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131.
Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements. 相似文献
132.
Multi-sensor image matching based on salient edges has broad prospect in applications, but it is difficult to extract salient edges of real multi-sensor images with noises fast and accurately by using common algorithms. According to the analysis of the features of salient edges, a novel salient edges detection algorithm and its rapid calculation are proposed based on possibility fuzzy C-means (PFCM) kernel clustering using two-dimensional vectors composed of the values of gray and texture. PFCM clustering can overcome the shortcomings that fuzzy C-means (FCM) cluster- ing is sensitive to noises and possibility C-means (PCM) clustering tends to find identical clusters. On this basis, a method is proposed to improve real-time performance by compressing data sets based on the idea of data reduction in the field of mathematical analysis. In addition, the idea that kernel-space is linearly separable is used to enhance robustness further. Experimental results show that this method extracts salient edges for real multi-sensor images with noises more accurately than the algorithm based on force fields and the FCM algorithm; and the proposed method is on average about 56 times faster than the PFCM algorithm in real time and has better robustness. 相似文献
133.
The main goal of this paper is to study the characteristics of regression rate of solid grain during thrust regulation process. For this purpose, an unsteady numerical model of regression rate is established. Gas–solid coupling is considered between the solid grain surface and combustion gas.Dynamic mesh is used to simulate the regression process of the solid fuel surface. Based on this model, numerical simulations on a H2O2/HTPB(hydroxyl-terminated polybutadiene) hybrid motor have been performed in the flow control process. The simulation results show that under the step change of the oxidizer mass flow rate condition, the regression rate cannot reach a stable value instantly because the flow field requires a short time period to adjust. The regression rate increases with the linear gain of oxidizer mass flow rate, and has a higher slope than the relative inlet function of oxidizer flow rate. A shorter regulation time can cause a higher regression rate during regulation process. The results also show that transient calculation can better simulate the instantaneous regression rate in the operation process. 相似文献
134.
一、管制调配预案的制定方法管制调配预案是空中交通管制员在遵循有关的管制单位之间的管制协议,空中交通管制的政策法规的前提下,以保障空中和地面的航空器安全、有序、快速、顺畅的运行为目的,根据进港航空器的预计到达时间、出港航班的预计起飞时间、当前的空中交通情况以及 相似文献
135.
应该感谢摄影家田捷砚数年数以百次不知倦怠的艰辛西部航拍之旅,以及他在某种高度上忘我创作的数以万张的精彩图片,让我们心驰神往的境界变成可观可感的实际图像。[编按] 相似文献
136.
137.
针对遥感影像中类别不均衡的小目标分割效果不理想的问题,提出了一种类别不均衡小目标二分类分割的损失函数——TopPixelLoss损失函数。首先计算出每个像素的交叉熵,然后将所有像素的交叉熵按从大到小进行排序,随后确定一个K值作为阈值,筛选出前K个交叉熵最大的像素,最后对于筛选出的K个像素交叉熵取平均,做为损失值。在ISPRS 提供的 Vaihingen 数据集上,使用PSPNet网络与普通交叉熵、FocalLoss、TopPixelLoss三种损失函数分别对车辆进行二分类分割试验。结果表明,不同的K值,使用TopPixelLoss损失函数的平均交并比(MIoU)、F1-score、准确度(ACC)都最高;当K值为5×104时效果最佳,MIoU、F1-score、ACC分别比FocalLoss提高了3.0%、5.0%、0.1%。TopPixelLoss损失函数是一种针对类别不均衡分割非常有效的损失函数 相似文献
138.
139.
Chunhui Wang Yu Tian Shanguang Chen Zhiqiang Tian Ting Jiang Feng Du 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2014
Manually controlled rendezvous and docking (manual RVD) is a challenging space task for astronauts. This study aims to identify spatial abilities that are critical for accomplishing manual RVD. Based on task analysis, spatial abilities were deduced to be critical for accomplishing manual RVD. 15 Male participants performed manual RVD task simulations and spatial ability tests (the object-manipulation spatial ability and spatial orientation ability). Participants’ performance in the test of visualization of viewpoints (which measures the spatial orientation ability) was found to be significantly correlated with their manual RVD performance, indicating that the spatial orientation ability in the sense of perspective taking is particularly important for accomplishing manual RVD. 相似文献
140.
表层采样是月球采样探测的重要方式,样品智能确认有助于提升工作效率与复杂问题处理能力。结合月球表层采样铲挖工作过程,分析了铲挖过程中臂载相机图像的特点,模仿有人参与识别过程,提出了层次解耦的月球样品智能识别流程,利用深度学习方法构建了一类深度卷积识别网络,完整地描述了图像、特征、标记在网络中的正反传递关系,并在月球表层采样地面试验中进行了验证,结果表明该方法对不同光照、不同背景、不同过程、不同形态的样品,具有较好的泛化识别能力,误识别率优于8.1%,平均单幅识别时间约0.7 s。 相似文献