Surveillance Video Key Frame Extraction Based on Center Offset

With the explosive growth of surveillance video data,browsing videos quickly and effectively has become an urgent problem.Video key frame extraction has received widespread attention as an effective solution.However,accurately capturing the local motion state changes of moving objects in the video is still challenging in key frame extraction.The target center offset can reflect the change of its motion state.This observation proposed a novel key frame extraction method based on moving objects center offset in this paper.The proposed method utilizes the center offset to obtain the global and local motion state information of moving objects,and meanwhile,selects the video frame where the center offset curve changes suddenly as the key frame.Such processing effectively overcomes the inaccuracy of traditional key frame extraction methods.Initially,extracting the center point of each frame.Subsequently,calculating the center point offset of each frame and forming the center offset curve by connecting the center offset of each frame.Finally,extracting candidate key frames and optimizing them to generate final key frames.The experimental results demonstrate that the proposed method outperforms contrast methods to capturing the local motion state changes of moving objects.

Spaceborne GPS receiver antenna phase center offset and variation estimation for the Shiyan 3 satellite

In determining the orbits of low Earth orbit （LEO） satellites using spaceborne GPS, the errors caused by receiver antenna phase center offset （PCO） and phase center variations （PCVs） are gradually becoming a major limiting factor for continued improvements to accuracy. Shiyan 3, a small satellite mission for space technology experimentation and climate exploration, was developed by China and launched on November 5, 2008. The dual-frequency GPS receiver payload delivers 1 Hz data and provides the basis for precise orbit determination within the range of a few centimeters. The antenna PCO and PCV error characteristics and the principles influencing orbit determination are analyzed. The feasibility of PCO and PCV estimation and compensation in different directions is demonstrated through simulation and in-flight tests. The values of receiver antenna PCO and PCVs for Gravity Recovery and Climate Experiment （GRACE） and Shiyan 3 satellites are estimated from one month of data. A large and stable antenna PCO error, reaching up to 10.34 cm in the z-direction, is found with the Shiyan 3 satellite. The PCVs on the Shiyan 3 satellite are estimated and reach up to 3.0 cm, which is slightly larger than that of GRACE satellites. Orbit validation clearly improved with independent k-band ranging （KBR） and satellite laser ranging （SLR） measurements. For GRACE satellites, the average root mean square （RMS） of KBR residuals improved from 1.01 cm to 0.88 cm. For the Shiyan 3 satellite, the average RMS of SLR residuals improved from 4.95 cm to 4.06 cm.

Large Spacing Array with Offset Phase Center Elements for Highly Integrated Applications

A scanning and uniform array architecture with large spacing,low complexity and high scalability is presented for high integration massive array applications.It is constructed by offset phase center elements arranged in a uniform and regular way,but its spacing can be larger than that of traditional arrays.An ideal model of the offset phase center element is established and its far-field distribution is derived.To suppress grating lobes,the phase center of any element is designed to be movable without changing its physical position.Using genetic algorithm(GA),a new constraint condition limiting the number of phase center changes is proposed to solve the objective function of the minimum values of grating lobes(GLs)and side lobes(SLs).It is shown that the optimal results can be achieved by two changes of phase centers.A multimode circular patch is developed and designed,and characteristics of the offset phase center are analyzed and verified.A prototype array of 12×12 offset phase center elements is implemented based on multi-mode circular patches.Full wave simulation results of radiation patterns show that the level of grating lobes is suppressed at least 7dB with 1.12λ spacing,while the scanning angle is 20°.

Tests of relative vertical offsets for several types of GPS receiver antenna phase centers

The correction for antenna phase center is considered in processing Global Positioning System （GPS） data collected from a network of GPS ultra-short baselines. Compared with the leveling measurements, the GPS results show that the relative vertical offsets for the pairs of GPS receiver antenna phase centers still exist, although absolute calibration of the antenna phase center variations （PCVs） has been considered. With respect to the TPS CR.G3 antenna, the relative vertical offset for the LEI AT504 antenna is 8.4 mm, the offset for the ASH701945C_M antenna is 5.5 mm, and those for the ASHY00936E_C and ASH701945B_M antennas are approximately between 2 mm and -3 mm. The relative offsets for the same type of antennas are approximately 1 mm. By correcting the absolute PCVs, the existing relative offset becomes negligible for horizontal positioning.

