高功率激光装置中靶的定位调试

为了提高高功率激光装置中靶定位调试的效率和精度,提出了一种仿真初调和实验误差分析相结合的靶定位调试方法。该方法采用3-CCD传感器进行定位监测,利用OpenGL成像技术实现CCD仿真图像的采集,并对目标靶、送靶机构等进行虚拟构建。基于仿真实验分析了实际系统中靶定位的误差来源,包括图像检测误差、3-CCD传感器的装校误差及送靶机构的定位误差等。靶定位算法的调试和初步验证在仿真系统中独立进行,实现了理想条件下的零误差定位调整;调试后的算法在实际系统中的靶定位精度小于±5μm,角度误差为±0.015°。由于仿真初调可脱离实验平台进行,故有效地提高了工程效率。提出的调试方法在实际系统中的定位精度满足高功率激光打靶的要求。     

基于视觉引导的采样系统设计

对视觉引导机器人采样进行了研究，利用SSD目标检测算法实现了图像中采样区域的检测，然后通过随机函数设计了一种采样区域内采样点的分布规则，并基于激光定位灯建立了一种视觉定位模型，实现了从图像坐标系到采样机器人基础坐标系的转换，通过TCP的方式实现了工控机与PLC的通讯，进而控制采样机器人进行采样。实验结果表明：该视觉引导采样系统可引导采样机器人在采样区域完成采样工作，视觉引导的最大绝对误差小于10mm，满足质检部门的采样要求。     

基于遗传算法与最小最大优化方法的六自由度放疗床参数辨识方法

为了对放疗床进行结构标定,以提高放疗床的定位精度,提出了一种遗传算法与最小最大优化方法相结合的参数辨识方法。根据机构的运动学逆解建立了放疗床的标定模型;结合遗传算法与最小最大优化方法的优点对放疗床的60个参数进行参数辨识,有效减小了目标函数的残差;以激光跟踪仪作为测量工具,对若干组任意位姿进行绝对定位精度实验和重复定位位置精度实验,以验证参数辨识结果。实验结果表明,经过标定后放疗床的绝对定位精度的位置误差小于0.3mm,姿态误差小于0.1°;重复定位位置精度的位置误差小于0.01mm。故所提出的参数辨识方法能够实现对放疗床的标定,且标定精度能够满足放疗床的使用要求。     

多传感器信息融合的移动机器人定位算法研究

为有效降低使用单一传感器进行移动机器人定位时的不确定误差,提高机器人定位与建图的准确性和鲁棒性,提出了一种多传感器信息融合的移动机器人定位算法。基于激光RBPF-SLAM算法实现机器人同时定位与路标地图构建,运用图优化理论约束优化蒙特卡洛定位的位姿估计结果;通过双目视觉重建环境的三维点特征,针对视觉信息处理计算量大、跟踪精度不高的问题,研究改进基于ORB的特征点提取与四边形闭环匹配算法;利用因子图模型对激光RBPF-SLAM定位和双目视觉定位进行最大后验概率准则下的信息融合。仿真和实验结果表明通过上述方法可以得到比传统RBPF-SLAM算法及一般改进算法更高的定位精度,验证了所提方法的有效性和实用性。     

多传感器信息融合的移动机器人定位算法研究（英文）

为有效降低使用单一传感器进行移动机器人定位时的不确定误差,提高机器人定位与建图的准确性和鲁棒性,提出了一种多传感器信息融合的移动机器人定位算法。基于激光RBPF-SLAM算法实现机器人同时定位与路标地图构建,运用图优化理论约束优化蒙特卡洛定位的位姿估计结果;通过双目视觉重建环境的三维点特征,针对视觉信息处理计算量大、跟踪精度不高的问题,研究改进基于ORB的特征点提取与四边形闭环匹配算法;利用因子图模型对激光RBPF-SLAM定位和双目视觉定位进行最大后验概率准则下的信息融合。仿真和实验结果表明通过上述方法可以得到比传统RBPF-SLAM算法及一般改进算法更高的定位精度,验证了所提方法的有效性和实用性。     

多窗口实时测距的视觉导引AGV精确定位技术研究

为了提高视觉导引自动导引车(automated guided vehicle,AGV)的定位精度,提出了一种多窗口实时测距的精确定位方法。该方法通过在定位点铺设圆形标识作为定位标识符,首先根据车载视觉系统结构,建立视觉实时测距模型。通过对获得的椭圆图像的几何特征进行提取,并采用基于曲率角估计方法对椭圆边缘精确识别;然后,基于最小二乘拟合直线获取椭圆中心位置。最后,结合采用多窗口图像处理方法,将定位过程分为多个阶段进行,逐步逼近,最终实现精确定位。实验结果表明,该方法能使得视觉导引AGV的定位精度达到2 mm。     

基于视觉伺服的3D微定位控制

分析了基于全局显微视觉的视觉伺服定位控制方法。推导了G型体视显微镜的成像模型,结合图像视觉伺服和立体视觉理论,建立了3D微定位视觉伺服控制模型。在自主研制的微操作系统上进行了3D视觉伺服微定位试验,并分析了影响视觉伺服定位控制精度的误差因素,通过标定获得重要的控制参数。试验结果表明:采用3D微定位伺服控制模型的定位误差为±(3～4)μm,定位精度和稳定性能满足微定位的要求。     

