基于投影约束的C臂外参数优化方法

C臂外参数计算是手术导航系统实现图像空间与手术空间映射的关键环节.标记点提取误差将使外参数偏离真值.采用投影方法系统分析选点误差对外参数计算的影响,发现相机光轴方向平移参数收敛性弱、易受误差干扰.利用不同平面上投影距离之比作为约束对线性方法所得外参数进行修正.借鉴二/三维图像配准方法,采用修正后的估计外参数与已标定内参数进行重投影,根据几何方法直接求出外参数修正量,避免反复迭代优化.仿真结果表明,该标定方法对误差具有一定免疫性,能够提高外参数精度.      

基于星下点机动的再入飞行器离轨规划

针对约束再入点地理位置的再入飞行器离轨问题,提出了一种基于星下点机动的离轨规划方法。再入飞行器的离轨轨道设计受到飞行器当前轨道状态和再入点参数的约束。首先,基于轨道飞行原理,建立了一般椭圆轨道冲量模型下离轨制动参数和再入点参数的关系,分析了最优离轨的推力施加原则;其次,在考虑地球自转的前提下,提出了直接离轨必要条件,针对约束再入点经纬度的问题,完善了利用非线性规划优化方法确定有限推力模型下离轨点位置的策略,同时给出了符合燃料最优目标的离轨制动参数;最后,探讨了一般情况下初始轨道不满足直接离轨必要条件时,为满足星下点约束而进行的轨道机动施加策略。      

一种基于B平面参数的深空天体接近段自主轨道控制方法

针对深空探测接近目标天体段轨道,提出了以B平面参数为制导目标参数的自主轨道控制方法.由自主导航系统确定探测器的当前位置和速度,通过精确轨道动力学积分外推到目标天体的近心点得到B平面误差,利用线性制导公式计算出修正轨道需要的速度增量,并用误差椭圆来统计修正后B平面误差.以火星探测为例进行蒙特卡罗仿真,验证了该方法的正确性.     

基于平面变换的高精度相机标定方法

针对传统方法未考虑透视偏差的存在,提取椭圆圆心作为真实物理圆心投影点造成相机标定误差的问题,提出了一种基于平面变换的高精度相机标定方法。提取标定板内外边框上的角点,对标定板进行平面变换,将标记点由椭圆投影成近似的标准圆;利用图像矩提取标准圆圆心的坐标,投影回原标定板平面,得到标记点实际圆心的像素坐标;根据圆形标记点实际圆心的坐标,利用张正友标定法完成相机标定。实验结果表明:与传统方法相比,所提方法将相机标定的误差降低了66.169%,有效提高了相机标定的精度。      

基于单幅立式标靶图像的单目深度信息提取

针对在智能车中车载单目视觉系统已经检测到路面障碍物的情况下,计算障碍物相对于本车的距离问题,提出了一种仅利用单幅标靶图像且无需相机内部参数的图像深度信息提取方法．该方法利用一种放置于相机前方的立式标靶,建立图像纵坐标像素与实际成像角度之间的映射关系,结合投影几何模型实现实时深度信息的提取．依据立式标靶图像的特点,设计了包括标靶图像感兴趣区设置、模板匹配、候选点聚类、筛选及精确定位等处理的亚像素级角点检测及定位算法．实验结果显示,该方法具有较高的测量精度及实时性．相对于在路面摆放参照物的方法,该方法无需大标定场地且规避了数据拟合引起的误差．同时该方法标定只需一幅图像,过程简单,便于实际应用．      

基于最小二乘法的椭圆拟合改进算法

基于最小二乘法研究了一种改进的椭圆拟合算法.最小二乘椭圆拟合算法,由于包含误差较大样本点在内的所有样本点都参与运算,所以会对椭圆拟合的最后结果产生偏差.针对这种情况,采用随机理论的思想,先随机选取6个点拟合椭圆,然后计算与此椭圆匹配的所有样本点个数.重复此过程一定次数,采用投票机制,匹配样本点多的椭圆即为最优椭圆,构造了一种快速准确剔除误差较大样本点的改进椭圆拟合算法,并在实际图像应用中验证了算法能够有效地处理包含有较大比例误差点的样本空间,拟合出具有高精度的椭圆,并且算法的速度能够满足实时性的要求.      

