Evidence for Amodal Representations after Bimodal Learning: Integration of Haptic-Visual Layouts into a Common Spatial Image

Abstract

Participants learned circular layouts of six objects presented haptically or visually, then indicated the direction from a start target to an end target of the same or different modality (intramodal versus intermodal). When objects from the two modalities were learned separately, superior performance for intramodal trials indicated a cost of switching between modalities. When a bimodal layout intermixing modalities was learned, intra- and intermodal trials did not differ reliably. These findings indicate that a spatial image, independent of input modality, can be formed when inputs are spatially and temporally congruent, but not when modalities are temporally segregated in learning.     

基于马尔科夫链的单站SAR海面场景宽幅高分成像算法

针对单站合成孔径雷达(SAR)实现海面场景高分辨率宽测绘带(HRWS)成像问题,结合海面目标相对整个场景的稀疏特性,提出了一种基于马尔科夫链的单站SAR宽幅高分成像算法。算法将宽幅的海面场景分为不同子测绘带,首先发射少量脉冲对各子测绘带进行距离向成像,利用距离向成像结果获取场景内感兴趣目标的数量信息。然后计算雷达波束指向的马尔科夫状态转移概率,并按此概率控制雷达对不同测绘带进行扫描。获得不同测绘带的稀疏子孔径后进行压缩感知成像。提出的算法可以在相同合成孔径时间内实现多个测绘带的宽幅高分成像,最后的仿真实验验证了所提算法的有效性。     

基于质量矩技术的机动弹头再入仿真研究

对基于质量矩技术的机动弹头再入性能进行了探讨。首先建立了弹头的空间运动数学模型;然后在此基础上根据再入段特性对运动方程作了适当简化并计算了弹头内部质量块分别处于静止、瞬时置位、线性平动这三种运动状态下的落点参数;最后分析比较了质量块运动的变化对机动范围的影响。仿真结果表明了质量矩技术作为弹头再入机动控制方式的可行性。     

多站可变弧段直接最佳弹道估计

本文首先给出了较全面的外测多站处理计算模型,然后,选取实用的M估计方法估算参数;在解算线性模型过程中,采用了避免待估参数系数矩阵求逆的方法,它在工程应用上,是简捷、有效的。     

具有远近视距引导的机械臂多工位精确对准技术

为提升机械臂系统对环境的感知能力,针对机械臂多工位精确对准问题,提出了一种具有远近视距引导的机械臂多工位对准技术。首先构造具有远近视距的两目视觉配置,并与机械臂构成Eye-in-hand视觉反馈系统。然后标定两目视觉的内外参数和手眼关系变换矩阵。通过离线先验局部对准方式,建立各工位的任务表。提出了三阶段对准策略,即多工位作业起始位姿获取、全局相机的初定位和局域相机的精对准,使得机械臂能在多个工位下实现末端工具与目标的精确对准。通过多位置孔轴对准实验验证了本文方法的可行性。单个孔位重复对准标准差角度不超过0.015°,位置不超过0.078 mm,三阶段对准实验结果表明,角度误差小于0.05°,位置误差小于0.17 mm。     

200m自由飞弹道靶升级改造

200m自由飞弹道靶是国内唯一一座具备开展气动力、气动物理、材料抗粒子云侵蚀及超高速碰撞等地面试验研究的综合性弹道靶设备。为满足高超声速飞行器发展的进一步需求,2009年起气动中心对200m 自由飞弹道靶进行了升级改造,升级设备包括发射器系统、靶室/真空系统、测控系统、模型姿态测量系统等。改造后的发射器系统将新增203mm和120mm口径二级轻气炮,具备0．5～30kg模型发射速度0．3～5km/s 的发射能力;靶室由原来的Ф1．5m洞体升级至Ф3m洞体,同时配备新的真空设备,实现0～80km高度模拟;测控系统将扩大测试视场以满足大模型测控需要;模型姿态测量系统除阴/纹影照相系统外,还将新增双目前光成像定位系统、脉冲X射线成像测量系统等测试设备。改造后的200m自由飞弹道靶将成为大中小口径发射器配套齐全,兼具气动力特性、材料抗粒子云侵蚀、高速/超高速碰撞等试验能力的综合性弹道靶设备。     