中心不重合径向剪切干涉迭代波前重构算法仿真分析

径向剪切干涉测量时经常会出现扩束与缩束光波中心不重合情况,传统波前重构算法会导致较大重构误差,其应用受到挑战。推导了中心不重合径向剪切干涉迭代波前重构算法,仿真分析了组合像差、单阶Zernike像差、中心偏移量大小及其计算误差对重构算法的影响。结果表明,在剪切光波中心不重合情况下,该文算法能够准确进行波前重构,重构效果显著优于传统算法;在论文仿真条件下,随着中心偏移量的增大,本文算法重构波面均方根误差(RMS)不高于0.05λ,而传统算法重构误差RMS值达1.6λ且与偏移量近似线性相关。

衔铁偏心对高速电磁阀全工况电磁力的影响

高速电磁阀(HSV)是电控燃油喷射系统的关键部件,其衔铁偏心作用是影响高速电磁阀静、动态特性的重要因素.为了揭示高速电磁阀衔铁偏心作用对其全工况电磁力的影响规律,结合试验和数值模拟方法,建立了高速电磁阀有限元仿真模型,并通过与试验电磁力对比验证了其精度,最大误差为4.8%;分析了衔铁中心偏移和偏转及其交互作用对高速电磁阀电磁力的影响.结果表明:随着衔铁中心偏移率增大,轴向电磁力逐渐变小,而径向电磁力逐渐增大,但总体对电磁力的影响不显著;随着衔铁中心偏转角增大,轴向电磁力近似呈线性下降,轴向电磁力最大降低率为59.5%,而径向电磁力虽然逐渐增大,但增幅不明显;衔铁中心偏移与绕偏移方向偏转交互作用对轴向电磁力的影响最显著,全工况下该交互因子与轴向电磁力的相关系数绝对值最小为0.471,最大为0.624.

重心偏置下齿轨车辆系统的动态行为

针对大坡度下车辆动态特性受齿轨车辆重心偏置影响的问题,在解析齿轮齿轨啮合激扰产生机理的基础上,考虑齿轮齿轨啮合冲击与轮轨动态接触行为的扰动效应,建立齿轨系统车轨耦合动力学模型,并经过现场实验验证了模型的有效性;采用所建立的模型,探究平直段以及坡道段车体重心横纵偏置对驱动齿轮动态接触行为以及齿轨车辆运行安全平稳性的影响。结果表明:齿轨车辆存在重心偏置时,齿轮齿轨啮合激扰对车辆运行特性有显著影响;车体重心横向偏置对轮轨垂向力与轮重减载率呈线性影响,当重心横向偏置达到0.3 m时,轮轨垂向力达到75 kN,轮重减载率达到0.44;轮轨作用力除受车体重心偏置作用产生增减载外,亦受齿轮齿轨动态啮合影响产生剧烈振动;轮重减载率、车体垂向加速度与车体平稳性对车体重心纵向偏置较敏感,当车体重心后置0.2 m时,平直段的车体垂向加速度增大1.8倍,坡道段增大3.7倍,车体重心后置1 m时,车体平稳性达到最优。研究结论可为我国山地齿轨铁路设计及安全运维提供理论支撑。

全方位机器人的重心位置预测与轨迹跟踪控制

针对全方向移动机器人存在非线性动态强耦合、实时重心偏移及难以实现高精度跟踪控制的问题,本文提出一种基于长短期记忆(LSTM)神经网络的重心位置在线预测的轨迹跟踪控制法.首先,建立考虑重心偏移的动力学模型并基于LSTM神经网络训练构建其对比模型;其次,基于模型对比法实时估计重心偏移参数,再基于张神经网络(ZNN)对估计的重心偏移参数进行预测以减小估计过程引起的滞后;最后,基于非线性动态反馈解耦法设计数值加速度控制算法,且基于离散系统极点配置法分析了系统的稳定性.仿真结果验证了所提方法相对于数值加速度控制器与自适应控制器因能在线预测重心偏移参数完成高精度动态解耦实现控制精度的提高.实际实验中,所提控制算法相比数值加速度控制及模型预测控制,其跟踪精度明显提高,这表明所提控制算法可显著减小重心偏移对跟踪控制精度的影响.

