A Fractional-N CMOS DPLL with Self-Calibration

A digital phase-locked loop （DPLL） based on a new digital phase-frequency detector is presented. The self-calibration technique is employed to acquire wide lock range,low jitter, and fast acquisition. The DPLL works from 60 to 600MHz at a supply voltage of 1.8V. It also features a fraetional-N synthesizer with digital 2nd-order sigma-delta noise shaping, which can achieve a short lock time,a high frequency resolution,and an improved phase-noise spectrum. The DPLL has been implemented in SMIC 0. 18μm 1.8V 1P6M CMOS technology. The peak-to-peak jitter is less than 0. 8% of the output clock period and the lock time is less than 150 times of the reference clock period after the pre-divider.

Capacitor self-calibration technique used in time-interleaved successive approximation ADC

A capacitor self-calibration circuit used in a successive approximation analog-to-digital converter （SA-ADC） is presented. This capacitor self-calibration circuit can calibrate erroneous data and work with the ADC by adding an additional clock period. This circuit is used in a 10 bit 32 Msample/s time-interleaved SA- ADC. The chip is implemented with Chart 0. 25 μm 2. 5 V process and totally occupies an area of 1.4 mm× 1.3 mm. After calibration, the simulated signal-to-noise ratio （SNR） is 59. 586 1 dB and the spurious-free dynamic range （SFDR） is 70. 246 dB at 32 MHz. The measured signal-to-noise and distortion ratio （SINAD） is 44. 82 dB and the SFDR is 63. 760 4 dB when the ADC samples a 5.8 MHz sinusoid wave.

Self-calibration and Compensation of Setting Errors for Surface Profile Measurement of a Microstructured Roll Workpiece

Microstructured roll workpieces have been widely used as functional components in the precision industries. Current researches on quality control have focused on surface profile measurement of microstructured roll workpieces, and types of measurement systems and measurement methods have been developed. However, low measurement efficiency and low measurement accuracy caused by setting errors are the common disadvantages for surface profile measurement of microstructured roll workpieces. In order to shorten the measurement time and enhance the measurement accuracy, a method for self-calibration and compensation of setting errors is proposed for surface profile measurement of microstructured roll workpieces. A measurement system is constructed for the measurement, in which a precision spindle is employed to rotate the roll workpiece and an air-bearing displacement sensor with a micro-stylus probe is employed to scan the microstructured surface of the roll workpiece. The resolution of the displacement sensor is 0.14 nm and that of the rotary encoder of the spindle was 0.15r~. Geometrical and mathematical models are established for analyzing the influences of the setting errors of the roll workpiece and the displacement sensor with respect to the axis of the spindle, including the eccentric error of the roll workpiece, the offset error of the sensor axis and the zero point error of the sensor output. Measurement experiments are carded out on a roll workpiece on which periodic microstructures are a period of 133 i^m along the circumferential direction. Experimental results demonstrate the feasibility of the self-compensation method. The proposed method can be used to detect and compensate the setting errors without using any additional accurate artifact.

Integration of Tracer Test Data to Refine Geostatistical Hydraulic Conductivity Fields Using Sequential Self-Calibration Method

On the basis of local measurements of hydraulic conductivity, geostatistical methods have been found to be useful in heterogeneity characterization of a hydraulic conductivity field on a regional scale. However, the methods are not suited to directly integrate dynamic production data, such as, hydraulic head and solute concentration, into the study of conductivity distribution. These data, which record the flow and transport processes in the medium, are closely related to the spatial distribution of hydraulic conductivity. In this study, a three-dimensional gradient-based inverse method--the sequential self-calibration （SSC） method--is developed to calibrate a hydraulic conductivity field, initially generated by a geostatistical simulation method, conditioned on tracer test results. The SSC method can honor both local hydraulic conductivity measurements and tracer test data. The mismatch between the simulated hydraulic conductivity field and the reference true one, measured by its mean square error （MSE）, is reduced through the SSC conditional study. In comparison with the unconditional results, the SSC conditional study creates the mean breakthrough curve much closer to the reference true curve, and significantly reduces the prediction uncertainty of the solute transport in the observed locations. Further, the reduction of uncertainty is spatially dependent, which indicates that good locations, geological structure, and boundary conditions will affect the efficiency of the SSC study results.

New self-calibration approach to space robots based on hand-eye vision

To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was presented.Using the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration method.The particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space robot.The above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye vision.The results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the method.At the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.