基于霍夫变换的空间非合作目标点云配准算法

针对空间非合作目标点云配准过程中目标残缺、机动过快等问题，对飞行时间深度(TOF)相机点云配准过程进行研究。利用相机可同时获取灰度与深度图的特点，提出一种基于霍夫变换的点云配准算法，在提供精确初始位姿的同时，也加速了最近点搜索过程。对TOF相机摄得灰度图进行边缘检测，利用边缘点以随机霍夫变换的方法拟合椭圆中心，使待配准点云与参考点云中心配准。随后检测图像几何特征，与对应参考点特征相配，提高初始位姿精度，既避免所提算法陷入局部最小，也可解决目标点云缺失无法配准的难题。在最近点搜索过程中，引入kd-tree改进算法，以3σ准则剔除单次k邻近的离群点，提高了相机动态性能。以某实拍卫星模型对所提算法进行仿真分析，成功验证了其对于残缺目标配准的可行性与鲁棒性。同时，在完整与残缺点云目标下，所提算法较于常规霍夫变换法相比分别提速955.3%和440.4%，且精度相当，具有较为广泛的应用前景。     

基于球投影的面阵探测器扭转角测量与校正

为了消除基于面阵探测器的锥束X射线计算机断层成像(XCT,X-ray Computed Tomography)检测系统中探测器的安装误差对重建断层图像的影响,使投影坐标系准确建立,并与重建坐标系精确配准,提出了基于椭圆拟合的平板探测器位姿参数的估计方法.并在此基础上,从锥束XCT的近似重建算法FDK(Feldkamp)出发,结合空间坐标变换原理,改进了重建算法中投影地址的计算方式,使之能在存在安装误差的情况下准确计算投影地址,重建出正确的断层图像.该方法简单有效,计算量小,无需对系统硬件进行调整.实验结果表明,利用该方法可以有效地消除由于探测器位姿引起的图像伪影.     

对异面椭圆轨道目标航天器的长期绕飞轨迹设计与控制

研究了绕飞卫星对异面椭圆轨道目标航天器进行长时间绕飞观测的轨道设计与控制问题。首先建立了适用于目标航天器运行在椭圆轨道上的长期绕飞轨迹设计模型;得到了绕飞轨迹以目标航天器为中心且保持封闭的条件。然后,考虑绕飞轨迹安全性和完成任务的相对距离需求,针对具体目标设计了长期绕飞观测轨道。绕飞过程中存在的摄动和误差影响会使绕飞轨迹不能保持封闭,不满足任务需求,为此采用双脉冲方法对绕飞轨迹进行控制。仿真结果表明,对运行在异面椭圆轨道上的目标航天器,所建立的绕飞轨迹设计模型和轨迹控制方法可以用于长期绕飞轨迹设计与控制中。     

基于球几何特征的摄像机内参分步标定方法

在摄像机标定过程中,球形靶标对图像数量、拍摄角度要求小,能够适应遮挡环境,在使用中具有明显优势.在分析球投影模型几何性质的基础上,提出一种利用球靶标分步标定摄像机内部参数的方法.该方法通过拍摄一幅包含空间中2个不同位置球体的图像,得到图像中的2条投影二次曲线;利用2条投影二次曲线的对称轴和公切线计算球心投影点,通过投影二次曲线的对称轴确定图像主点坐标,根据球心投影点和图像主点的位置关系求解归一化焦距;利用整体优化算法得到内参标定结果.仿真数据实验分析了引入测量误差的主要因素,实物标定结果与平面方格靶标方法相比误差在5%之内,重复测量结果稳定.      

Learning in an immersive digital theater

The Houston Museum of Natural Science, in collaboration with Rice University has an outreach program taking portable digital theaters to schools and community sites for over five years and has conducted research on student learning in this immersive environment. By using an external independent evaluator, the effectiveness of NASA-funded Education and Public Outreach (EPO) projects can be assessed. This paper documents interactive techniques and learning strategies in full-dome digital theaters. The presentation is divided into Evaluation Strategies and Results and Interactivity Strategies and Results. All learners from grades 3–12 showed statistically significant short-term increase in knowledge of basic Earth science concepts after a single 22-min show. Improvements were more significant on items that were taught using more than one modality of instruction: hearing, seeing, discussion, and immersion. Thus immersive theater can be an effective as well as engaging teaching method for Earth and Space science concepts, particularly those that are intrinsically three-dimensional and thus most effectively taught in an immersive environment. The portable system allows taking the educational experience to rural and tribal sites where the underserved students could not afford the time or expense to travel to museums.     