基于数字化分析全髋关节置换术后股骨偏心距及旋转中心与下肢不等长的相关性研究

目的:使用CT联合Mimics软件测量全髋关节置换术(total hip arthroplasty,THA)后股骨偏心距(femoral offset,FO)、旋转中心高度(rotation center height,RCH)与双下肢长度差(lower leg length discrepancy,LLD),并探讨THA后FO、RCH与LLD的关系。方法:回顾性分析2020年10月至2022年6月符合标准的40例行单侧THA的患者,其中男21例,女19例;年龄30~81(58.90±14.13)岁;身体质量指数(body mass index,BMI)为17.3~31.5(25.3±3.4)kg·m^(-2);左侧18例,右侧22例。诊断为股骨头坏死30例(FicatⅣ期),髋关节骨性关节炎2例(TünnisⅢ期),发育性髋关节脱位合并终末期骨关节炎2例(CroweⅢ期),股骨颈骨折6例(GardenⅣ期)。术前、术后拍摄骨盆CT三维重建,经Mimics软件处理后建立三维重建模型,在模型上对FO、RCH、LLD进行测量。结果:术后双侧FO差值与LLD呈正相关性(r=0.744,P<0.001);将FO重建组与偏心距未重建组进行卡方检验得出:FO重建组下肢等长率高于FO未重建组(χ^(2)=6.320,P=0.012)。术后双侧RCH差值与LLD呈负相关性(r=-0.877,P<0.001);双侧FO差值及双侧RCH差值与术后LLD之间存在线性关系,且满足线性回归方程:术后LLD=0.038x-0.099y+0.257(x为术后双侧FO差值;y为术后双侧RCH差值;单位为cm),F=77.993,R2=0.808,P=0.009。结论:THA术后LLD随着FO的增大而增大,随着RCH增大而减小;重建FO更易获得下肢等长效果。THA术后双侧FO差值及双侧RCH差值与LLD之间存在线性关系,回归方程可为判断LLD提供一种理论参考。

渐开线花键齿侧定心建模及载荷分析

花键具有传输转矩大、自动定心等诸多优点,在传动系统中有着广泛的应用。花键在理想情况下各齿均匀承载,然而,制造误差和安装误差导致各齿间隙存在差异,花键齿间不再均载,从而降低了花键的寿命。在振动环境下,内外花键之间的相对径向运动使各齿的相对间隙不断变化,花键齿间载荷分配更加复杂。为了进一步了解花键齿间载荷分配规律,建立了齿侧定心花键副的动力学模型,并使用Newmark-β法求解了系统动力学方程。计算结果显示,花键各齿啮合力对齿侧间隙很敏感,容易出现偏载现象。此外,探讨了接触长度和精度等级对花键齿间载荷分配的影响,发现接触长度越大、精度等级越低的花键偏载越严重。最后,进行了齿侧配合花键副的接触分析,并对比了两种方法计算的花键各齿啮合力,验证了本文模型的正确性。

有轨电车端部转向架心盘偏置最优距离研究

Skoda 15T有轨电车的端部转向架采用心盘偏置结构,心盘偏置会影响端部转向架前后轮对的轮轴横向力分配,进而影响车辆的曲线通过性能。为探究端部转向架心盘偏置的合理距离,基于整列车辆的轮轴横向力因子最小原则,根据有轨电车通过圆曲线受力分析模型推导轮对横向力因子达到最小值时的端部转向架心盘偏置的最优距离。使用动力学仿真分析转向架心盘偏置距离对车辆曲线通过性能的影响。仿真结果表明,当端部转向架心盘处于理论推导的最优偏置距离时,整列车辆的轮轴横向力因子和脱轨系数达到最小值,车辆曲线通过性能达到最优。

