interfaces, high precision, satisfying the boundary at infinite, etc. Also, this method could accurately simulate the seismic scattering by the volume heterogeneities. In this paper, the concrete Lippmann-Schwinger equation is specifically given according to the real geological models. Also, the complete coefficients of the non-smooth point for the integral equation are introduced. Because Boundary Element-Volume integral equation method uses fundamental solutions which are singular when the source point and the field are very close，both in the two dimensional and the three dimensional case, the treatment of the singular kernel affects the precision of this method. The method based on integral transform and integration by parts could treat the points on the boundary and inside the domain. It could transform the singular integral into an analytical one both in two dimensional and in three dimensional cases and thus it could eliminate the singularity. In order to analyze the elastic seismic wave scattering due to regional irregular topographies, the analytical solution for problems of this type is discussed and the analytical solution of P waves by multiple canyons is given. For the boundary reflection, the method used here is infinite boundary element absorbing boundary developed by a pervious researcher. The comparison between the analytical solutions and concrete numerical examples validate the efficiency of this method. We thoroughly discussed the sampling frequency in elastic wave simulation and find that, for a general case, three elements per wavelength is sufficient, however, when the problem is too complex, more elements per wavelength are necessary. Also, the seismic response in the frequency domain of the canyons with different types of random heterogeneities is illustrated. We analyzed the model of the random media, the horizontal and vertical correlation length, the standard deviation, and the dimensionless frequency how to affect the seismic wave amplification on the ground, and thus provide a basis for the choice of the parameter of random media during numerical simulation.

粘弹性介质中的地震波传播与波形反演研究

The real earth is far away from an ideal elastic ball. The movement of structures or fluid and scattering of thin-layer would inevitably affect seismic wave propagation, which is demonstrated mainly as energy nongeometrical attenuation. Today, most of theoretical researches and applications take the assumption that all media studied are fully elastic. Ignoring the viscoelastic property would, in some circumstances, lead to amplitude and phase distortion, which will indirectly affect extraction of traveltime and waveform we use in imaging and inversion. In order to investigate the response of seismic wave propagation and improve the imaging and inversion quality in complex media, we need not only consider into attenuation of the real media but also implement it by means of efficient numerical methods and imaging techniques. As for numerical modeling, most widely used methods, such as finite difference, finite element and pseudospectral algorithms, have difficulty in dealing with problem of simultaneously improving accuracy and efficiency in computation. To partially overcome this difficulty, this paper devises a matrix differentiator method and an optimal convolutional differentiator method based on staggered-grid Fourier pseudospectral differentiation, and a staggered-grid optimal Shannon singular kernel convolutional differentiator by function distribution theory, which then are used to study seismic wave propagation in viscoelastic media. Results through comparisons and accuracy analysis demonstrate that optimal convolutional differentiator methods can solve well the incompatibility between accuracy and efficiency, and are almost twice more accurate than the same-length finite difference. They can efficiently reduce dispersion and provide high-precision waveform data. On the basis of frequency-domain wavefield modeling, we discuss how to directly solve linear equations and point out that when compared to the time-domain methods, frequency-domain methods would be more convenient to handle the multi-source problem and be much easier to incorporate medium attenuation. We also prove the equivalence of the time- and frequency-domain methods by using numerical tests when assumptions with non-relaxation modulus and quality factor are made, and analyze the reason that causes waveform difference. In frequency-domain waveform inversion, experiments have been conducted with transmission, crosshole and reflection data. By using the relation between media scales and characteristic frequencies, we analyze the capacity of the frequency-domain sequential inversion method in anti-noising and dealing with non-uniqueness of nonlinear optimization. In crosshole experiments, we find the main sources of inversion error and figure out how incorrect quality factor would affect inverted results. When dealing with surface reflection data, several frequencies have been chosen with optimal frequency selection strategy, with which we use to carry out sequential and simultaneous inversions to verify how important low frequency data are to the inverted results and the functionality of simultaneous inversion in anti-noising. Finally, I come with some conclusions about the whole work I have done in this dissertation and discuss detailly the existing and would-be problems in it. I also point out the possible directions and theories we should go and deepen, which, to some extent, would provide a helpful reference to researchers who are interested in seismic wave propagation and imaging in complex media.

