The linear multi-baseline stereo system introduced by the CMU-RI group has been proven to be a very effective and robust stereovision system. However, most traditional stereo rectification algorithms are all designed ...The linear multi-baseline stereo system introduced by the CMU-RI group has been proven to be a very effective and robust stereovision system. However, most traditional stereo rectification algorithms are all designed for binocular stereovision system, and so, cannot be applied to a linear multi-baseline system. This paper presents a simple and intuitional method that can simultaneously rectify all the cameras in a linear multi-baseline system. Instead of using the general 8-parameter homography transform, a two-step virtual rotation method is applied for rectification, which results in a more specific transform that has only 3 parameters, and more stability. Experimental results for real stereo images showed the presented method is efficient.展开更多
According to the test data of subdivision errors in the measuring cycle of angular measuring system, the characteristics of subdivision errors generated by this system are analyzed. It is found that the subdivision er...According to the test data of subdivision errors in the measuring cycle of angular measuring system, the characteristics of subdivision errors generated by this system are analyzed. It is found that the subdivision errors are mainly due to the rotary-type inductosyn itself. For the characteristic of cyclical change, the subdivision errors in other measuring cycles can be compensated by the subdivision error model in one measuring cycle. Using the measured error data as training samples, combining GA and BP algorithm, an ANN model of subdivision error is designed. Simulation results indicate that GA reduces the uncertainty in the training process of the ANN model, and enhances the generalization of the model. Compared with the error model based on the least-mean-squared method, the designed ANN model of subdivision errors can achieve higher compensating precision.展开更多
This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies.Two scenarios which differ in available information are considered.In the first...This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies.Two scenarios which differ in available information are considered.In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors,while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors.By using rotation vectors and the high gain control,the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3)for the second scenario.An illustrative example is provided to show the synchronization results for both scenarios.展开更多
During the evolution of the binary system, many physical processes occur, which can influence the orbital angular velocity and the spin angular velocities of the two components, and influence the non-synchronous or sy...During the evolution of the binary system, many physical processes occur, which can influence the orbital angular velocity and the spin angular velocities of the two components, and influence the non-synchronous or synchronous rotation of the system. These processes include the transfer of masses and angular momentums between the component stars, the loss of mass and angular momentum via stellar winds, and the deformation of the structure of component stars. A study of these processes indicates that they are closely related to the combined effects of tide and rotation. This means, to study the synchronous or non-synchronous rotation of binary systems, one has to consider the contributions of different physical processes simultaneously, instead of the tidal effect alone. A way to know whether the rotation of a binary system is synchronous or non-synchronous is to calculate the orbital angular velocity and the spin angular velocities of the component stars. If all of these angular velocities are equal, the rotation of the system is synchronous. If not, the rotation of the system is non-synchronous. For this aim, a series of equations are developed to calculate the orbital and spin angular velocities. The evolutionary calculation of a binary system with masses of 10M~ ＋ 6Me shows that the transfer of masses and angular momentums between the two components, and the deformation of the components structure in the semidetached or in the contact phase can change the rotation of the system from synchronous into non-synchronous rotation.展开更多
文摘提出基于三步旋转机制的高精度低时延坐标旋转数字计算机(CORDIC)算法.该算法通过对输入角度进行二极化重编码来免除剩余旋转角度的运算,利用三步旋转机制对迭代次数进行压缩,结合合并迭代技术进一步减少迭代次数,降低输出时延.以16位输出位宽为例,对三步旋转CORDIC算法和流水线迭代式算法进行实现,仿真结果表明:三步旋转CORDIC算法与流水线迭代式算法相比,改善了输出精度,输入到输出的时延降低了75%,硬件开销下降了29.2%.基于三步旋转CORDIC算法,实现了相位累加器位宽为24的直接数字频率综合器(DDFS);使用加法树结构对多输入加法器进行优化,以提高电路工作频率.仿真结果表明,该算法的最大幅度误差为8.24×10^-6,输出时延为38.5 ns.
文摘The linear multi-baseline stereo system introduced by the CMU-RI group has been proven to be a very effective and robust stereovision system. However, most traditional stereo rectification algorithms are all designed for binocular stereovision system, and so, cannot be applied to a linear multi-baseline system. This paper presents a simple and intuitional method that can simultaneously rectify all the cameras in a linear multi-baseline system. Instead of using the general 8-parameter homography transform, a two-step virtual rotation method is applied for rectification, which results in a more specific transform that has only 3 parameters, and more stability. Experimental results for real stereo images showed the presented method is efficient.
文摘According to the test data of subdivision errors in the measuring cycle of angular measuring system, the characteristics of subdivision errors generated by this system are analyzed. It is found that the subdivision errors are mainly due to the rotary-type inductosyn itself. For the characteristic of cyclical change, the subdivision errors in other measuring cycles can be compensated by the subdivision error model in one measuring cycle. Using the measured error data as training samples, combining GA and BP algorithm, an ANN model of subdivision error is designed. Simulation results indicate that GA reduces the uncertainty in the training process of the ANN model, and enhances the generalization of the model. Compared with the error model based on the least-mean-squared method, the designed ANN model of subdivision errors can achieve higher compensating precision.
基金supported by Beijing Natural Science Foundation under Grant No.4152057973 program(2014CB845301/2/3)
文摘This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies.Two scenarios which differ in available information are considered.In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors,while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors.By using rotation vectors and the high gain control,the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3)for the second scenario.An illustrative example is provided to show the synchronization results for both scenarios.
基金supported by the National Natural Science Foundation of China(Grant No.10933002)
文摘During the evolution of the binary system, many physical processes occur, which can influence the orbital angular velocity and the spin angular velocities of the two components, and influence the non-synchronous or synchronous rotation of the system. These processes include the transfer of masses and angular momentums between the component stars, the loss of mass and angular momentum via stellar winds, and the deformation of the structure of component stars. A study of these processes indicates that they are closely related to the combined effects of tide and rotation. This means, to study the synchronous or non-synchronous rotation of binary systems, one has to consider the contributions of different physical processes simultaneously, instead of the tidal effect alone. A way to know whether the rotation of a binary system is synchronous or non-synchronous is to calculate the orbital angular velocity and the spin angular velocities of the component stars. If all of these angular velocities are equal, the rotation of the system is synchronous. If not, the rotation of the system is non-synchronous. For this aim, a series of equations are developed to calculate the orbital and spin angular velocities. The evolutionary calculation of a binary system with masses of 10M~ ＋ 6Me shows that the transfer of masses and angular momentums between the two components, and the deformation of the components structure in the semidetached or in the contact phase can change the rotation of the system from synchronous into non-synchronous rotation.
