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47results about How to "Increase the number of sampling points" patented technology

Automatic hand-eye calibration method and device for optimal calibration point selection and error automatic measurement

The invention belongs to the technical field of relative position calibration between a camera and a robot, and discloses an automatic hand-eye calibration method and device for optimal calibration point selection and error automatic measurement. The method comprises the following steps that a calibration plate guiding six-axis mechanical arm is used for aligning a calibration plate with the camera, and an initial sampling position of the mechanical arm is obtained; the mechanical arm clamps the camera or the calibration plate to complete a series of rotary movements, photographing and sampling are carried out on the calibration plate by the camera in the movement process, a calibration plate recognition algorithm is used for estimating the pose of the calibration plate, and meanwhile, unreasonable points are filtered out; and a calibration equation is solved, error measurement is conducted on a solution result by using sampled points in the calibration process so as to realize a fully-automatic quantifiable calibration solution scheme and device. According to the method, an obtained calibration error can be quantified in various dimensions such as rotation and translation, the whole calibration process can be guaranteed to be automatic, accurate and efficient, and the problems of eye in hand calibration and eye to hand calibration in practical application are solved.
Owner:SPEEDBOT ROBOTICS CO LTD

Fourier transform spectrometer on silicon substrate and method for obtaining reconstructed spectrum of light source

The invention relates to a Fourier transform spectrometer on a silicon substrate and a method for obtaining a reconstructed spectrum of a light source. The spectrometer comprises a waveguide input coupler, a cascade optical switch, a non-equal-arm sub-wavelength grating (SWG) waveguide pair and a germanium-silicon detector, and the cascade optical switch is connected through the non-equal-arm SWGwaveguide pair. A series of non-equal-arm Mach-Zehnder interferometer (MZI) arrays with different optical path differences are formed by adjusting an optical switch state gating optical path, a Fourier transform spectrometer based on spatial heterodyne coherence is realized, and a spectrum is reconstructed by using a compressed sensing algorithm. Compared with a traditional passive MZI array structure, the chip size can be effectively reduced, and the number of sampling points is increased; wherein the unequal-arm SWG waveguide pair can effectively improve the temperature stability of the chipand expand the working bandwidth. According to the invention, the application requirements of the Fourier transform spectrometer on miniaturization and portability can be met, and the problem that the spectrometer on the existing silicon substrate is generally sensitive to temperature can be solved.
Owner:SHANGHAI JIAOTONG UNIV

Method for realizing high-frequency phase demodulation in distributed optical fiber sensing system

PendingCN113049083ARealize high frequency detectionWithout sacrificing long-distance sensing capabilitiesSubsonic/sonic/ultrasonic wave measurementUsing wave/particle radiation meansOriginal dataData acquisition
The invention belongs to the technical field of optical fiber distributed sensing, and relates to a method for realizing high-frequency phase demodulation in a distributed optical fiber sensing system. The method mainly comprises the following steps of: S1, constructing a periodic non-uniform sampling time sequence; S2, generating a periodic non-uniform sampling pulse light sequence, and performing data acquisition on original data; S3, extracting effective data from the original data; S4, carrying out heterodyne phase demodulation on the length of the sensing optical fiber; S5, performing signal reconstruction on a heterodyne phase demodulation result by using an orthogonal matching pursuit algorithm; and S6, performing Fourier transform on the phase signal obtained by reconstruction to obtain the phase and frequency information of the vibration signal. According to the method, limitation of the Nyquist sampling theorem on the detection frequency band range of the distributed sensing system is broken through, the contradiction between long-distance sensing and high-frequency detection is solved under the condition that the hardware complexity does not need to be increased, recovery of the high-frequency phase signal is realized, and the recognition and classification of the vibration signal are facilitated.
Owner:NAT UNIV OF DEFENSE TECH

Method for accelerating drawing of direct illumination effect of three-dimensional scene by means of area light source visible spatial correlation