小波域地震资料的处理方法（WSSP）研究

The modeling formula based on seismic wavelet can well simulate zero - phase wavelet and hybrid-phase wavelet, and approximate maximal - phase and minimal - phase wavelet in a certain sense. The modeling wavelet can be used as wavelet function after suitable modification item added to meet some conditions. On the basis of the modified Morlet wavelet, the derivative wavelet function has been derived. As a basic wavelet, it can be sued for high resolution frequency - division processing and instantaneous feature extraction, in acoordance with the signal expanding characters in time and scale domains by each wavelet structured. Finally, an application example proves the effectiveness and reasonability of the method. Based on the analysis of SVD (Singular Value Decomposition) filter, by taking wavelet as basic wavelet and combining SVD filter and wavelet transform, a new de - noising method, which is Based on multi - dimension and multi-space de - noising method, is proposed. The implementation of this method is discussed the detail. Theoretical analysis and modeling show that the method has strong capacity of de - noising and keeping attributes of effective wave. It is a good tool for de - noising when the S/N ratio is poor. To give prominence to high frequency information of reflection event of important layer and to take account of other frequency information under processing seismic data, it is difficult for deconvolution filter to realize this goal. A filter from Fourier Transform has some problems for realizing the goal. In this paper, a new method is put forward, that is a method of processing seismic data in frequency division from wavelet transform and reconstruction. In ordinary seismic processing methods for resolution improvement, deconvolution operator has poor part characteristics, thus influencing the operator frequency. In wavelet transform, wavelet function has very good part characteristics. Frequency - division data processing in wavelet transform also brings quite good high resolution data, but it needs more time than deconvolution method does. On the basis of frequency - division processing method in wavelet domain, a new technique is put forward, which involves 1) designing filter operators equivalent to deconvolution operator in time and frequency domains in wavelet transform, 2) obtaining derivative wavelet function that is suitable to high - resolution seismic data processing, and 3) processing high resolution seismic data by deconvolution method in time domain. In the method of producing some instantaneous characteristic signals by using Hilbert transform, Hilbert transform is very sensitive to high - frequency random noise. As a result, even though there exist weak high - frequency noises in seismic signals, the obtained instantaneous characteristics of seismic signals may be still submerged by the noises. One method for having instantaneous characteristics of seismic signals in wavelet domain is put forward, which obtains directly the instantaneous characteristics of seismic signals by taking the characteristics of both the real part (real signals, namely seismic signals) and the imaginary part (the Hilbert transfom of real signals) of wavelet transform. The method has the functions of frequency division and noise removal. What is more, the weak wave whose frequency is lower than that of high - frequency random noise is retained in the obtained instantaneous characteristics of seismic signals, and the weak wave may be seen in instantaneous characteristic sections (such as instantaneous frequency, instantaneous phase and instantaneous amplitude). Impedance inversion is one of tools in the description of oil reservoir. one of methods in impedance inversion is Generalized Linear Inversion. This method has higher precision of inversion. But, this method is sensitive to noise of seismic data, so that error results are got. The description of oil reservoir in researching important geological layer, in order to give prominence to geological characteristics of the important layer, not only high frequency impedance to research thin sand layer, but other frequency impedance are needed. It is difficult for some impedance inversion method to realize the goal. Wavelet transform is very good in denoising and processing in frequency division. Therefore, in the paper, a method of impedance inversion is put forward based on wavelet transform, that is impedance inversion in frequency division from wavelet transform and reconstruction. in this paper, based on wavelet transform, methods of time - frequency analysis is given. Fanally, methods above are in application on real oil field - Sansan oil field.

