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基于病态参数分离的机器人运动学标定测量构型优化
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作者 郭万金 李锦辉 +2 位作者 郝钦磊 曹雏清 赵立军 《仪器仪表学报》 EI CAS CSCD 北大核心 2024年第2期299-314,共16页
针对一种高灵巧性机器人及其连杆参数高敏感性与高定位精度需求,为解决机器人运动学标定随机测量构型存在绝对定位精度低、参数辨识效果及标定结果鲁棒性较差的问题,提出一种病态参数分离与DETMAX-改进差分进化(DETMAX-IDE)算法的机器... 针对一种高灵巧性机器人及其连杆参数高敏感性与高定位精度需求,为解决机器人运动学标定随机测量构型存在绝对定位精度低、参数辨识效果及标定结果鲁棒性较差的问题,提出一种病态参数分离与DETMAX-改进差分进化(DETMAX-IDE)算法的机器人运动学标定测量构型分步优化方法。首先,建立机器人位置误差模型。其次,建立一种可观性综合指标,评价不同机器人标定测量构型的总体可观测性和灵敏度。最后,分离机器人运动学位置误差模型的病态参数,建立测量构型优化目标函数和约束条件,提出一种基于DETMAX算法与改进差分进化算法结合的分步迭代优化算法(简称为DETMAX-改进差分进化算法,简写为DETMAX-IDE算法),开展机器人运动学标定测量构型分步迭代优化。通过机器人运动学标定仿真与实验,验证了所提方法的有效性。实验结果表明,与随机测量构型相比,所提方法对应的机器人绝对定位精度的平均值和均方差分别降低了62.09%和62.45%。 展开更多
关键词 机器人运动学标定 测量构型优化 病态参数分离 DETMAX-IDE算法 位置误差模
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基于模拟退火算法的机械臂刚度辨识构型优化与实验 被引量:3
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作者 姜雪洁 房立金 《农业机械学报》 EI CAS CSCD 北大核心 2023年第1期419-424,共6页
针对机械臂关节刚度辨识的测量构型提出了新的优化方法和实验设计思路。首先,综合考虑机械臂形位以及载荷矢量对刚度辨识的影响,采用参数κ_(F)^(-1)-(A)作为测量构型评价指标。在此基础上,通过合适的模拟退火优化算法得到基于κ_(F)^(-... 针对机械臂关节刚度辨识的测量构型提出了新的优化方法和实验设计思路。首先,综合考虑机械臂形位以及载荷矢量对刚度辨识的影响,采用参数κ_(F)^(-1)-(A)作为测量构型评价指标。在此基础上,通过合适的模拟退火优化算法得到基于κ_(F)^(-1)-(A)的最优测量构型。基于设计的多向加载装置实现了载荷的优化加载。实验结果表明,与典型评价指标κ_(F)^(-)(J)相比,κ_(F)^(-1)-(A)的最优化测量构型能更好地克服多种测量误差影响,补偿后末端位置精度提高29.59%,最大位置误差降低32.71%。可应用于实际工业环境中的串联机械臂刚度标定。 展开更多
关键词 刚度辨识 模拟退火算法 测量构型优化 多向加载
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基于复合标定和极限学习机的关节臂式坐标测量机残差建模及补偿 被引量:1
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作者 高贯斌 谢佩 +1 位作者 刘飞 那靖 《光学精密工程》 EI CAS CSCD 北大核心 2023年第22期3289-3304,共16页
运动学标定是提高关节臂式坐标测量机精度的主要方法,但运动学标定后的残余误差对其测量精度和稳定性仍有很大影响。本文提出一种基于复合标定和极限学习机的关节臂式坐标测量机残差建模及补偿方法,以提高关节臂式坐标测量机的测量精度... 运动学标定是提高关节臂式坐标测量机精度的主要方法,但运动学标定后的残余误差对其测量精度和稳定性仍有很大影响。本文提出一种基于复合标定和极限学习机的关节臂式坐标测量机残差建模及补偿方法,以提高关节臂式坐标测量机的测量精度。首先,在关节臂式坐标测量机运动学建模和误差建模的基础上,建立了运动学参数辨识模型,并依次进行角度参数辨识、长度参数辨识和长度参数等比例缩放的复合辨识,完成了七自由度关节臂式坐标测量机的运动学标定。其次,通过对标定后残余误差图谱的分析,发现残余误差与测量构型有关联,进而构建了以测量摆角、仰角、距离和转角为变量的测量构型。由于测量构型变量与残余误差存在强非线性关系,提出一种基于极限学习机的残余误差预测和补偿方法。通过实验对本文所提模型及方法的有效性进行验证,结果表明:进行残差修正后关节臂式坐标测量机的单点测量误差最大值由0.061 mm下降到0.044 mm,误差均值由0.023 mm下降到0.017 mm,误差标准差由0.011mm下降到0.007 mm;长度测量误差最大值由0.137 mm下降到0.074 mm,误差均值由0.033 mm下降到0.021 mm、误差标准差由0.037 mm下降到0.019 mm。 展开更多
关键词 关节臂式坐标测量 残余误差 测量构型 极限学习机 复合标定
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面向实时运动学标定的机械臂轨迹规划 被引量:1
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作者 蒋周翔 苏瑞 +3 位作者 秦鹏举 龙忠杰 宋宝 唐小琦 《组合机床与自动化加工技术》 北大核心 2023年第5期54-57,63,共5页
为解决机械臂标定效率低的问题,针对机械臂实时标定中的作业-标定共用轨迹的规划方法进行了研究。首先,选择立体视觉作为测量方式,减少对机械臂末端的物理约束;然后,以作业轨迹和靶标可视性为约束条件,采用DETMAX算法选出最优测量构型... 为解决机械臂标定效率低的问题,针对机械臂实时标定中的作业-标定共用轨迹的规划方法进行了研究。首先,选择立体视觉作为测量方式,减少对机械臂末端的物理约束;然后,以作业轨迹和靶标可视性为约束条件,采用DETMAX算法选出最优测量构型作为轨迹中间点,并分析了中间点聚类数量与轨迹极值间的关系,作为确定轨迹数量的依据;最后,在关节空间下仿真分析了新方法所得轨迹特征。研究结果表明,匀速运动段与静止段间相连的角度和角速度轨迹均具有良好平滑性,角加速度连续且无跳动;角速度和角加速度轨迹极值远低于实际对应的指标极限;各关节在中间点的角度准确且停留时间充足。因此新方法能够满足机械臂在不停工前提下开展实时标定的要求。 展开更多
关键词 机械臂 立体视觉 实时标定 轨迹规划 测量构型
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基于作业轨迹约束的机械臂多闭环标定方法
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作者 蒋周翔 秦鹏举 +3 位作者 苏瑞 龙忠杰 宋宝 唐小琦 《机床与液压》 北大核心 2023年第17期6-13,共8页
为了解决机械臂标定方法成本高、效率低的问题,对低成本的机械臂实时标定方法进行研究。选择低成本的双目相机为测量设备,基于微分变换理论阐述连杆参数误差辨识模型的建立方法;以作业轨迹和靶标可视性作为约束条件,采用逆运动学算法生... 为了解决机械臂标定方法成本高、效率低的问题,对低成本的机械臂实时标定方法进行研究。选择低成本的双目相机为测量设备,基于微分变换理论阐述连杆参数误差辨识模型的建立方法;以作业轨迹和靶标可视性作为约束条件,采用逆运动学算法生成测量构型库;在此基础上通过DETMAX优化算法挑选出合适的构型用于建立辨识模型,并提出一种矩阵平衡方法改善模型性态水平;与此同时,还采用K-means聚类算法将所选构型进行划分,以此作为多组中间姿态输入至控制系统生成若干条平滑的作业-标定轨迹;最后,仿真验证了新方法在不同强度测量噪声下的连杆参数误差辨识精度。结果表明:矩阵平衡法将辨识模型观测指数由10.6提升至6.2×10^(4),同时将其条件数由1.2×10^(3)降低至37.8,显著改善了模型性态水平;良态辨识模型使得绝大部分连杆参数误差辨识结果不易受测量噪声影响;距离测量噪声标准差由0.1/3 mm提高至1/3 mm时,DH误差平均辨识偏差仅由1.1%增大至1.4%。因此新方法能够满足机械臂低成本、实时、高精度的标定要求。 展开更多
