针对从基于压缩超快成像(Compressed Ultrafast Photography,CUP)的任意反射面速度干涉仪(Velocity Interferometer System for Any Reflector,VISAR)中获得的压缩图像中重构出冲击波二维条纹图像的问题,提出一种基于卡尔曼滤波的双约...针对从基于压缩超快成像(Compressed Ultrafast Photography,CUP)的任意反射面速度干涉仪(Velocity Interferometer System for Any Reflector,VISAR)中获得的压缩图像中重构出冲击波二维条纹图像的问题,提出一种基于卡尔曼滤波的双约束图像重构算法。该算法首先基于条纹图像具有的稀疏性和平滑性,将问题转化为基于小波与全变分双先验约束的优化问题,然后,考虑到实际成像的噪声问题,采用加权卡尔曼滤波对图像已有信息进行预测和调整,最后将卡尔曼滤波引入二步迭代阈值算法的迭代过程中,进而求解该双约束优化问题,实现压缩图像的精确重构。在大噪声仿真实验中,该算法重构图像的峰值信噪比和结构相似度分别提高了4.8 dB和14.81%,显著提高了图像重构质量。在实际实验中,该算法重构出了清晰的冲击波条纹图像,且将冲击波速度最大相对误差降低了9.57%和平均相对误差降低了2.2%,验证了该算法的可行性。展开更多
Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios.This paper propose...Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios.This paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake gaits.Three categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary actuators.Several typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.展开更多
In order to further improve the carrier synchronization estimation range and accuracy at low signal-to-noise ratio(SNR), this paper proposes a code-aided carrier synchronization algorithm based on improved nonbinary l...In order to further improve the carrier synchronization estimation range and accuracy at low signal-to-noise ratio(SNR), this paper proposes a code-aided carrier synchronization algorithm based on improved nonbinary low-density parity-check(NB-LDPC) codes to study the polarization-division-multiplexing coherent optical orthogonal frequency division multiplexing(PDM-CO-OFDM) system performance in the cases of quadrature phase shift keying(QPSK) and 16 quadrature amplitude modulation(16-QAM) modes. The simulation results indicate that this algorithm can enlarge frequency and phase offset estimation ranges and enhance accuracy of the system greatly, and the bit error rate(BER) performance of the system is improved effectively compared with that of the system employing traditional NB-LDPC code-aided carrier synchronization algorithm.展开更多
文摘针对从基于压缩超快成像(Compressed Ultrafast Photography,CUP)的任意反射面速度干涉仪(Velocity Interferometer System for Any Reflector,VISAR)中获得的压缩图像中重构出冲击波二维条纹图像的问题,提出一种基于卡尔曼滤波的双约束图像重构算法。该算法首先基于条纹图像具有的稀疏性和平滑性,将问题转化为基于小波与全变分双先验约束的优化问题,然后,考虑到实际成像的噪声问题,采用加权卡尔曼滤波对图像已有信息进行预测和调整,最后将卡尔曼滤波引入二步迭代阈值算法的迭代过程中,进而求解该双约束优化问题,实现压缩图像的精确重构。在大噪声仿真实验中,该算法重构图像的峰值信噪比和结构相似度分别提高了4.8 dB和14.81%,显著提高了图像重构质量。在实际实验中,该算法重构出了清晰的冲击波条纹图像,且将冲击波速度最大相对误差降低了9.57%和平均相对误差降低了2.2%,验证了该算法的可行性。
基金supported by the Research Fund of State Key Laboratory of Mechanical System and Vibration,China(Grant No.MSV-2010-07)
文摘Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios.This paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake gaits.Three categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary actuators.Several typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.
基金supported by the State Key Program of National Natural Science Foundation of China(No.61431009)the Natural Science Foundation of Shandong Province in China(No.ZR2014AM018)the Shandong Tai-shan Scholar Research Fund
文摘In order to further improve the carrier synchronization estimation range and accuracy at low signal-to-noise ratio(SNR), this paper proposes a code-aided carrier synchronization algorithm based on improved nonbinary low-density parity-check(NB-LDPC) codes to study the polarization-division-multiplexing coherent optical orthogonal frequency division multiplexing(PDM-CO-OFDM) system performance in the cases of quadrature phase shift keying(QPSK) and 16 quadrature amplitude modulation(16-QAM) modes. The simulation results indicate that this algorithm can enlarge frequency and phase offset estimation ranges and enhance accuracy of the system greatly, and the bit error rate(BER) performance of the system is improved effectively compared with that of the system employing traditional NB-LDPC code-aided carrier synchronization algorithm.
