融合罗德里格矩阵和整体最小二乘的双目机器人手眼标定算法

针对传统双目式机器人手眼标定方法中未知量多、计算复杂的特点,研究并提出了一种基于罗德里格矩阵和整体最小二乘相融合的改进算法。其中罗德里格矩阵实现了对未知量的降维;整体最小二乘顾及了系数矩阵的误差。通过大量数据分析表明,改进后的手眼标定算法较传统方法在稳定性和精度上均有大幅提高,满足了机器人视觉系统在工业检测和制造领域中的高精度需求。     

基于WSR框架的《开发区土地集约利用评价规程》指标体系分析

旨在剖析我国《开发区土地集约利用评价规程》中指标体系存在的问题并提出改进建议。在界定开发区土地集约利用内涵基础上,从要素特征(W维)、利用目标(R维)和评价过程(S维)等3个维度阐述了开发区土地集约利用评价的系统要求,构建关联分析矩阵,对《规程》中评价指标体系的特征差异化、层次完整性和目标关联性等3个方面进行了分析讨论。针对当前《规程》中存在的评价对象混杂、开发区类型需要细化、指标体系不完整、计算方法需修正等问题提出了相应修改建议。     

Advances in understanding of the mechanism for generation of earthquake thermal precursors detected by satellites

Stresses building up during an earthquake preparation phase also manifest themselves in the form of a so called increased land surface temperature (LST) leading to a thermal precursor prior to the earthquake event. This phenomenon has now been validated by our observations of short-term thermal anomalies detected by infrared satellite sensors for several recent past earthquakes around the world. The rise in infrared radiance temperature was seen to vary between 5 and 12 °C for different earthquakes. We discuss in this paper different explanations for the generation of such anomalies that have been offered. Emission of gases due to the opening and closure of micropores upon induced stresses and also the participation of ground water have been propounded as a possible cause for generation of thermal anomalies. Seismo-ionosphere coupling, by which gases like radon move to the earth–atmosphere interface and cause air ionization thus bringing about a change in air temperature, relative humidity, etc., has been put forth by some workers. A mechanism of low frequency electromagnetic emission was tested and experimented by scientists with rock masses in stressed conditions as those that exist at tectonic locations. The workers proposed the positive hole pair theory, which received support from several scientific groups. Positive holes (sites of electron deficiency) are activated in stressed rocks from pre-existing yet dormant positive hole pairs (PHPs) and their recombination at rock–air interface leads to a LST rise. A combination of remote sensing detection of rock mechanics behavior with a perception of chemistry and geophysics has been applied to propose the remote sensing rock mechanics theory. Remote sensing detections of such anomalies confirm so far proposed lab theories for such a hotly debated field as earthquake precursor study by providing unbiased observations with consistency in time and space distribution.     

网络分层用于最短路问题的算法研究

提出了一种基于Dijkstra方法的网络分层算法,实现了两点间节点数最少条件下最短通路的求取,并与传统Dijkstra算法进行了比较,得到了一些有益的结论。     

半参数估计与LS估计的有效性比较

建立半参数回归模型,将系统误差加入,推导出了模型正则化矩阵时参数平差的计算方法,并用直接法得到了参数、非参数的估计量,在MSE准则下与最小二乘估值(简称LS估值)进行比较,证明了半参数估值的有效性。     

概括平差模型的解法探讨

分析了概括平差模型系数矩阵可能出现非列满秩情况的原因,研究了如何使系数矩阵为列满秩矩阵,避免了系数矩阵为非列满秩时的复杂解算过程。     

全极化SAR数据反演桥面高度

根据高分辨率SAR图像上建筑区的影像特征, 提出了基于灰度共生矩阵(gray-level cooccurrence Matrix, GLCM)纹理分析的建筑区提取方法, 该方法由初步定位和边界调整2个步骤组成, 均遵循特征计算、基于Bhattacharyya距离的特征选择和KNN分类流程, 所不同的是2个步骤中分别采用了逐块和逐点计算纹理特征的方式以兼顾纹理分析的效率和准确性。文中对不同SAR传感器获取的图像进行了实验。实验结果表明, 选用具有最大Bhattacharyya距离值的3或4个特征可以获得较好的初步定位结果, 建筑区的检测率超过80%, 虚警率低于10%;随着边界调整的进行, 检测到的建筑区边界逐渐接近于真实边界。实验结果验证了该算法的有效性。     

Solution of the propagation of the waves in open channels by the transfer matrix method

Many problems in mechanics can be solved by the use of the transfer matrix method. The use of this method in hydraulics engineering is not widespread and only limited studies are available. In this study, linearized St. Venant equations were used and the use of transfer matrix in ocean engineering was investigated for long waves in open channels, and numerical application was carried out. The results obtained through the transfer matrix method, which is quite easy to use, program and comprehend, showed similar results obtained from the characteristics method and finite differences method.     

数码相机检验中出现的问题及解决方法

数码相机的检验是近景摄影测量中经常碰到的问题。最常用的主要还是基于共线方程的后方交会法。但由于普通数码相机存在较大的镜头畸变,内方位元素也未知,所以仅用单片进行后方交会求取有关参数时,法方程可能会出现病态现象,从而影响最后的检验结果。文中对此现象进行了讨论,并给出了一些实用的解决方法。     

Adaptive Predictive Inverse Control of Offshore Jacket Platform Based on Rough Neural Network

The offshore jacket platform is a complex and time-varying nonlinear system,which can be excited of harmful vibration by external loads.It is difficult to obtain an ideal control performance for passive control methods or traditional active control methods based on accurate mathematic model.In this paper,an adaptive inverse control method is proposed on the basis of novel rough neural networks (RNN) to control the harmful vibration of the offshore jacket platform,and the offshore jacket platform model is established by dynamic stiffness matrix (DSM) method.Benefited from the nonlinear processing ability of the neural networks and data interpretation ability of the rough set theory,RNN is utilized to identify the predictive inverse model of the offshore jacket platform system.Then the identified model is used as the adaptive predictive inverse controller to control the harmful vibration caused by wave and wind loads,and to deal with the delay problem caused by signal transmission in the control process.The numerical results show that the constructed novel RNN has advantages such as clear structure,fast training speed and strong error-tolerance ability,and the proposed method based on RNN can effectively control the harmfid vibration of the offshore jacket platform.