用宽频带远震体波波形研究中国及邻近地区地壳构造及地质意义初探

The theory and approach of the broadband teleseismic body waveform inversion are expatiated in this paper, and the defining the crust structure's methods are developed. Based on the teleseismic P-wave data, the theoretic image of the P-wave radical component is calculated via the convolution of the teleseismic P-wave vertical component and the transform function, and thereby a P-wavefrom inversion method is built. The applied results show the approach effective, stable and its resolution high. The exact and reliable teleseismic P waveforms recorded by CDSN and IRIS and its geodynamics are utilized to obtain China and its vicinage lithospheric transfer functions, this region ithospheric structure is inverted through the inversion of reliable transfer functions, the new knowledge about the deep structure of China and its vicinage is obtained, and the reliable seismological evidence is provided to reveal the geodynamic evolution processes and set up the continental collisional theory. The major studies are as follows: Two important methods to study crustal and upper mantle structure -- body wave travel-time inversion and waveform modeling are reviewed systematically. Based on ray theory, travel-time inversion is characterized by simplicity, crustal and upper mantle velocity model can be obtained by using 1-D travel-time inversion preliminary, which introduces the reference model for studying focal location, focal mechanism, and fine structure of crustal and upper mantle. The large-scale lateral inhomogeneity of crustal and upper mantle can be obtained by three-dimensional t ravel-time seismic tomography. Based on elastic dynamics, through the fitting between theoretical seismogram and observed seismogram, waveform modeling can interpret the detail waveform and further uncover one-dimensional fine structure and lateral variation of crustal and upper mantle, especially the media characteristics of singular zones of ray. Whatever travel-time inversion and waveform modeling is supposed under certain approximate conditions, with respective advantages and disadvantages, and provide convincing structure information for elucidating physical and chemical features and geodynamic processes of crustal and upper mantle. Because the direct wave, surface wave, and refraction wave have lower resolution in investigating seismic velocity transitional zone, which is inadequate to study seismic discontinuities. On the contrary, both the converse and reflected wave, which sample the discontinuities directly, must be carefully picked up from seismogram to constrain the velocity transitional zones. Not only can the converse wave and reflected wave study the crustal structure, but also investigate the upper mantle discontinuities. There are a number of global and regional seismic discontinuities in the crustal and upper mantle, which plays a significant role in understanding physical and chemical properties and geodynamic processes of crustal and upper mantle. The broadband teleseismic P waveform inversion is studied particularly. The teleseismic P waveforms contain a lot of information related to source time function, near-source structure, propagation effect through the mantle, receiver structure, and instrument response, receiver function is isolated form teleseismic P waveform through the vector rotation of horizontal components into ray direction and the deconvolution of vertical component from the radial and tangential components of ground motion, the resulting time series is dominated by local receiver structure effect, and is hardly irrelevant to source and deep mantle effects. Receiver function is horizontal response, which eliminate multiple P wave reflection and retain direct wave and P-S converted waves, and is sensitive to the vertical variation of S wave velocity. Velocity structure beneath a seismic station has different response to radial and vertical component of an accident teleseismic P wave. To avoid the limits caused by a simplified assumption on the vertical response, the receiver function method is mended. In the frequency domain, the transfer function is showed by the ratio of radical response and vertical response of the media to P wave. In the time domain, the radial synthetic waveform can be obtained by the convolution of the transfer function with the vertical wave. In order to overcome the numerical instability, generalized reflection and transmission coefficient matrix method is applied to calculate the synthetic waveform so that all multi-reflection and phase conversion response can be included. A new inversion method, VFSA-LM method, is used in this study, which successfully combines very fast simulated annealing method (VFSA) with damped least square inversion method (LM). Synthetic waveform inversion test confirms its effectiveness and efficiency. Broadband teleseismic P waveform inversion is applied in lithospheric velocity study of China and its vicinage. According to the data of high quality CDSN and IRIS, we obtained an outline map showing the distribution of Asian continental crustal thickness. Based on these results gained, the features of distribution of the crustal thickness and outline of crustal structure under the Asian continent have been analyzed and studied. Finally, this paper advances the principal characteristics of the Asian continental crust. There exist four vast areas of relatively minor variations in the crustal thickness, namely, northern, eastern southern and central areas of Asian crust. As a byproduct, the earthquake location is discussed, Which is a basic issue in seismology. Because of the strong trade-off between the assumed initial time and focal depth and the nonlinear of the inversion problems, this issue is not settled at all. Aimed at the problem, a new earthquake location method named SAMS method is presented, In which, the objective function is the absolute value of the remnants of travel times together with the arrival times and use the Fast Simulated Annealing method is used to inverse. Applied in the Chi-Chi event relocation of Taiwan occurred on Sep 21, 2000, the results show that the SAMS method not only can reduce the effects of the trade-off between the initial time and focal depth, but can get better stability and resolving power. At the end of the paper, the inverse Q filtering method for compensating attenuation and frequency dispersion used in the seismic section of depth domain is discussed. According to the forward and inverse results of synthesized seismic records, our Q filtrating operator of the depth domain is consistent with the seismic laws in the absorbing media, which not only considers the effect of the media absorbing of the waves, but also fits the deformation laws, namely the frequency dispersion of the body wave. Two post stacked profiles about 60KM, a neritic area of China processed, the result shows that after the forward Q filtering of the depth domain, the wide of the wavelet of the middle and deep layers is compressed, the resolution and signal noise ratio are enhanced, and the primary sharp and energy distribution of the profile are retained.