Oil Pocket's Bearing Capacity Analysis of Liquid Hydrostatic Worktable in Gantry Moving Milling Center

Durning the design process of hydrostatic rotary worktable,the processing and assembly tolerance,（the offset of worktable and the gap of the oil film’s thickness）is ignored.But it will cause that the real bearing of oil pocket deviates from the initial design value,and then the performance of rotary worktable will be reduced significantly.Up to now,no effort is found toward the research of influence of the processing and assembly tolerance on the performance of the rotary worktable.So the hydrostatic oil film is assumed as the elastomer in this paper,and then the bearing capacity of the oil pocket is studied with and without the mass offset of the worktable by taking an expression between the bearing capacity and the oil film’s thickness of the oil pocket as the deform compatibility equation.The influence of the processing tolerance of the oil sealing belt’s gap on the bearing capacity of the oil pocket is analyzed.In the light of the liquid hydrostatic worktable of Gantry Moving Milling Center using on the scene,the oil pocket’s pressure of the worktable is tested using Rotary Worktable Test System under the circumstance of the mass offset of the worktable and the gap tolerance of the oil sealing belt,and then the equivalent offset of worktable,the average pressure of the oil pocket and the actual thickness of the oil film are analyzed respectively.The test results show that the bearing capacity component of the oil pocket caused by G is consistent,and the component caused by M is relative to the position of the oil pocket.When the oil sealing belt’s gap is larger than the theoretical value,the bearing capacity of the oil pocket is smaller than the others;whereas the bearing capacity of the oil pocket is larger than the others.The maximum and minimum equivalent offsets are 0.256 4 mm and 0.047 5 mm,respectively,and the average oil pocket pressure varies from 0.345 MPa to 0.460 MPa,the maximum and minimum value of the actual oil film thickness are 109.976？m（No.7 oil pocket）and 93.467？m（No.10 oil pocket）,respectively.The research results can be used to detect the offset of the worktable and the actual thickness of the oil film under processing and assembly tolerance,and provides a basis way for detecting the processing and assembly tolerance of rotary worktable signing reasonably of Gantry Moving Milling Center.

轮毂电机驱动越野车原地转向控制

针对基于阿克曼转向的越野车最小转弯半径大、转向机动性不足的问题,利用轮毂电机驱动车辆转矩独立可控的优势,开发了路面自适应的原地转向控制策略。构建整车七自由度原地转向动力学模型,阐释原地转向过程中纵横向耦合运动轮胎力的演变规律,建立原地转向阻力矩和横摆力矩随车轮滑转率、路面附着系数变化的量化模型。以转向动力响应性为优化目标设计了不同附着条件下的横摆角速度期望轨迹,并以各轮滑转率安全阈值作为稳定性约束以减小转向中心偏移量,执行层基于模型预测算法进行横摆角速度的跟踪控制,同时引入自适应滑模控制器反馈调节车轮滑转率以确保纵横向运动的稳定性。仿真测试与实车试验表明,开发的原地转向控制策略在高、中、低附路面下均实现了期望原地转向轨迹的精确跟踪,并将转向中心偏移量限制在500 mm以内,提高了越野车原地转向灵活性和横向稳定性,实现了“既快又稳”的原地转向。

基于几何约束的GNSS接收机天线相位中心偏差测量方法研究

分析了GNSS接收机天线相位中心与几何中心间的关系,提出了一种基于几何约束的GNSS接收机天线相位中心偏差的测量方法。通过2台或多台天线组合测量,利用天线几何中心在东北天坐标系下的已知坐标,仅需2个观测时段即可解算所有天线的相位中心水平偏差和相对垂直偏差。使用扼流圈天线进行不同观测时段长的相位中心稳定性分析实验;在不同天线组合、不同天线位置条件下,对相位中心偏差进行测量实验。实验结果表明:高精度的GNSS接收机天线相位中心偏差测量的观测时段长为24 h,天线的相位中心水平偏差重复性≤0.13 mm,相对垂直偏差重复性为0.67 mm。

