For the rapid calibration of multi-line structured light system,a method based on Plücker line was proposed.Most of the conventional line-structured light calibration methods extract the feature points and transf...For the rapid calibration of multi-line structured light system,a method based on Plücker line was proposed.Most of the conventional line-structured light calibration methods extract the feature points and transform the coordinates of points to obtain the plane equation.However,a large number of points lead to complicated operation which is not suitable for the application scenarios of multi-line structured light.To solve this issue,a new calibration method was proposed that applied the form of Plücker matrix throughout the whole calibration process,instead of using the point characteristics directly.The advantage of this method is that the light plane equation can be obtained quickly and accurately in the camera coordinate frame.Correspondingly a planar target particularly for calibrating multi-line structured light was also designed.The regular lines were transformed into Plücker lines by extending the two-dimensional image plane and defining a new image space.To transform the coordinate frame of Plücker lines,the perspective projection mathematical model was re-expressed based on the Plücker matrix.According to the properties of the line and plane in the Plücker space,a linear matrix equation was efficiently constructed by combining the Plücker matrices of several coplanar lines so that the line-structured light plane equation could be furtherly solved.The experiments performed validate the proposed method and demonstrate the significant improvement in the calibration accuracy,when the test distance is 1.8 m,the root mean square(RMS)error of the three-dimensional point is within 0.08 mm.展开更多
In solving many-objective optimization problems(MaO Ps),existing nondominated sorting-based multi-objective evolutionary algorithms suffer from the fast loss of selection pressure.Most candidate solutions become nondo...In solving many-objective optimization problems(MaO Ps),existing nondominated sorting-based multi-objective evolutionary algorithms suffer from the fast loss of selection pressure.Most candidate solutions become nondominated during the evolutionary process,thus leading to the failure of producing offspring toward Pareto-optimal front with diversity.Can we find a more effective way to select nondominated solutions and resolve this issue?To answer this critical question,this work proposes to evolve solutions through line complex rather than solution points in Euclidean space.First,Plücker coordinates are used to project solution points to line complex composed of position vectors and momentum ones.Besides position vectors of the solution points,momentum vectors are used to extend the comparability of nondominated solutions and enhance selection pressure.Then,a new distance function designed for high-dimensional space is proposed to replace Euclidean distance as a more effective distancebased estimator.Based on them,a novel many-objective evolutionary algorithm(MaOEA)is proposed by integrating a line complex-based environmental selection strategy into the NSGAⅢframework.The proposed algorithm is compared with the state of the art on widely used benchmark problems with up to 15 objectives.Experimental results demonstrate its superior competitiveness in solving MaOPs.展开更多
After an introductiou of the Plucker coordinate geometry, a discussion is made of the expression of screws in Plucker coordiuates and the addition of screws’ As a result, the geometry or geuerating gears is re-studie...After an introductiou of the Plucker coordinate geometry, a discussion is made of the expression of screws in Plucker coordiuates and the addition of screws’ As a result, the geometry or geuerating gears is re-studied and a formula is derived for calculating the axode leugth or hypoid gears’展开更多
The main aim of this paper is to define and study of a new matrix functions, say, the pl(m,n)-Kummer matrix function of two complex variables. The radius of regularity, recurrence relation and several new results on t...The main aim of this paper is to define and study of a new matrix functions, say, the pl(m,n)-Kummer matrix function of two complex variables. The radius of regularity, recurrence relation and several new results on this function are established when the positive integers p is greater than one. Finally, we obtain a higher order partial differential equation satisfied by the pl(m,n)-Kummer matrix function and some special properties.展开更多
