低频超声二次雾化喷头智能驱动电路开发

低频超声二次雾化喷头通过声悬浮实现二次雾化,其工作负载较为复杂,常规超声驱动电路难以连续可靠地驱动其工作。应用EVC(Embedded Visual C++),在基于ARM9.0的WINCE 5.0平台下开发了该喷头的智能驱动程序,实现了频率和占空比连续调节,并设计了喷头谐振频率自动跟踪电路。根据跟踪结果,改变ARM的PWM输出频率,可保证喷头工作在谐振点附近;通过对该智能驱动电路的Simulink仿真,验证了其正确性。     

基于局部纹理差异性算子的高原鼠兔目标跟踪

针对自然生境环境下高原鼠兔目标跟踪中目标与背景颜色相近的问题,提出了一种基于局部纹理差异性算子的高原鼠兔目标跟踪方法。构造了一种新的视觉描述子,称作局部纹理差异性算子LTDC,用来体现目标和背景之间的细微差异性。把该LTDC算子与颜色信息相结合来表征目标模型,并把该目标模型嵌入Meanshift跟踪框架中对高原鼠兔进行跟踪。实验结果表明,所提出的目标表征方法与FLBP目标表征方法相比,具有较强的目标与背景区别能力,在目标和背景颜色相近的场景中,能够较为准确地实现高原鼠兔目标的定位。且所提出的目标表征方法的Meanshift平均迭代次数是FLBP目标表征方法的79.04%,减少了20.96%。跟踪平均总时间是FLBP目标表征方法的82.35%,平均降低了17.65%。同时所提出方法的平均跟踪速度是FLBP目标表征方法的1.22倍。     

基于改进粒子群优化模糊控制的农业车辆导航系统

以采用机器视觉导航的农业车辆为研究对象,提出了一种基于改进粒子群优化自适应模糊控制的农机导航控制方法。建立了车辆2自由度转向模型和视觉预瞄模型,对车辆横向控制进行状态描述。对粒子群算法进行了改进,提高了粒子群算法的收敛速度,降低了算法计算时间。构建了自适应模糊控制器,在模糊控制器中引入加权因子,以横向偏差和航向偏差时间误差绝对值积分(ITAE)之和作为系统目标函数,通过粒子群算法计算得到最优加权因子,进而调整控制规则实现导航车辆的自适应控制。仿真和导航试验结果表明,提出的控制方法可以迅速消除横向误差,具有超调量小、响应速度快等特点,既保留了模糊控制算法的优点,又提高了系统控制品质。在相同参数条件下,与常规模糊控制相比,改进模糊控制算法导航精度显著提高。当车速为0.8/s时,直线路径跟踪最大横向偏差不超过4.2 cm,曲线路径跟踪最大横向偏差不超过5.9 cm,能够较好地满足农业车辆导航作业要求。     

Differential habitat selection by Pipistrellus pipistrellus and Pipistrellus pygmaeus identifies distinct conservation needs for cryptic species of echolocating bats

Cryptic species are similar in morphology, and make interesting subjects for relating morphological differentiation to ecological resource partitioning. Can species that are morphologically almost identical occupy different ecological niches, and hence potentially need distinct conservation planning? The discovery that the most widespread bat in Europe - the pipistrelle - comprised two cryptic species (Pipistrellus pipistrellus and Pipistrellus pygmaeus) that emit echolocation calls at different frequencies provides a remarkable model system for investigating links between morphology, echolocation call design and resource partitioning. We investigated resource partitioning between the two cryptic species of sympatric pipistrelle bats by radio tracking breeding females. Habitat selection was investigated by using compositional analysis. P. pygmaeus selected riparian habitats over all other habitat types in its core foraging areas, whereas P. pipistrellus, although preferring deciduous woodland overall, was more of a generalist, spreading its foraging time in a wider range of habitats. Although morphologically very similar, the cryptic species show quite different patterns of habitat use. Our findings suggest that large-scale differences in habitat preferences can occur between sympatric bat species that are virtually identical in flight morphology; hence morphological differences may be a weak indication of ecological differences between taxa. Conservation planning needs to take account of these differences to meet policy and legal obligations associated with these protected cryptic species.     

拖拉机沿曲线路径的跟踪控制

近年关于农业用车轮型移动机器人的研究很多,但主要集中在直线行走方面。该研究进行了沿给定的曲线路径跟踪控制的研究。首先由给定的曲线路径生成四元状态空间,其次在利用预见控制求得车辆的未来值和目标值的基础上,利用最优控制理论设计跟踪控制器。最后在牧草地上对正弦路径和圆形路径进行了跟踪实验。试验结果为：车辆以1.5 m/s的速度行驶时,在很小转弯半径时最大误差可控制在35 cm以内。     

基于环境因素与模糊识别的太阳自动跟踪控制策略

提高太阳自动跟踪控制系统的运行稳定性和跟踪精度,需要考虑外界环境因素对系统的影响及选择适当的跟踪方式。目前,太阳自动跟踪系统普遍采用光电跟踪和程序跟踪相结合的混合跟踪方式,将光强值与光强阈值的差值作为切换跟踪方式的依据。当光强值趋近光强阈值时,会造成跟踪方式频繁的切换,该文针对该问题,以外界光强大小、光强变化和风速大小为特征目标,利用MATLAB中的模糊识别方法归类总结了天气情况和系统运行情况,建立了一种基于环境因素判断的模糊识别系统,通过仿真验证,得到了天气类型和系统的运行情况,仿真结果完全符合推理条件,并与计算所得结果基本一致。该研究为太阳自动跟踪系统的启停和跟踪方式的切换提供了可靠的理论支持,且具有较高的实用性和可行性。     

Machine Vision Aided Testing System for Flatness Based on Equal Inclination Interference Theory

An approach is described on the automated tracking of interference circle fringe to get the flatness accurately based on the Equal Inclination Interference Theory (EIIT). The system,based on the theory of EIIT, can be applied to grasp the changing fringe information, which is white alternating with black through the CCD camera. Following the basic principle of fringes image centro-symmetric, we create some windows, process only the interference fringes information in the windows. According to the position of the processed interference fringe and the position of the last adjacent interference fringe in the windows, the interference fringe variation value N from the starting measured point is received, it implies the changed altitude value from the starting measurement point. This method allows us not only get the fringe information of the half-wavelength integer multiple but also denote those of the half-wavelength decimal multiple. The system is proved to be effective experimentally. It is useful in metrology department for the high-precision flatness standard unit.     

Research of Holospectrum Technique Based on Order Tracking

This paper analyzes the principle of THS(Traditional Holo-Spectrum) technique,and in allusion to the deficiency of THS that only can be used in stationary signal,a new holo-spectrum technique based on order tracking is proposed.By order tracking sampling technology,non-stationary signal in the time domain is transformed into stationary signal in the angle domain,then the THS technique can be applied.Through this way,the influence of non-stationary to THS is reduced and the application of THS is extended.The paper researches the principle of order tracking holo-spectrum and verified by a simulation experiment.The simulation result and error analysis demonstrate that this method can be valid used to analyze the non-stationary signal.The spectrum is distinct and the effect is apparent.     

日本福岛核事故的信息跟踪与服务

分析了福岛核事故后信息跟踪的意义,简介了全球十大核事故,提出了核事故的信息收集与跟踪是辐射防护与核安全科研中的重要环节。