地影期间卫星姿态四元数产品对北斗精密单点定位的影响分析

与分析中心保持一致的卫星姿态模型是精密单点定位(PPP)获得高精度定位的关键因素。本文基于武汉大学分析中心(WUM)提供的卫星姿态四元数产品,详细阐述了利用卫星姿态四元数计算偏航角的方法。针对卫星在太阳高度角较低的情况,分析了WUM对BDS-2/BDS-3所采用的姿态模型策略,并基于开源定位软件GAMP深入研究了不同的卫星姿态模型策略对BDS-2/BDS-3 PPP定位的影响。研究表明,在深地影时期,不一致的姿态模型会导致偏航角出现360°的差异,进而使相位缠绕和卫星天线相位中心改正出现分米级的偏差。在此期间,使用卫星姿态四元数产品,与名义姿态相比PPP的定位精度在东、北和天顶方向能分别提高约32%、29%和38%;相较于剔除姿态异常卫星策略(剔除远日点和近日点的卫星),PPP的定位精度在3个方向分别能提高约29%、25%和28%。因此,PPP用户应采用各分析中心提供的卫星姿态四元数产品进行天线相位中心改正(PCO)和相位缠绕改正,避免使用不一致的姿态模型导致PPP定位结果的可靠性降低。

表贴式永磁交流伺服电机齿槽转矩优化分析

齿槽转矩由永磁电机中的永磁体和有槽电枢铁心相互作用产生。基于能量法和有限元仿真分析了永磁体极弧系数对电机齿槽转矩的影响,计算选取出最优极弧系数,通过调整磁极偏心距离进一步降低齿槽转矩,将仿真结果与样机测试数据进行对比证实了优化方案的可行性。结果表明,合理选取极弧系数并结合磁极偏心的方法可以有效降低齿槽转矩。

基于整网估计的星间链路天线相位中心偏差在轨特性研究

星间链路(ISL)是我国北斗三号克服区域布站、实现高精度服务的关键,其天线相位中心偏差(PCO)在设备出厂时会依据质量、设计姿态进行地面标定,但在卫星发射、入轨及在轨阶段,燃料消耗、天线展开姿态等均会引起卫星质量与姿态的变化,这将导致在轨的PCO与地面标定值不一致,该变化量会作为误差引入到测量值,进而影响卫星轨道确定精度。因此,该文研究了在轨卫星的星间链路天线相位中心偏差标定方法,联合星间、星地观测,建立了基于整网估计的星间链路天线相位中心偏差在轨估计方法,并利用两周的实测数据进行对北斗三号所有中轨卫星(MEO)进行验证,同时结合卫星生产商、轨道面进行在轨特性的详细分析,最后验证了其对轨道确定精度的影响。结果表明,该文方法可有效估计在轨卫星星间链路天线相位中心偏差,并发现,卫星在轨后大部分卫星的星间链路天线相位中心偏差基本与地面一致,但C36,C37,C41,C42卫星在Z方向与地面标定值存在15 cm左右的偏差,C25,C26,C43,C44在Y轴上存在符号相反的现象,且数值上有10 cm左右的偏差,C25,C26卫星在Z方向上存在近30 cm的偏差,正确标定在轨卫星星间链路天线相位中心偏差后,相比地面标定产品,轨道精度可提升15%。

