Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a ...Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.展开更多
An efficient method employing a Principal Component Analysis(PCA)-Deep Belief Network(DBN)-based surrogate model is developed for robust aerodynamic design optimization in this study.In order to reduce the number of d...An efficient method employing a Principal Component Analysis(PCA)-Deep Belief Network(DBN)-based surrogate model is developed for robust aerodynamic design optimization in this study.In order to reduce the number of design variables for aerodynamic optimizations,the PCA technique is implemented to the geometric parameters obtained by parameterization method.For the purpose of predicting aerodynamic parameters,the DBN model is established with the reduced design variables as input and the aerodynamic parameters as output,and it is trained using the k-step contrastive divergence algorithm.The established PCA-DBN-based surrogate model is validated through predicting lift-to-drag ratios of a set of airfoils,and the results indicate that the PCA-DBN-based surrogate model is reliable and obtains more accurate predictions than three other surrogate models.Then the efficient optimization method is established by embedding the PCA-DBN-based surrogate model into an improved Particle Swarm Optimization(PSO)framework,and applied to the robust aerodynamic design optimizations of Natural Laminar Flow(NLF)airfoil and transonic wing.The optimization results indicate that the PCA-DBN-based surrogate model works very well as a prediction model in the robust optimization processes of both NLF airfoil and transonic wing.By employing the PCA-DBN-based surrogate model,the developed efficient method improves the optimization efficiency obviously.展开更多
文摘Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.
基金co-supported by Aeronautical Science Foundation of China(No.2015ZBP9002)China Scholarship Council。
文摘An efficient method employing a Principal Component Analysis(PCA)-Deep Belief Network(DBN)-based surrogate model is developed for robust aerodynamic design optimization in this study.In order to reduce the number of design variables for aerodynamic optimizations,the PCA technique is implemented to the geometric parameters obtained by parameterization method.For the purpose of predicting aerodynamic parameters,the DBN model is established with the reduced design variables as input and the aerodynamic parameters as output,and it is trained using the k-step contrastive divergence algorithm.The established PCA-DBN-based surrogate model is validated through predicting lift-to-drag ratios of a set of airfoils,and the results indicate that the PCA-DBN-based surrogate model is reliable and obtains more accurate predictions than three other surrogate models.Then the efficient optimization method is established by embedding the PCA-DBN-based surrogate model into an improved Particle Swarm Optimization(PSO)framework,and applied to the robust aerodynamic design optimizations of Natural Laminar Flow(NLF)airfoil and transonic wing.The optimization results indicate that the PCA-DBN-based surrogate model works very well as a prediction model in the robust optimization processes of both NLF airfoil and transonic wing.By employing the PCA-DBN-based surrogate model,the developed efficient method improves the optimization efficiency obviously.