针对传统基于输出协方差矩阵的性能监控方法未充分考虑过程变量与输出变量之间的相关性问题,提出一种基于偏最小二乘(Partial least squares,PLS)交叉积矩阵非相似度分析的性能监控与诊断方法,用于多变量模型预测控制(Model predictive ...针对传统基于输出协方差矩阵的性能监控方法未充分考虑过程变量与输出变量之间的相关性问题,提出一种基于偏最小二乘(Partial least squares,PLS)交叉积矩阵非相似度分析的性能监控与诊断方法,用于多变量模型预测控制(Model predictive control,MPC)系统.首先,考虑模型预测控制系统的控制结构,构造包含预测误差的增广过程变量与输出变量相关性的PLS交叉积矩阵,通过非相似度分析方法将交叉积矩阵的非相似度比较转化为转换矩阵特征值的比较.然后提取转换矩阵中表征最大非相似度的l个特征值构造实时性能指标,对MPC系统进行性能监控.检测到性能下降后,进一步利用转换矩阵的特征值诊断性能恶化源.Wood-Berry二元精馏塔上的仿真结果表明,所提方法能够有效地提高监控性能,并准确地定位性能恶化源.展开更多
经典的基于点状特征匹配的地面激光雷达（light detection and ranging,LiDAR）点云配准算法实现过程中,点状特征的提取精度对算法运行结果的影响通常较大;基于迭代运算的LiDAR点云配准算法计算量大,对未知参数的初值依赖程度较高,在求...经典的基于点状特征匹配的地面激光雷达（light detection and ranging,LiDAR）点云配准算法实现过程中,点状特征的提取精度对算法运行结果的影响通常较大;基于迭代运算的LiDAR点云配准算法计算量大,对未知参数的初值依赖程度较高,在求解大转角刚体变换参数时算法不稳定。对此,提出了一种线状特征约束下基于Plücker直线坐标描述的LiDAR点云配准算法。立足于经典的向量代数与对偶四元数的相关理论与方法,分析并确定了Plücker直线坐标与对偶四元数之间的相互转换关系以及模型描述方法;以LiDAR点云配准前后同名线状特征的Plücker直线坐标相等为约束条件,构建了线状特征约束下基于Plücker直线坐标描述的刚体变换模型;立足于最小二乘基本准则,通过目标函数的极值化分析实现了线状特征约束下地面LiDAR点云配准参数的直接求解。实验结果表明,所构建的基于Plücker直线坐标描述的地面LiDAR点云配准模型,无需事先确定变换参数的初值,避免了多元函数的线性化过程,解除了参数结果对于迭代初值的依赖,理论上克服了迭代法在求解大转角相似变换参数时的算法不稳定问题。此外,较之单纯基于点状特征匹配的LiDAR点云配准算法,该算法可以有效地增强LiDAR点云配准过程的约束,达到提高配准质量的目的。展开更多
The Laser Induced Breakdown Spectroscopy (LIBS) is a fast, non-contact, no sample preparation analytic technology;it is very suitable for on-line analysis of alloy composition. In the copper smelting industry, analysi...The Laser Induced Breakdown Spectroscopy (LIBS) is a fast, non-contact, no sample preparation analytic technology;it is very suitable for on-line analysis of alloy composition. In the copper smelting industry, analysis and control of the copper alloy concentration affect the quality of the products greatly, so LIBS is an efficient quantitative analysis tech- nology in the copper smelting industry. But for the lead brass, the components of Pb, Al and Ni elements are very low and the atomic emission lines are easily submerged under copper complex characteristic spectral lines because of the matrix effects. So it is difficult to get the online quantitative result of these important elements. In this paper, both the partial least squares (PLS) method and the calibration curve (CC) method are used to quantitatively analyze the laser induced breakdown spectroscopy data which is obtained from the standard lead brass alloy samples. Both the major and trace elements were quantitatively analyzed. By comparing the two results of the different calibration method, some useful results were obtained: both for major and trace elements, the PLS method was better than the CC method in quantitative analysis. And the regression coefficient of PLS method is compared with the original spectral data with background interference to explain the advantage of the PLS method in the LIBS quantitative analysis. Results proved that the PLS method used in laser induced breakdown spectroscopy was suitable for simultaneous quantitative analysis of different content elements in copper smelting industry.展开更多
By mapping the homogeneous coordinates of two points in space to the Plücker coordinates of the line they determine, any transformation of type SL(4) upon points in space is mapped to a transformation of type SO0...By mapping the homogeneous coordinates of two points in space to the Plücker coordinates of the line they determine, any transformation of type SL(4) upon points in space is mapped to a transformation of type SO0(3, 3), the latter being the connected component containing the identity of the special orthogonal transformation group of the linear space spanned by Plücker coordinates. This is the classical Plücker correspondence, two-to-one and onto. It has important applications in line geometry and projective transformations.While the explicit form of Plücker correspondence is trivial to present, its inverse in explicit form, which is also important in application, is not found in the literature. In this paper, we present a simple and unified formula for the inverse of the Plücker correspondence.展开更多