电动汽车电控液压制动系统CarSim/Simulink联合仿真研究

针对某款国产电动汽车的电控液压制动系统,文章基于滑移率的比例-积分-微分(PID)控制提出了防抱死制动系统(ABS)模型,以改善车辆制动性能,提高在对开路面上的制动有效性和安全性。首先,使用Simulink软件建立液压电控制动系统的动力学模型;然后,基于滑移率设计PID控制器,并通过1/4车辆模型验证其有效性;最后,利用S函数将ABS控制器的Simulink模型输入CarSim平台中,开展CarSim/Simulink双平台联合控制仿真。结果表明,基于滑移率的PID控制的ABS对比无ABS的车辆,制动性能更加优越,在对开路面上制动稳定性更加明显。

一种MAKLINK图多节点链路建模的路径规划研究

针对传统MAKLINK图规划路径线路改变时,其最优化路径易与环境约束条件冲突的问题,提出了在MAKLINK图中各链路上增加节点数目的方法,以提高系统建模的适应性和鲁棒性。设计的多节点链路通过dijkstra算法得到更为理想的次优化路径,由蚁群算法进行迭代计算获得最优化路径,实现了在保证路径适应度的前提下,提高优化路径对环境约束条件的适应性。实验结果表明,与基本MAKLINK图路径规划算法相比,多节点链路的建模路径规划算法可有效提高次优路径的建模精度,最优路径的适应度值较单节点链路减小了1.43%,具有一定的建模优势。

Camera Self-Calibration in Computer Vision with Precise Estimation of Initial Parameters

A key problem that plagues camera self-calibration, namely that the classical self-calibration algorithms are very sensitive to the initial values of the camera intrinsic parameters, is analyzed and a practical solution is provided. The effect of the camera intrinsic parameters, mainly the principal point and the skew factor is first discussed. Then a practical method via a controlled motion of the camera is introduced so as to obtain an accurate estimation of these parameters. Feasibility of this approach is illustrated by carrying out comprehensive experiments using synthetic data as well as real image sequences. Unreasonable initial values can often make self-calibration impossible, yet a precise initialization guarantees a better and successful reconstruction. Trying to obtain a more reasonable initialization is worthwhile the effort in camera self-calibration.

A Self-calibration Bundle Adjustment Algorithm Based on Block Matrix Cholesky Decomposition Technology

In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.

An improved self-calibration approach based on adaptive genetic algorithm for position-based visual servo

An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the positionbased visual servo technique which exploits the singular value property of the essential matrix. Specifically, a suitable dynamic online cost function is generated according to the property of the three singular values. The visual servo process is carried out simultaneous to the dynamic self-calibration, and then the cost function is minimized using the adaptive genetic algorithm instead of the gradient descent method in G. Chesi＇s approach. Moreover, this method overcomes the limitation that the initial parameters must be selected close to the true value, which is not constant in many cases. It is not necessary to know exactly the camera intrinsic parameters when using our approach, instead, coarse coding bounds of the five parameters are enough for the algorithm, which can be done once and for all off-line. Besides, this algorithm does not require knowledge of the 3D model of the object. Simulation experiments are carried out and the results demonstrate that the proposed approach provides a fast convergence speed and robustness against unpredictable perturbations of camera parameters, and it is an effective and efficient visual servo algorithm.

NOVEL METHOD FOR ERROR ANALYSIS AND SELF-CALIBRATION OF LASER TRACKING MIRROR MECHANISM

Laser tracking system （LTS） is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.

面向Link16的QualNet与虚拟机信息交互接口设计与实现

Link16是美国国防部采用的高速视距战术数据链,广泛应用于美国海军、联合部队和北约部队,针对其开展测试评估具有重要军事意义。通过硬件在环技术将Link16实物设备接入到仿真测试中,可有效提高测试结果的真实性和准确性。然而当测试场景需要进行实物设备组网测试时,仍会带来成本问题。为此,提出一种面向QualNet MAC层的Link16专属模型以及与之匹配的虚拟机信息交互接口。该模型可高逼真模拟Link16通信行为,实现Link16节点竞争接入、时隙划分、NPG分组等功能。并基于数据分布式服务实现了虚拟机交互接口,将运行在虚拟机的Link16设备模型接入QualNet测试场景。实验测试结果表明,所设计模型具有较高真实性和准确性且接口引入延时不超过1 ms,为大规模数据链网络测试提供一种新方法。

Self-calibration Applied in Converting Simulation Surveying

In the field of converting simulation surveying and traditional close range photogrammetry, it has been developed so far to survey objects by commercial digital camera and this technique is applied widely in every part of production. In order to get three-dimensional information of objects, commercial digital camera must be examined. For a long time, digital camera has been examined by DLT. Then there must be a high-precision control field. For realizing surveying without control points, a method for self-calibration is proposed.

Self-calibration and algorithm of sample set of piezoresistive pressure sensors

Aiming at piezoresistive pressure sensors, this paper studies simulation of standard pressure by using benchmark current source and self-calibration of the sampling data characteristics. A data fusion algorithm for sample set is presented which transforms a surface problem into a curve fitting and interpolation problem. The simulation result shows that benchmark current source simulating pressure is successful and data fusion algorithm is effective. The maximum measurement error is only 0.098 kPa and maximum relative error is 0.92% at 0-45 kPa and -10-45~C.