The Image Irradiance Equation: Its Solution and Application

How much information about the shape of an object can be inferred from its image? In particular, can the shape of an object be reconstructed by measuring the light it reflects from points on its surface? These questions were raised by Horn [HO70] who formulated a set of conditions such that the image formation can be described in terms of a first order partial differential equation, the image irradiance equation. In general, an image irradiance equation has infinitely many solutions. Thus constraints necessary to find a unique solution need to be identified. First we study the continuous image irradiance equation. It is demonstrated when and how the knowledge of the position of edges on a surface can be used to reconstruct the surface. Furthermore we show how much about the shape of a surface can be deduced from so called singular points. At these points the surface orientation is uniquely determined by the measured brightness. Then we investigate images in which certain types of silhouettes, which we call b-silhouettes, can be detected. In particular we answer the following question in the affirmative: Is there a set of constraints which assure that if an image irradiance equation has a solution, it is unique? To this end we postulate three constraints upon the image irradiance equation and prove that they are sufficient to uniquely reconstruct the surface from its image. Furthermore it is shown that any two of these constraints are insufficient to assure a unique solution to an image irradiance equation. Examples are given which illustrate the different issues. Finally, an overview of known numerical methods for computing solutions to an image irradiance equation are presented.

Theory of Handwriting

Handwriting production is viewed as a constrained modulation of an underlying oscillatory process. Coupled oscillations in horizontal and vertical directions produce letter forms, and when superimposed on a rightward constant velocity horizontal sweep result in spatially separated letters. Modulation of the vertical oscillation is responsible for control of letter height, either through altering the frequency or altering the acceleration amplitude. Modulation of the horizontal oscillation is responsible for control of corner shape through altering phase or amplitude. The vertical velocity zero crossing in the velocity space diagram is important from the standpoint of control. Changing the horizontal velocity value at this zero crossing controls corner shape, and such changes can be effected through modifying the horizontal oscillation amplitude and phase. Changing the slope at this zero crossing controls writing slant; this slope depends on the horizontal and vertical velocity zero amplitudes and on the relative phase difference. Letter height modulation is also best applied at the vertical velocity zero crossing to preserve an even baseline. The corner shape and slant constraints completely determine the amplitude and phase relations between the two oscillations. Under these constraints interletter separation is not an independent parameter. This theory applies generally to a number of acceleration oscillation patterns such as sinusoidal, rectangular and trapezoidal oscillations. The oscillation theory also provides an explanation for how handwriting might degenerate with speed. An implementation of the theory in the context of the spring muscle model is developed. Here sinusoidal oscillations arise from a purely mechanical sources; orthogonal antagonistic spring pairs generate particular cycloids depending on the initial conditions. Modulating between cycloids can be achieved by changing the spring zero settings at the appropriate times. Frequency can be modulated either by shifting between coactivation and alternating activation of the antagonistic springs or by presuming variable spring constant springs. An acceleration and position measuring apparatus was developed for measurements of human handwriting. Measurements of human writing are consistent with the oscillation theory. It is shown that the minimum energy movement for the spring muscle is bang-coast-bang. For certain parameter values a singular arc solution can be shown to be minimizing. Experimental measurements however indicate that handwriting is not a minimum energy movement.

Shape from Shading: A Method for Obtaining the Shape of a Smooth Opaque Object from One View

A method will be described for finding the shape of a smooth apaque object form a monocular image, given a knowledge of the surface photometry, the position of the lightsource and certain auxiliary information to resolve ambiguities. This method is complementary to the use of stereoscopy which relies on matching up sharp detail and will fail on smooth objects. Until now the image processing of single views has been restricted to objects which can meaningfully be considered two-dimensional or bounded by plane surfaces. It is possible to derive a first-order non-linear partial differential equation in two unknowns relating the intensity at the image points to the shape of the objects. This equation can be solved by means of an equivalent set of five ordinary differential equations. A curve traced out by solving this set of equations for one set of starting values is called a characteristic strip. Starting one of these strips from each point on some initial curve will produce the whole solution surface. The initial curves can usually be constructed around so-called singular points. A number of applications of this metod will be discussed including one to lunar topography and one to the scanning electron microscope. In both of these cases great simplifications occur in the equations. A note on polyhedra follows and a quantitative theory of facial make-up is touched upon. An implementation of some of these ideas on the PDP-6 computer with its attached image-dissector camera at the Artificial intelligence Laboratory will be described, and also a nose-recognition program.

Modelagem molecular da proteína small heat shock de Xylella fastidiosa.

Este documento descreve o modelo molecular da proteína XF2234 e a análise preliminar da sua estrutura. O modelo foi construído por modelagem por homologia (ou modelagem comparativa) com a estrutura cristalográfica de uma proteína small heat shock de Triticum aestivum (trigo). A análise da estrutura tridimensional da proteína XF2234 tem o objetivo de contribuir para aumentar o conhecimento sobre o papel biológico das smHSPs, necessário para o combate à CVC.

Conditions for the spectrum associated with a leaky wire to contain the interval [? ?2/4, ?)

B.M. Brown, M.S.P. Eastham, I. Wood: Conditions for the spectrum associated with a leaky wire to contain the interval [? ?2/4, ?), Arch. Math., 90, 6 (2008), 554-558