基金National Natural Science Foundation of China(No.51575388)。
文摘For the rapid calibration of multi-line structured light system,a method based on Plücker line was proposed.Most of the conventional line-structured light calibration methods extract the feature points and transform the coordinates of points to obtain the plane equation.However,a large number of points lead to complicated operation which is not suitable for the application scenarios of multi-line structured light.To solve this issue,a new calibration method was proposed that applied the form of Plücker matrix throughout the whole calibration process,instead of using the point characteristics directly.The advantage of this method is that the light plane equation can be obtained quickly and accurately in the camera coordinate frame.Correspondingly a planar target particularly for calibrating multi-line structured light was also designed.The regular lines were transformed into Plücker lines by extending the two-dimensional image plane and defining a new image space.To transform the coordinate frame of Plücker lines,the perspective projection mathematical model was re-expressed based on the Plücker matrix.According to the properties of the line and plane in the Plücker space,a linear matrix equation was efficiently constructed by combining the Plücker matrices of several coplanar lines so that the line-structured light plane equation could be furtherly solved.The experiments performed validate the proposed method and demonstrate the significant improvement in the calibration accuracy,when the test distance is 1.8 m,the root mean square(RMS)error of the three-dimensional point is within 0.08 mm.
基金supported in part by the National Natural Science Foundation of China(51775385)the Natural Science Foundation of Shanghai(23ZR1466000)+3 种基金the Shanghai Industrial Collaborative Science and Technology Innovation Project(2021-cyxt2-kj10)the Innovation Program of Shanghai Municipal Education Commission(202101070007E00098)the Innovation Project of Engineering Research Center of Integration and Application of Digital Learning Technology of MOE(1221046)the Program to Cultivate Middle-Aged and Young Cadre Teacher of Jiangsu Province。
文摘In solving many-objective optimization problems(MaO Ps),existing nondominated sorting-based multi-objective evolutionary algorithms suffer from the fast loss of selection pressure.Most candidate solutions become nondominated during the evolutionary process,thus leading to the failure of producing offspring toward Pareto-optimal front with diversity.Can we find a more effective way to select nondominated solutions and resolve this issue?To answer this critical question,this work proposes to evolve solutions through line complex rather than solution points in Euclidean space.First,Plücker coordinates are used to project solution points to line complex composed of position vectors and momentum ones.Besides position vectors of the solution points,momentum vectors are used to extend the comparability of nondominated solutions and enhance selection pressure.Then,a new distance function designed for high-dimensional space is proposed to replace Euclidean distance as a more effective distancebased estimator.Based on them,a novel many-objective evolutionary algorithm(MaOEA)is proposed by integrating a line complex-based environmental selection strategy into the NSGAⅢframework.The proposed algorithm is compared with the state of the art on widely used benchmark problems with up to 15 objectives.Experimental results demonstrate its superior competitiveness in solving MaOPs.
文摘After an introductiou of the Plucker coordinate geometry, a discussion is made of the expression of screws in Plucker coordiuates and the addition of screws’ As a result, the geometry or geuerating gears is re-studied and a formula is derived for calculating the axode leugth or hypoid gears’
文摘The main aim of this paper is to define and study of a new matrix functions, say, the pl(m,n)-Kummer matrix function of two complex variables. The radius of regularity, recurrence relation and several new results on this function are established when the positive integers p is greater than one. Finally, we obtain a higher order partial differential equation satisfied by the pl(m,n)-Kummer matrix function and some special properties.