The invention relates to a method for accelerating drawing of a direct illumination effect of a three-dimensional scene by means of area light source visible spatial correlation. According to the method, a characteristic of spatial correlation between area light source sampling point visibility of adjacent visible field scene points on the same geometrical object surface is utilized. In calculating a direct illumination approximate value of the visible scene point, the area light source sampling points and the visibility calculation result of the visible field scene point and the adjacent visible field scene points on the same geometrical object surface are utilized for finishing Monte Carlo direct illumination estimation, and the number of area light source sampling points for direct illumination contribution estimation of the visible field scene point is increased at a relatively low cost, thereby improving quality of a drawn image frame. The method increases an operation for testing whether the visible field scene points which correspond with the adjacent pixels are in the same geometrical object surface, thereby remarkably reducing direct illumination effect distortion caused by visibility multiplexing at a boundary between different geometrical objects in the image frame.
Owner:CHANGCHUN UNIV OF SCI & TECH

Z-direction flying focus scanning mode and image reconstruction method

The invention provides a z-direction fly focus scanning mode and an image reconstruction method, and relates to the technical field of medical images, the z-direction fly focus scanning mode comprises Z-direction fly focus sampling, adjustment of positions of two adjacent focuses, rotation of a frame shaft by 180 degrees in an axial scanning mode, Z-direction fly focus control, and linear change slope design. The image reconstruction method comprises the following steps: respectively rearranging data of two focuses to form two parallel beams; carrying out interpolation in the angle direction, so that the scanning data angles of the two fly focuses are the same; performing interpolation in the radial direction, so that the non-equidistant parallel beams of the two focuses are converted into equidistant parallel beams; respectively carrying out filtering operation on the two parallel beams; back projection calculation. According to the Z-direction fly focus axis scanning mode and the image reconstruction method, reconstruction can be carried out at any position in the Z direction to obtain images with completely identical layer thicknesses; meanwhile, the number of Z-direction sampling points is increased through the special axis scanning mode and the reconstruction method, and therefore Z-direction aliasing artifacts are reduced.
Owner:FMI MEDICAL SYST CO LTD

Phase sensitive protection method for coal mine low-voltage power distribution protector and protection system thereof

The invention discloses a phase sensitive protection method for a coal mine low-voltage power distribution protector, which comprises steps: multi-channel synchronous sampling is carried out on three-phase voltage and three-phase current of a coal mine power grid; sampling signal values of the three-phase voltage and the three-phase current are calculated through DFT algorithm, and a real part and an imaginary part of sampling data of each channel are obtained; the maximal current phase is selected, the real part of the phase current I is Ir, the imaginary part is Ii, the real part of the corresponding phase voltage U is Ur and the imaginary part is Ui; the phase current I is rotated at a preset angle phi in a clockwise mode, the real part and the imaginary part of the phase current I after rotation are calculated, wherein the preset angle phi is 48 DEG to 59 DEG; active power P1 of the phase current I after rotation is calculated, action judgment is carried out, and if the active power P1>0 and the maximal current amplitude value is greater than the current fixed value, the phase sensitive protection action is executed. Thus, calculation complexity is small, the calculation efficiency is high, and quickness and reliability of phase sensitive protection are improved; selectivity of a short circuit protection action is improved; and protection sensitivity is improved.
Owner:SHANGHAI SHANYUAN ELECTRONICS SCI & TECH CO LTD

Frequency offset error control system based on linear frequency modulation signals

The invention discloses a frequency offset error control system based on a linear frequency modulation signal, and mainly solves the problem that the modulation frequency offset error of a linear frequency modulation continuous wave signal is increased due to the fact that the modulation frequency offset of the existing linear frequency modulation signal changes along with the fluctuation of ambient temperature and modulation voltage. The system comprises a comprehensive source module and a ramp generator loop module, a high frequency mixing module and a transmitting channel, the comprehensivesource module outputs a dot frequency signal with high frequency stability; the signal is divided into two paths to be output through a power divider; wherein one path is subjected to frequency division and then mixed with a low-frequency linear frequency modulation signal output by the ramp generator loop module to generate a high-frequency linear frequency modulation signal, the high-frequencylinear frequency modulation signal is input into the high frequency mixing module, and the other path is subjected to frequency mixing with the high-frequency linear frequency modulation signal in thehigh frequency mixing module to generate a higher-frequency linear frequency modulation signal which is transmitted to an antenna transmitting port through a transmitting channel. The method can reduce the modulation frequency offset error of the linear frequency modulation signal, improves the frequency stability of the transmitted signal, and can be used for the distance measurement of a radarlinear frequency modulation continuous wave system.
Owner:SHAANXI CHANGLING ELECTRONICS TECH