关键词 双目视觉 闭环标定 机械臂 测量构型 实时标定
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空间机械臂的一种自标定方法 被引量:1
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作者 谭月胜 孙汉旭 +2 位作者 贾庆轩 陈佶 张秋豪 《宇航学报》 EI CAS CSCD 北大核心 2006年第4期740-744,共5页
由于各种因素的影响,在轨机械臂的结构参数势必不同于其在地面时的结构参数。为提高机械臂作业时的定位精度,必须对其进行重新标定。提出了一种自带CCD相机的空间机械臂结构参数的自标定方法,解决了在太空中无外部测量设备参与时机械臂... 由于各种因素的影响,在轨机械臂的结构参数势必不同于其在地面时的结构参数。为提高机械臂作业时的定位精度,必须对其进行重新标定。提出了一种自带CCD相机的空间机械臂结构参数的自标定方法,解决了在太空中无外部测量设备参与时机械臂的标定问题,使机械臂末端操作器的精确定位成为可能。仿真结果验证了所提方法的正确性。 展开更多
关键词 自标定 空间机械臂 测量构型
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Soft Sensor Model Derived from Wiener Model Structure: Modeling and Identification 被引量:2
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作者 曹鹏飞 罗雄麟 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2014年第5期538-548,共11页
The processes of building dynamic and static relationships between secondary and primary variables are usually integrated in most of nonlinear dynamic soft sensor models. However, such integration limits the estimatio... The processes of building dynamic and static relationships between secondary and primary variables are usually integrated in most of nonlinear dynamic soft sensor models. However, such integration limits the estimation accuracy of soft sensor models. Wiener model effectively describes dynamic and static characteristics of a system with the structure of dynamic and static submodels in cascade. We propose a soft sensor model derived from Wiener model structure, which is an extension of Wiener model. Dynamic and static relationships between secondary and primary variables are built respectively to describe the dynamic and static characteristics of system. The feasibility of this model is verified. Then the expression of discrete model is derived for soft sensor system. Conjugate gradient algorithm is applied to identify the dynamic and static model parameters alternately. Corresponding update method for soft sensor system is also given. Case studies confirm the effectiveness of the proposed model, alternate identification algorithm, and update method. 展开更多
关键词 soft sensor Wiener model MODELING alternate identification
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Antecedents and consequences of athlete's trust in the coach 被引量:1
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作者 Zhu Zhang Packianathan Chelladurai 《Journal of Sport and Health Science》 SCIE 2013年第2期115-121,共7页
Purpose: To assess the effects of trust in the coach on commitment to coach, willingness to cooperate, and perceived performance. Methods: Two hundred and fifteen members of competitive sports clubs responded to sca... Purpose: To assess the effects of trust in the coach on commitment to coach, willingness to cooperate, and perceived performance. Methods: Two hundred and fifteen members of competitive sports clubs responded to scales measuring coach characteristics of justice, benevolence, integrity, and competence; athlete's trust in the coach; commitment to coach; willingness to cooperate; and perceived performance. Results: Confirmatory factor analysis of data supported the measurement model. Perceptions of a coach's justice (β = 0.19, p 〈 0.05), benevolence (β = 0.32, p 〈 0.05), integrity (β= 0.14, p 〈 0.05), and competence (β = 0.29, p 〈 0.05) each had a significant effect on athletes' trust, and they cumulatively accounted for 61% of the variance in trust. The structural equation modeling showed that trust had direct effects on commitment to coach (β = 0.77, p 〈 0.01), willingness to cooperate (β= 0.79, p 〈 0.01 ), and perceived performance (β = 0.51, p 〈 0.01),. The hypothesized mediating effects of commitment to coach and willingness to cooperate were not supported. The model explained 26% of the variance in perceived performance. Conclusion: As trust in coach influences commitment to coach, willingness to cooperate, and perceived performance, coaches need to take effort to bolster their athletes' trust by being just and benevolent, and enhancing their integrity and competence. 展开更多
