声光可调谐滤波器（AOTF）是一种新型的分光器件，能够从复色光中衍射出带宽很窄的单色光，和传统光谱仪相比，基于AOTF的光谱仪在工作机制和仪器设计上有其自身的特点。通过分析AOTF器件的工作原理、衍射方式和参数指标，搭建了基于AOT...声光可调谐滤波器（AOTF）是一种新型的分光器件，能够从复色光中衍射出带宽很窄的单色光，和传统光谱仪相比，基于AOTF的光谱仪在工作机制和仪器设计上有其自身的特点。通过分析AOTF器件的工作原理、衍射方式和参数指标，搭建了基于AOTF的成像光谱系统，利用标准单色光源进行光谱定标，并进行室外实测实验以验证系统功能。与ASD公司光谱辐射计（FieldSpec Pro FR）的同步测量结果表明：该仪器通过经验线性法获得的550～1000nm植被光谱曲线和光谱辐射计获得的曲线较为一致，能够满足高光谱成像探测的要求。展开更多
TH74 2004032363 基于遗传算法的多关节三维扫描仪系统参数定标=Genetics-based calibration algorithm for structure parametersofmulti-joints 3D (?)canner[刊,中]/陈振羽(第二炮兵指挥学院.湖北,武汉(430012)),付楚胜…
Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the ...Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.展开更多
The robust guaranteed cost sampled-data control was studied for a class of uncertain nonlinear systems with time-varying delay. The parameter uncertainties are time-varying norm-bounded and appear in both the state an...The robust guaranteed cost sampled-data control was studied for a class of uncertain nonlinear systems with time-varying delay. The parameter uncertainties are time-varying norm-bounded and appear in both the state and the input control matrices. By applying an input delay approach, the system was transformed into a continuous time-delay system. Attention was focused on the design of a robust guaranteed cost sampled-data control law which guarantees that the closed-loop system is asymptotically stable and the quadratic performance index is less than a certain bound for all admissible uncertainties. By applying Lyapunov stability theory, the theorems were derived to provide sufficient conditions for the existence of robust guaranteed cost sampled-data control law in the form of linear matrix inequalities (LMIs), especially an optimal state-feedback guaranteed cost sampled-data control law which ensures the minimization of the guaranteed cost was given. The effectiveness of the proposed method was illustrated by a simulation example with the asymptotically stable curves of system state under the initial condition of x(0)=[0.679 6 0].展开更多
文摘声光可调谐滤波器（AOTF）是一种新型的分光器件，能够从复色光中衍射出带宽很窄的单色光，和传统光谱仪相比，基于AOTF的光谱仪在工作机制和仪器设计上有其自身的特点。通过分析AOTF器件的工作原理、衍射方式和参数指标，搭建了基于AOTF的成像光谱系统，利用标准单色光源进行光谱定标，并进行室外实测实验以验证系统功能。与ASD公司光谱辐射计（FieldSpec Pro FR）的同步测量结果表明：该仪器通过经验线性法获得的550～1000nm植被光谱曲线和光谱辐射计获得的曲线较为一致，能够满足高光谱成像探测的要求。
文摘TH74 2004032363 基于遗传算法的多关节三维扫描仪系统参数定标=Genetics-based calibration algorithm for structure parametersofmulti-joints 3D (?)canner[刊,中]/陈振羽(第二炮兵指挥学院.湖北,武汉(430012)),付楚胜…
基金Projects(60775049,60805033) supported by National Natural Science Foundation of ChinaProject(2007AA704317) supported by the National High Technology Research and Development Program of China
文摘Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.
基金Project(12511109) supported by the Science and Technology Studies Foundation of Heilongjiang Educational Committee of 2011, China
文摘The robust guaranteed cost sampled-data control was studied for a class of uncertain nonlinear systems with time-varying delay. The parameter uncertainties are time-varying norm-bounded and appear in both the state and the input control matrices. By applying an input delay approach, the system was transformed into a continuous time-delay system. Attention was focused on the design of a robust guaranteed cost sampled-data control law which guarantees that the closed-loop system is asymptotically stable and the quadratic performance index is less than a certain bound for all admissible uncertainties. By applying Lyapunov stability theory, the theorems were derived to provide sufficient conditions for the existence of robust guaranteed cost sampled-data control law in the form of linear matrix inequalities (LMIs), especially an optimal state-feedback guaranteed cost sampled-data control law which ensures the minimization of the guaranteed cost was given. The effectiveness of the proposed method was illustrated by a simulation example with the asymptotically stable curves of system state under the initial condition of x(0)=[0.679 6 0].