Coherent optical frequency transfer via 972-km fiber link

We demonstrate coherent optical frequency dissemination over a distance of 972 km by cascading two spans where the phase noise is passively compensated for.Instead of employing a phase discriminator and a phase locking loop in the conventional active phase control scheme,the passive phase noise cancellation is realized by feeding double-trip beat-note frequency to the driver of the acoustic optical modulator at the local site.This passive scheme exhibits fine robustness and reliability,making it suitable for long-distance and noisy fiber links.An optical regeneration station is used in the link for signal amplification and cascaded transmission.The phase noise cancellation and transfer instability of the 972-km link is investigated,and transfer instability of 1.1×10^(-19)at 10^(4)s is achieved.This work provides a promising method for realizing optical frequency distribution over thousands of kilometers by using fiber links.

一种改进的Link16信号检测方法

直接序列扩频、高速跳频与跳时相结合的技术,造成了对Link16信号的检测具有相当的难度。文中针对突发Link16信号脉冲宽度强规律性,借鉴双滑动窗算法在突发信号检测上的应用,提出了改进后基于相关处理的双滑动窗Link16信号检测方法,该方法可实现复杂电磁环境下对Link16信号的高灵敏度、高概率检测,同时正确估算出脉宽、码速率等参数信息。仿真实验数据验证了理论分析的正确性和所述方法的有效性,相较于其他Link16信号检测方法,改进后的基于相关处理的双滑动窗检测算法明显提高了在低信噪比下对Link16信号的检测能力。

Corneal collagen cross-linking in patients with keratoconus from the Dresden protocol to customized solutions:theoretical basis

Keratoconus is an ectatic condition characterized by gradual corneal thinning,corneal protrusion,progressive irregular astigmatism,corneal fibrosis,and visual impairment.The therapeutic options regarding improvement of visual function include glasses or soft contact lenses correction for initial stages,gas-permeable rigid contact lenses,scleral lenses,implantation of intrastromal corneal ring or corneal transplants for most advanced stages.In keratoconus cases showing disease progression corneal collagen crosslinking(CXL)has been proven to be an effective,minimally invasive and safe procedure.CXL consists of a photochemical reaction of corneal collagen by riboflavin stimulation with ultraviolet A radiation,resulting in stromal crosslinks formation.The aim of this review is to carry out an examination of CXL methods based on theoretical basis and mathematical models,from the original Dresden protocol to the most recent developments in the technique,reporting the changes proposed in the last 15y and examining the advantages and disadvantages of the various treatment protocols.Finally,the limits of non-standardized methods and the perspectives offered by a customization of the treatment are highlighted.

基于GS1 Digital Link的Web编码构建与案例应用

为探索GS1 Digital Link技术在产品物流中的应用潜力,分析研究了GS1系统和GS1 Digital Link的基本结构、编码特点以及技术优势,充分利用GS1 Digital Link技术可以为产品从源头到零售整个物流过程提供相关对象的Web地址编码的特点,以鲜活大闸蟹物流过程为例,构建了基于GS1 Digital Link的鲜活大闸蟹Web编码,为实现产品营销与追溯提供了标准化、动态化、多样化的编码数据支撑。

Time Transfer in a 1839-km Telecommunication Fiber Link Demonstrating a Picosecond-Scale Stability

An implementation of high-precision time transfer over a 1839-km field fiber loop back link between two provincial capitals of China,Xi’an and Taiyuan,is reported.Time transfer stabilities of 6.5 ps at averaging time of 1 s and 4.6 ps at 40000 s were achieved.The uncertainty for the time transfer system was evaluated,showing a budget of 56.2 ps.These results stand for a significant milestone in achieving high-precision time transfer over a field fiber link spanning thousands of kilometers,signifying a record-breaking achievement for the real-field time transfer in both stability and distance,which paves the way for constructing the nationwide high-precision time service via fiber network.

Robust free-space optical frequency transfer in time-varying link distances conditions

Future inter-satellite clock comparison on high orbit will require optical time and frequency transmission technology between moving objects.Here,we demonstrate robust optical frequency transmission under the condition of variable link distance.This variable link is accomplished by the relative motion of a single telescope fixed on the experimental platform to a corner-cube reflector(CCR)installed on a sliding guide.Two acousto–optic modulators with different frequencies are used to separate forward signal from backward signal.With active phase noise suppression,when the CCR moves back and forth at a constant velocity of 20 cm/s and an acceleration of 20 cm/s^(2),we achieve the best frequency stability of 1.9×10^(-16) at 1 s and 7.9×10^(-19) at 1000 s indoors.This work paves the way for future studying optical frequency transfer between ultra-high-orbit satellites.