Mobile robot path planning method integrating membrane calculation and RRT

The invention relates to a mobile robot path planning method integrating membrane calculation and RRT. The method comprises the steps of introducing membrane calculation on the basis of an original RRT algorithm to optimize the original RRT algorithm, setting a membrane calculation structure, expanding a random tree independently in each basic membrane, and increasing the number of sampling pointsduring random tree expansion in each basic membrane; and setting an inter-membrane communication rule to update a corresponding relationship between sampling points output by each basic membrane andfather nodes of the basic membrane, and returning an updated result to the corresponding basic membrane to continue to expand the random tree; and continuously iteratively expanding the random tree inthe whole membrane system until the random tree in one basic membrane reaches an end point, and stopping expanding. According to the method, the number of sampling points is increased and the inter-membrane communication rule is set during random tree extension in each basic membrane, so that the random tree extension in the membrane has higher directivity, and the real-time performance and reasonability of the path planning of the mobile robot are further improved.
Owner:ANHUI UNIV OF SCI & TECH

A Dual Femtosecond Laser Frequency Comb Synthetic Wave Interferometric Ranging System

The invention relates to a composite wave interferometry ranging distance system with two femtosecond laser frequency combs. The composite wave interferometry ranging distance system is characterized in that a first femtosecond laser frequency comb emits an optical pulse to a first spectroscope, the optical pulse reflected by the first spectroscope is transmitted to a first corner reflector, and the optical pulse reflected by the first corner reflector is transmitted to a second spectroscope through the first spectroscope. The optical pulse transmitted by the first spectroscope is transmitted to a second corner reflector, and the optical pulse reflected by the second corner reflector is reflected to the second spectroscope through the first spectroscope. A second femtosecond laser frequency comb emits an optical pulse to the second spectroscope, the optical pulse transmitted by the second spectroscope and an optical pulse emitted by a Michelson interference system are mixed and transmitted to a third spectroscope, the optical pulse transmitted by the third spectroscope is received by a first photoelectric detector in a detection mode through a first narrow-band band-pass filter, and the optical pulse reflected by the third spectroscope is received by a second photoelectric detector in a detection mode through a second narrow-band band-pass filter. The first photoelectric detector and the second photoelectric detector are connected with an A / D converter connected with a signal processing unit through a corresponding data interface to process the received signal to obtain the required distance measuring value.
Owner:TSINGHUA UNIV +1

A Method for Accelerating the Rendering of Direct Lighting Effects in 3D Scenes Using Surface Light Source Visibility Spatial Correlation

The invention relates to a method for accelerating drawing of a direct illumination effect of a three-dimensional scene by means of area light source visible spatial correlation. According to the method, a characteristic of spatial correlation between area light source sampling point visibility of adjacent visible field scene points on the same geometrical object surface is utilized. In calculating a direct illumination approximate value of the visible scene point, the area light source sampling points and the visibility calculation result of the visible field scene point and the adjacent visible field scene points on the same geometrical object surface are utilized for finishing Monte Carlo direct illumination estimation, and the number of area light source sampling points for direct illumination contribution estimation of the visible field scene point is increased at a relatively low cost, thereby improving quality of a drawn image frame. The method increases an operation for testing whether the visible field scene points which correspond with the adjacent pixels are in the same geometrical object surface, thereby remarkably reducing direct illumination effect distortion caused by visibility multiplexing at a boundary between different geometrical objects in the image frame.
Owner:CHANGCHUN UNIV OF SCI & TECH
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