Stochastic particle acceleration by the forced interaction of relativistic current sheets

We address the problem of interacting relativistic current sheets in self-consistent kinetic plasma simulations within the framework of the Particle-In-Cell model. The interaction is enforced in head-on collisions of up to 10 current sheets at relativistic bulk speeds. The simulations are motivated by the general problem of Poynting flux dissipation in ‘striped wind’ configurations presumably governing the relativistic outflows pervasive in pulsar winds and gamma-ray bursts. We identify the generation of non-thermal particles and formation of a stable power-law shape in the particle energy distributions f(γ) dγ ∝ γ^−s dγ. In 1D, a spectral index s ∼ 2 is observed and attributed to a stochastic Fermi-type acceleration mechanism. In 2D, the generic index of s ∼ 3–4 is retained as in previous simulations of individual current sheets. Whereas in 2D the high energy cut-off is constrained by the limited dissipation of magnetic energy, in 1D the process converts the bulk motion of current sheets towards directed particle momentum of an exclusive class of non-thermal particles.     

Concept options for the aerial survey of Titan

Various aerial platforms intended for long endurance survey of the Titan surface are presented. A few novel concepts are introduced, including a heated methane balloon and a balloon with a tethered wind turbine. All the concept options are predicted to have lower scientific payload fractions than the Huygens probe. It is concluded that the selection of the best aerial platform option depends on more accurate mass estimates and a clear decision on whether, or not, in situ surface composition measurements are required in conjunction with aerial remote sensing.     

Heterogeneous solid/gas chemistry of organic compounds related to comets,meteorites, Titan,and Mars: Laboratory and in lower Earth orbit experiments

To understand the evolution of organic molecules involved in extraterrestrial environments and with exobiological implications, many experimental programs in the laboratory are devoted to photochemical studies in the gaseous phase as well as in the solid state. The validity of such studies and their applications to extraterrestrial environments can be questioned as long as experiments conducted in space conditions, with the full solar spectrum, especially in the short wavelength domain, have not been implemented. The experiments that are described here will be carried out on a FOTON capsule, using the BIOPAN facility, and on the International Space Station, using the EXPOSE facility. Vented and sealed exposition cells will be used, which will allow us to study the chemical evolution in the gaseous phase as well as heterogeneous processes, such as the degradation of solid compounds and the release of gaseous fragments.     

基于LuGre模型的电液加载系统摩擦补偿

为了提高电液加载系统控制精度,针对摩擦问题提出了基于LuGre摩擦模型的前馈补偿方法.建立了用于摩擦仿真分析和补偿器设计的电液加载系统数学模型;通过实验获取并分析了相关的摩擦数据;基于实验数据进行LuGre模型参数辨识,把LuGre模型和辨识结果引入电液加载系统数学模型,并进行仿真结果与实际摩擦数据的对照,证明了LuGre摩擦模型的准确性.设计前馈补偿器,进行了实验对比,实验结果表明前馈补偿器可将摩擦产生的控制误差有效地降至未补偿时的30%左右.      

CoRoT and Kepler results: Solar-like oscillators

The space-borne observatories CoRoT (Convection Rotation and planetary Transits) and Kepler have provided photometric time series data of unprecedented precision for large numbers of stars. These data have revolutionized the fields of transiting exoplanets and asteroseismology. In this review some important asteroseismic results obtained using data from the CoRoT and Kepler space missions concerning stars that show solar-like oscillations are discussed. These results comprise, among others, measurements of the location of the base of the convection zone and helium second-ionization zone in main-sequence stars, the presence (or not) of core-helium burning in red-giant stars, as well as differential rotation in these stars.     

The ESA scientific programme

The ESA scientific programme has, so far, provided several significant astrophysics experiments and further important missions are scheduled for execution during the next decade. These missions are briefly summarised together with several astrophysics investigations presently under study.     

HELIO: The Heliophysics Integrated Observatory

Heliophysics is a new research field that explores the Sun–Solar System Connection; it requires the joint exploitation of solar, heliospheric, magnetospheric and ionospheric observations.     

Radioactivity of the Moon and planets

In this report the main results of the study of radioactivity of the solar sistem bodies are considered. The radioactivity of the Moon and planets was measured by means of vehicles in situ. The radioactivity of the lunar samples, brought to the Earth was studied with laboratory equipment.     

应用于毫米波反射计的多项式校准方法

为了在毫米波波段准确测量波导器件的反射系数,提出了一种应用在反射系数测试前端(反射计)中的校准方法.该校准方法采用基于多项式的误差模型,使得每一个误差项的求解都转化成一个求解轨迹圆圆心的问题,同时不影响求解精度.采用一个滑动负载、一个滑动短路和一个短路器,在毫米波波段降低了对标准件理想程度的要求.实验中搭建了一个Ka波段的反射计,图解误差项的求解过程,分析了误差项的物理意义.把校准后的测量结果与商用矢量网络分析仪(VNA,Vector Network Analyzer)进行比较,吻合较好.同样比较了一组W波段反射计对波纹喇叭的测量结果,进一步验证了方法的合理性.