关键词 BENEVOLENCE COMMITMENT Competence Cooperation Integrity JUSTICE Trust in the coach
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Simulation of ^(13)C NMR chemical shifts of carbinol carbon atoms using quantitative structure-spectrum relationships 被引量:2
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作者 戴益民 黄可龙 +3 位作者 李浔 曹忠 朱志平 杨道武 《Journal of Central South University》 SCIE EI CAS 2011年第2期323-330,共8页
A quantitative structure-spectrum relationship (QSSR) model was developed to simulate 13C nuclear magnetic resonance (NMR) spectra of carbinol carbon atoms for 55 alcohols. The proposed model,using multiple linear reg... A quantitative structure-spectrum relationship (QSSR) model was developed to simulate 13C nuclear magnetic resonance (NMR) spectra of carbinol carbon atoms for 55 alcohols. The proposed model,using multiple linear regression,contained four descriptors solely extracted from the molecular structure of compounds. The statistical results of the final model show that R2= 0.982 4 and S=0.869 8 (where R is the correlation coefficient and S is the standard deviation). To test its predictive ability,the model was further used to predict the 13C NMR spectra of the carbinol carbon atoms of other nine compounds which were not included in the developed model. The average relative errors are 0.94% and 1.70%,respectively,for the training set and the predictive set. The model is statistically significant and shows good stability for data variation as tested by the leave-one-out (LOO) cross-validation. The comparison with other approaches also reveals good performance of this method. 展开更多
关键词 carbinol carbon atom ^13C nuclear magnetic resonance chemical shift topological indices quantitative structure-spectroscopy relationship
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The Establishment of Measurement Model and Implementation Strategy for Service Productivity
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作者 Song Yingge Ding Ning Xiao Zhiwen Zhang Yijin 《Chinese Business Review》 2012年第12期1270-1276,共7页
As a key factor of economic growth, productivity has been valued in the academic community. Today, with the rapid development of service industry, the research for service productivity has also attracted wide attentio... As a key factor of economic growth, productivity has been valued in the academic community. Today, with the rapid development of service industry, the research for service productivity has also attracted wide attention. However, in the service industry, because of its own characteristics and properties, measurement of service productivity could not apply for the traditional productivity measurement methods simply. This research first has put out the constitution model of service productivity, and thus put out the measurement model of service productivity. And explains that service productivity is a function which contains internal efficiency, external efficiency, and capacity efficiency. In service productivity, external efficiency is the key one, internal efficie and capacity efficiency should also be given considerations. Eventually, the strategy of implementing measurement of service productivity have been proposed ncy the 展开更多