近地空间航天员训练视景真实感渲染技术研究

载人航天任务中,地面模拟训练是培养提升航天员操作技能的重要手段。视景系统是航天飞行训练模拟的重要组成部分,高逼真度的仿真场景对提升航天员训练效果有重要的意义。针对空间视景仿真场景调度和渲染的特殊性,提出并设计实现视景仿真软件的总体架构。对影响空间场景真实感的地球纹理数据库的生成和调度技术、大气散射仿真技术、场景光照实时渲染等关键技术进行研究,融合各种方法,在视景仿真系统中基于GPU实现。试验验证表明,实现算法准确,模型设计合理,已经应用于航天员的训练中。     

An experimental method for squealer tip flow field considering relative casing motion

Squealer tip is widely used in turbines to reduce tip leakage loss. In typical turbine environment, the squealer tip leakage flow is affected by multiple factors such as the relative casing motion and the wide range of variable incidence angles. The development of experimental methods which can accurately model the real turbine environment and influencing factors is of great significance to study the squealer tip leakage flow mechanism. In the present paper, a low-speed turbine cascade test facility which can model the relative casing motion and wide range of variable incidence angles (−25° to 55°) is built. Based on the similarity criteria, a high-low speed similarity transformation method of the turbine cascade is established by considering the thickness of the turbine blade. A combined testing method of Particle Image Velocimetry (PIV) and local pressure measurement is proposed to obtain the complex flow structures within the tip cavity. The results show that the experimental method can successfully model the relative casing motion and the wide range of variable incidence angles. The low-speed cascade obtained by the similarity transformation can model the high-speed flow accurately. The measurement technique developed can obtain the complex flow field and successfully capture the scraping vortex within the squealer tip.     

基于时空显著性建模的空中飞行器跟踪方法

以复杂背景下空中飞行器的鲁棒视觉跟踪问题为研究背景，为解决现有跟踪方法目标表征模型不够精确，算法鲁棒性严重受到目标形变、宽高比变化、复杂背景等因素干扰的问题，提出了建模跟踪场景中独立物体的显著性特性，用于构建精确的目标模型。提出的显著性估计方法有别于传统的单帧检测方法，利用跟踪算法提供的背景先验知识以及多帧图像观测数据，使用时空联合的方式进行建模估计，其结果用来指导目标跟踪算法选取有效视觉特征，建立精确目标表征模型，减小背景区域对算法模型的干扰。实验表明，提出的方法为上述难点问题提供了有效的解决方案，对空中飞行器的跟踪精度与鲁棒性优于大多数最先进的主流方法，在其他类型的目标跟踪任务中也有十分优越的性能表现。     

Moving target localization in distributed MIMO radar with transmitter and receiver location uncertainties

In this paper, the problem of moving target localization from Bistatic Range(BR) and Bistatic Range Rate(BRR) measurements in a Multiple-Input Multiple-Output(MIMO) radar system having widely separated antennas is investigated. We consider a practically motivated scenario,where the accurate knowledge of transmitter and receiver locations is not known and only the nominal values are available for processing. With the transmitter and receiver location uncertainties,which are usually neglected in MIMO radar systems by prior studies, taken into account in the measurement model, we develop a novel algebraic solution to reduce the estimation error for moving target localization. The proposed algorithm is based on the pseudolinear set of equations and two-step weighted least squares estimation. The Cramer-Rao Lower Bound(CRLB) is derived in the presence of transmitter and receiver location uncertainties. Theoretical accuracy analysis demonstrates that the proposed solution attains the CRLB, and numerical examples show that the proposed solution achieves significant performance improvement over the existing algorithms.