文摘针对传统基于输出协方差矩阵的性能监控方法未充分考虑过程变量与输出变量之间的相关性问题,提出一种基于偏最小二乘(Partial least squares,PLS)交叉积矩阵非相似度分析的性能监控与诊断方法,用于多变量模型预测控制(Model predictive control,MPC)系统.首先,考虑模型预测控制系统的控制结构,构造包含预测误差的增广过程变量与输出变量相关性的PLS交叉积矩阵,通过非相似度分析方法将交叉积矩阵的非相似度比较转化为转换矩阵特征值的比较.然后提取转换矩阵中表征最大非相似度的l个特征值构造实时性能指标,对MPC系统进行性能监控.检测到性能下降后,进一步利用转换矩阵的特征值诊断性能恶化源.Wood-Berry二元精馏塔上的仿真结果表明,所提方法能够有效地提高监控性能,并准确地定位性能恶化源.
文摘经典的基于点状特征匹配的地面激光雷达（light detection and ranging,LiDAR）点云配准算法实现过程中,点状特征的提取精度对算法运行结果的影响通常较大;基于迭代运算的LiDAR点云配准算法计算量大,对未知参数的初值依赖程度较高,在求解大转角刚体变换参数时算法不稳定。对此,提出了一种线状特征约束下基于Plücker直线坐标描述的LiDAR点云配准算法。立足于经典的向量代数与对偶四元数的相关理论与方法,分析并确定了Plücker直线坐标与对偶四元数之间的相互转换关系以及模型描述方法;以LiDAR点云配准前后同名线状特征的Plücker直线坐标相等为约束条件,构建了线状特征约束下基于Plücker直线坐标描述的刚体变换模型;立足于最小二乘基本准则,通过目标函数的极值化分析实现了线状特征约束下地面LiDAR点云配准参数的直接求解。实验结果表明,所构建的基于Plücker直线坐标描述的地面LiDAR点云配准模型,无需事先确定变换参数的初值,避免了多元函数的线性化过程,解除了参数结果对于迭代初值的依赖,理论上克服了迭代法在求解大转角相似变换参数时的算法不稳定问题。此外,较之单纯基于点状特征匹配的LiDAR点云配准算法,该算法可以有效地增强LiDAR点云配准过程的约束,达到提高配准质量的目的。
文摘The Laser Induced Breakdown Spectroscopy (LIBS) is a fast, non-contact, no sample preparation analytic technology;it is very suitable for on-line analysis of alloy composition. In the copper smelting industry, analysis and control of the copper alloy concentration affect the quality of the products greatly, so LIBS is an efficient quantitative analysis tech- nology in the copper smelting industry. But for the lead brass, the components of Pb, Al and Ni elements are very low and the atomic emission lines are easily submerged under copper complex characteristic spectral lines because of the matrix effects. So it is difficult to get the online quantitative result of these important elements. In this paper, both the partial least squares (PLS) method and the calibration curve (CC) method are used to quantitatively analyze the laser induced breakdown spectroscopy data which is obtained from the standard lead brass alloy samples. Both the major and trace elements were quantitatively analyzed. By comparing the two results of the different calibration method, some useful results were obtained: both for major and trace elements, the PLS method was better than the CC method in quantitative analysis. And the regression coefficient of PLS method is compared with the original spectral data with background interference to explain the advantage of the PLS method in the LIBS quantitative analysis. Results proved that the PLS method used in laser induced breakdown spectroscopy was suitable for simultaneous quantitative analysis of different content elements in copper smelting industry.
基金supported by National Natural Science Foundation of China(Grant No.11671388)the CAS Frontier Key Project(Grant No.QYZDJ-SSW-SYS022)
文摘By mapping the homogeneous coordinates of two points in space to the Plücker coordinates of the line they determine, any transformation of type SL(4) upon points in space is mapped to a transformation of type SO0(3, 3), the latter being the connected component containing the identity of the special orthogonal transformation group of the linear space spanned by Plücker coordinates. This is the classical Plücker correspondence, two-to-one and onto. It has important applications in line geometry and projective transformations.While the explicit form of Plücker correspondence is trivial to present, its inverse in explicit form, which is also important in application, is not found in the literature. In this paper, we present a simple and unified formula for the inverse of the Plücker correspondence.