关键词 SERVICE service productivity constitution model measurement model the difficulty in measurement the strategy of measurement implement
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Design of mobile sensing system for automatical measurement
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作者 ZHU Jun-jiang HE Ling-song 《Journal of Measurement Science and Instrumentation》 CAS 2014年第2期68-75,共8页
Based on mobile devices as a solution for measurement faces interesting challenges, which involve poor human- computer interaction and limited computer capability. In this paper, we present the mobile sensing system ... Based on mobile devices as a solution for measurement faces interesting challenges, which involve poor human- computer interaction and limited computer capability. In this paper, we present the mobile sensing system (MSS) with func- tions of constructing, configuring and implementing measurement applications. MSS consists of a mobile device and a sensor probe, In the mobile device we install a pocket virtual instrument platform (PVIP), which has object-oriented software ar- chitecture and can be configured through extensible markup language (XML) files. And these configuration files can be written to the probe. Therefore, the probe can produce the measurement of APP in the mobile device. This infrastructure has been illustrated by a sound signal acquisition task and a flexible force measurement task which are finished with an android smartphone and a probe. These examples suggest that MSS is reconfigurable, highly automatical and flexible. 展开更多
关键词 mobile sensing system (MSS) automatical measurement RECONFIGURABILITY extensible markup language(XML) pocket virtual instrument platform (PVIP)
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A metrics suite for coupling measurement of software architecture
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作者 孔庆彦 伦立军 +1 位作者 赵佳华 王义和 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2009年第3期361-365,共5页
To better evaluate the quality of software architecture,a metrics suite is proposed to measure the coupling of software architecture models,in which CBC is used to measure the coupling between components,CBCC is used ... To better evaluate the quality of software architecture,a metrics suite is proposed to measure the coupling of software architecture models,in which CBC is used to measure the coupling between components,CBCC is used to measure the coupling of transferring message between components,CBCCT is used to measure the coupling of software architecture,WCBCC is used to measure the coupling of transferring message with weight between components,and WCBCCT is used to measure the coupling of message transmission with weight in the whole software architecture. The proposed algorithm for the coupling metrics is applied to the design of serve software architecture. Analysis of an example validates the feasibility of this metrics suite. 展开更多
关键词 software architecture software metrics COUPLING
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A Case Study on the Effect of Post-critical SmS on Ground Motion in Yingjiang,Yunnan Province,China
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作者 Luo Yan Ni Sidao Chen Yong 《Earthquake Research in China》 2011年第1期1-12,共12页