不同光照条件下近视患者Kappa角的特征及变化规律

目的观察预行飞秒激光原位角磨镶术(FS-LASIK)的近视患者在不同光照条件下Kappa角的特征及其变化规律。方法采用自身前后对照试验。选取2021年6月至8月在江西省人民医院近视矫正中心预行FS-LASIK的近视患者104例(208眼)。用Sirius三维角膜地形图分别测量患者双眼在明视、黄昏视和暗视条件下的瞳孔直径和瞳孔中心偏移量。并将瞳孔中心偏移量在直角坐标系中转换为Kappa角水平分量和Kappa角垂直分量,并分析其变化规律。分析患者双眼瞳孔直径和Kappa角之间的关系。结果患者右眼Kappa水平分量在明视、黄昏视和暗视条件下分别为(0.00±0.13)mm、(-0.06±0.13)mm、(-0.12±0.13)mm,差异有统计学意义(P<0.05);患者左眼Kappa角水平分量在明视、黄昏视和暗视条件下分别为(-0.04±0.14)mm、(0.02±0.13)mm、(0.08±0.13)mm,差异有统计学意义(P<0.001)。患者双眼瞳孔直径在不同光照条件下差异均有统计学意义(均为P<0.001)。两两比较结果显示,患者双眼瞳孔直径和Kappa角水平分量在明视与黄昏视,明视与暗视,黄昏视与暗视条件下比较差异均有统计学意义(均为P<0.05)。患者双眼Kappa角垂直分量在不同光照条件下差异均无统计学意义(均为P>0.05)。当光照条件从明视到黄昏视再到暗视转变时,Kappa角的分布从鼻侧移向颞侧。且右眼在明视条件下Kappa角水平分量最小,而左眼在黄昏视条件下Kappa角水平分量最小。患者右眼不同光照条件下Kappa角水平分量与瞳孔直径呈负相关(P<0.05)。患者左眼不同光照条件下Kappa角水平分量与瞳孔直径呈正相关(P<0.05)。结论随着光线从明视到黄昏视再到暗视的转变,Kappa角由鼻侧移向颞侧,且在黄昏视和明视状态下,Kappa角较小。在日后行调整Kappa角的个性化手术时,可通过将术中光线调亮来降低Kappa角对手术的影响。

基于k近邻中心偏移因子的欠采样方法

针对不平衡数据集在实际应用中分类效果较差的问题,文章提出一种基于k近邻中心偏移因子对多数类样本欠采样的数据处理方法。k近邻中心是样本的k个最近邻覆盖区域的中心点,所在位置随着k值的增加而发生偏移,偏移变化的波动程度用中心偏移因子来表示。中心偏移因子的值反映了样本周围的局部密度,数值较小的因子代表样本及其近邻处于密集区域,或近邻在样本的同一侧密集分布,样本可能为冗余样本。为了在不改变原始数据分布的前提下尽可能地删除冗余度较高的多数类样本,首先,移除多数类样本中的噪声点,计算多数类样本的中心偏移因子;然后,将多数类样本按照偏移因子的数值从低到高排序;最后,通过比较样本与k近邻的中心偏移因子来删除部分多数类样本,使数据集趋于平衡。实验使用支持向量机对多种欠采样方法平衡后的14个数据集进行了分类,实验结果表明,所提方法在大多数数据集上表现较优,有效提高了少数类的分类精度。

考虑混凝土收缩徐变的超高层施工模拟

以南京金融城二期C1塔楼偏置超高层框架-核心筒结构为研究对象,建立了精细化ANSYS有限元模型,用以模拟混凝土收缩徐变对实际施工过程的影响。按照施工建造的流程,逐步激活各个施工步骤的结构单元,以模拟超高层结构逐层施工的过程;采用龄期调整有效模量法计算徐变变形,将混凝土徐变转化为拟弹性问题,采用等效降温法模拟混凝土收缩,并利用ANSYS APDL语言编写收缩徐变的计算程序,以模拟考虑混凝土收缩徐变作用的施工全过程,并获得结构施工阶段的竖向变形。研究了混凝土收缩徐变、施工找平对结构竖向变形的影响,结果表明收缩徐变变形量可占总变形量的一半左右,不考虑施工找平会导致结构实际标高远远低于设计标高;对使用阶段的竖向变形进行了模拟,发现竣工10年内是结构竖向变形发展较为迅速的时期,竣工10年后竖向变形渐渐趋于稳定;研究了结构不规则缩进对结构侧向变形的影响,结果表明由于偏心作用Y向侧移远大于X向侧移。