基于序列图像提高光斑质心定位精度

针对激光模拟射击系统对激光光斑进行快速、高精度质心定位的要求,提出了一种基于视频序列图像的光斑检测与高精度质心定位方法。该方法首先利用帧间差分图像和噪声估计参数对射击突发事件进行检测;然后利用噪声估计方法确定光斑的分割阈值,结合形态学滤波对目标光斑和背景噪声进行有效分割,提取光斑区域,同时降低窗口内外噪声。最后,用4帧差分图像合成1帧高分辨率的图像来抑制图像噪声和计算误差的影响,实现光斑质心的高精度定位。实验结果表明,本文方法的光斑质心定位精度与稳定性均优于传统的方法;其中光斑质心定位精度达到了亚像素级别,稳定性度量平均值为0.000 49,优于传统方法的0.002 97。得到的结果显示,提出的方法有助于提升激光射击系统的性能。     

基于机器视觉的轴承识别与定位算法研究

针对运用视觉技术对轴承进行质量检测与尺寸测量时,能够准确地识别定位到目标轴承,提出一种基于机器视觉的轴承识别与定位算法。通过对采集到的轴承图像进行预处理,分割出目标图像并提取图像的外轮廓边缘特征;设置轴承的模板图像,结合图像的Hu不变矩特征对轴承进行识别匹配;通过最小二乘法对图像边缘点进行圆拟合并采用迭代法进行修正,通过计算圆心的位置坐标,实现对轴承的定位。实验结果为：轴承的识别匹配度在0～0.03之间,定位误差在0.5像素以内,满足系统对轴承的识别定位精度要求。     

基于SFPM的遥操作工程机器人双目视觉定位

为解决遥操作工程机器人作业过程中视频图像传输的时延问题,建立了基于双目视觉的遥操作工程机器人定位系统,提出一种基于单特征点匹配(SFPM)的双目立体视觉定位方法。通过对机器人抓手和抓取物上的单特征点的特征检测和立体匹配,实现特征点的三维信息恢复,并将获取的二者空间坐标和相对距离实时反馈给操作者,为远程遥控机器人逼近并抓取目标物提供判断依据。实验表明:该方法能够对目标物实现快速准确定位,定位精度满足工程作业要求,可为遥操作工程机器人的视觉提示系统设计提供技术参考。     

On the Relation of Load to Average Gap in the Contact Between Surfaces with Longitudinal Roughness

A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load.     

三绕组变压器的双绕组等效建模及在Matpower中的应用

针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。     

电站锅炉模糊风险评价方法研究与应用

针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。     

Quantum Cooperative Robotics and Autonomy

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci...     

交通荷载作用下桥梁结构参数识别方法

应用动力节点加载法,将作用在桥梁上的交通荷载转化为等效节点荷载,再用两步构造法识别结构物理参数.第1步,用Newmark-β方法变换结构运动方程,并用结构的加速度响应求得变换空间内的位移、速度和加速度响应;第2步,基于最小二乘原理,构造出变换空间内求解结构参数的递推式,进行结构物理参数识别.数值模拟结果表明,在交通荷载作用下,该方法能够快速、准确地进行桥梁结构参数识别.     

考虑进油孔有限长滑动轴承油膜力的近似解析解

针对具有进油孔的有限长滑动轴承油膜力求解问题,采用变分原理和分离变量法,求得了有限长滑动轴承油膜压力分布的近似解析表达式。将油膜压力分布的近似解析表达式在油膜存在区域上进行积分,即得到了油膜力。将提出的计算有限长滑动轴承油膜力方法与无限长轴承模型、有限元方法的计算结果进行了比较,发现了提出的方法与有限元方法的计算结果很接近。最后,研究了进油孔位置和进油压力对油膜存在区域、油膜力等的影响,研究结果表明进油孔位置和进油压力对油膜存在区域和油膜力有较大的影响。     

RLS and LMS blind adaptive multi-user detection method and comparison in acoustic communication

RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication.     

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type ...     

Research on key techniques of expendable conductivity temperature depth measuring system

This paper analysis the developing of expendable conductivity temperature depth measuring system(XCTD)and introduce its principle of measuring about temperature,salinity and depth of ocean.Some key techniques are put forward.According to the real needs of XCTD,conductivity sensor with high sensitivity is designed by principle of electromagnetic induce,the ocean conductivity from induced electromotive force has been calculated.Adding temperature correction circuit would help to reduce error of conductivity measurement because of sharply changing temperature.Advanced temperature measuring circuit of high precision and the constant current source is used to weaken effect of self-heating of resistance and fluctuation of the source.On respect of remote data transmission,LVDS is a good choice for the purpose of guarantee the quality of data transmitted and the transmission distance is reaching to thousand meters in the seawater.Modular programming method is also brought into this research aimed at improve the stability,reliability and maintainability of the whole measuring system.In February,2015,the trials in South China Sea demonstrate that the developed XCTD realize effective measurement at a speed of 6 knots and detection depth at 800 m.The consistency coefficient of the acquired data is greater than 0.99 and the success rate of probe launching is above 90%.     

CHARACTERISTCS OF FLUID FILM IN OPTIMIZED SPIRAL GROOVE MECHANICAL SEAL

In order to investigate the sealing performance variation resulted from the thermal deformation of the end faces, the equations to calculate the fluid film pressure distribution, the bearing force and the leakage rate are derived, for the fluid film both in parallel gap and in wedgy gap. The geometrical parameters of the sealing members are optimized by means of heat transfer analysis and complex method. The analysis results indicate that the shallow spiral grooves can generate hydrodynamic pressure while the rotating ring rotates and the bearing force of the fluid film in spiral groove end faces is much larger than that in the flat end faces. The deformation increases the bearing force of the fluid film in flat end faces, but it decreases the hydrodynamic pressure of the fluid film in spiral groove end faces. The gap dimensions which determine the characteristics of the fluid film is obtained by coupling analysis of the frictional heat and the thermal deformation in consideration of the equilibrium condition of the bearing force and the closing force. For different gap dimensions, the relationship between the closing force and the leakage rate is also investigated, based on which the leakage rate can be controlled by adjusting the closing force.