There are controversies on ground motion attenuation relations at the epicentral distance of about 100km. Some models predict that the seismic energy remains almost constant or becomes even stronger with increasing di... There are controversies on ground motion attenuation relations at the epicentral distance of about 100km. Some models predict that the seismic energy remains almost constant or becomes even stronger with increasing distance at this distance, while other models hold that it decreases with increased distance. The divergence lies mainly in whether SmS is stronger than direct S and surface waves at this distance. With the MsS. 9 earthquake sequence in the Yingjiang region of Yunnan Province as an example, we demonstrate that SmS is always 2 - 5 times stronger than direct S waves around the epicentral distance of 100km (which is the post-critical distance for S in this region). Study of synthetic seismograms suggest that crustal structure has an important effect on the amplitude of post-critical SmS, with simple crust producing strong SmS. This preliminary study confirms that in China, SmS also plays an important role on ground motion at distances around 100km, which demands more studies of post-critical SmS. 展开更多
关键词 SmS phase Strong ground motion Yingjiang area
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Novel Technique of Radar Interferometry in Dynamic Control of Tall Slender Structures
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作者 Tomasz Owerko Lukasz Ortyl Rafal Kocierz Przemyslaw Kuras 《Journal of Civil Engineering and Architecture》 2012年第8期1007-1013,共7页
Structures of slender shape, like guyed masts, chimneys or TV towers, are exposed to the excitation of dynamic movements. The most common cause of vibration is the wind that reduces generation of vortices. Another imp... Structures of slender shape, like guyed masts, chimneys or TV towers, are exposed to the excitation of dynamic movements. The most common cause of vibration is the wind that reduces generation of vortices. Another important reason is a sudden strike from seismic or para-seismic forces. Structure exposed to wind impact is subjected to harmonically various force, perpendicular to the air stream, which is an effect of vortices, shedding on alternate sides of slructure. Because of the possibility of vibration the damping of a structure has to be designed. Measuring of decay in the oscillation allows to find the logarithmic decrement of the real structure and compare it with the designed value. Apart from damping, the proper designing of tall slender structures has to preserve the significant difference between vortex shedding frequencies and the natural frequencies of the structure shape modes. In the case of guyed masts it is important to analyse the response of a real structure to the exceptional dynamic load, such as a sudden break of guy or fall off a load from a structure, e.g., icing or antennas. The dynamic analysis of a real slructure requires the accurate values describing the dynamic behavior of tall structures (e.g., amplitudes). The accuracy of 0.1 mm is provided by ground-based interferometric radar. This device is a part of the IBIS-S (image by interferometric survey) system, which calculates the displacement values on the basis of the difference between phases of waves received in consecutive samples. Typically, the measurements of tall structures are performed with several sensors (strain gauges, accelerometers). Instead, the IBIS-S system allows the quasi-continuous (not limited to points) observation of the entire structure without installation of any sensors or reflectors. The real resolution (along the structure), which means the minimum distance between two observed points, amounts up to about 0.7 m, 展开更多
关键词 VIBRATION radar intefferometry frequency of vibration CHIMNEYS masts.
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Experimental investigation and numerical modeling for elastoplastic notch-root stress/strain analysis under monotonic loadings 被引量:3
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作者 HUANG Jia SHI DuoQi +2 位作者 YANG XiaoGuang PAN Bing SHI Hao 《Science China(Technological Sciences)》 SCIE EI CAS 2014年第7期1411-1424,共14页
Experimental investigation and numerical modeling on elasto-plastic notch-root stress/strain distributions under monotonic loadings of both the Ni-based directionally solidified(DS)superalloy and Titanium alloy were c... Experimental investigation and numerical modeling on elasto-plastic notch-root stress/strain distributions under monotonic loadings of both the Ni-based directionally solidified(DS)superalloy and Titanium alloy were carried out simultaneously.For measuring inhomogeneous deformation fields at notch roots,an optical-numerical full-field surface deformation measurement system was developed based on the digital image correlation(DIC)method.The obtained strain distributions were then verified with reasonable accuracy by finite element simulation,where an anisotropic elastic-viscoplastic constitutive model was developed for DS superalloy and a simple isotropic stress-strain relationship was adopted for Titanium alloy.Meanwhile,factors affecting elasto-plastic notch-root stress/strain distributions were systematically investigated numerically,where the emphasis was placed on temperature,loading stress rate,sample shape,anisotropy and notch features.The results show that stress/strain behavior at notch root is significantly affected by the mentioned factors,which are concretely embodied in the distribution of tensile stress/strain,equivalent stress and accumulative equivalent plastic strain. 展开更多
关键词 digital image correlation notch analysis monotonic loading ANISOTROPY STRESS-STRAIN
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The measurement and model construction of complex permittivity of vegetation
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作者 LI Zhen ZENG JiangYuan +1 位作者 CHEN Quan BI HaiYun 《Science China Earth Sciences》 SCIE EI CAS 2014年第4期729-740,共12页
The complex permittivity of targeted objects is an important factor that influences its microwave radiation and scattering characteristics.In the quantitative research of microwave remote sensing,the study of the diel... The complex permittivity of targeted objects is an important factor that influences its microwave radiation and scattering characteristics.In the quantitative research of microwave remote sensing,the study of the dielectric properties of the vegetation to establish the relationship between its specific physical parameters and complex permittivity is fundamental.In this study,six categories of vegetation samples were collected at the city of Zhangye,a key research area of the Heihe watershed allied telemetry experimental research.The vector network analyzer E8362B was used to measure the complex permittivity of these samples from 0.2 to 20 GHz by the coaxial probe technique.The research focused mainly on the corn leaves,and an empirical model was established between the gravimetric moisture and the real/imaginary parts of complex permittivity at the main frequency points of microwave sensors.Furthermore,the empirical model and the classical Debye-Cole model were compared and verified by the measured data collected from the Huailai County of Hebei Province.The results show that the newly- established empirical model is more accurate and more practical as compared to the traditional Debye-Cole model. 展开更多
关键词 microwave remote sensing dielectric model complex permittivity corn leaves coaxial probe technique
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