ID 原文 译文
13995 为了解决这个问题，首先，进行坐标变换，计算出新的状态方程。 In order to solve this problem, firstly, coordinate transformation is conducted to calculate the new state equation．
13996 然后，通过使用 Nussbaum 动态增益技术、自适应控制方法和内模原理，将鲁棒输出调节问题转化为鲁棒稳定性问题，并设计一种动态输出反馈控制器。 Then, by using Nussbaum dynamic gain technology the adaptive control method and the internal model principle, the robust output regulation problem is transformed into the robust stability problem, and a dynamic output feedback controller is designed．
13997 最后，通过所设计动态输出反馈控制器使得 Lyapunov 的导数负定，这样就从理论上解决了非线性输出反馈系统的全局鲁棒输出调节问题。 Finally, Lyapunov’s derivative is made negative definite by using the designed dynamic output feedback controller． In this way, the problem of global robust output regulation of the nonlinear output feedback system is solved theoretically．
13998 通过实例说明了所提自适应控制器的有效性。 The effectiveness of the proposed adaptive controller is illustrated by an example．
13999 针对复杂环境下远距离目标在语义分割时易出现的边界模糊、断裂及目标丢失等问题，基于 DeepLabV3 + 网络提出了一种结合边界信息的语义分割模型。 To solve the problems of fuzzy boundary fracture and target loss in semantic segmentation of long-distance targets in complex environment a semantic segmentation model using boundary information based on DeepLabV3 + network is proposed．
14000 该模型采用改进的 Darknet-53 网络代替原 DeepLabV3 + 特征提取网络以加快模型运行速度，并设计了一种特征融合模块作为低层特征用于解码阶段恢复细节信息，为了进一步优化目标边界，利用特征共享原则，设计一种通过主体网络特征共享层学习多尺度信息以预测目标边界的边界提取模块，以此对分割图像进行约束优化，提升模型在边界处的预测准确率。 The improved Darknet-53 network is used to replace the original DeepLabV3 + feature extraction network to speed up the model’s operation and a feature fusion module is designed as a low-level feature to recover the detailed information in the decoding stage． In order to further optimize the target’s boundary by using the principle of feature sharing a boundary extraction module is designed to predict the target’s boundary by learning multi-scale information through the feature sharing layer of the main network so as to optimize the segmented image and improve the prediction accuracy of the model at the boundary．
14001 实验结果表明，提出的语义分割模型能够有效缓解远距离目标语义分割时的边界模糊等问题。 The experimental results show that the proposed semantic segmentation model can effectively alleviate the problems of fuzzy boundary fracture and target loss in the semantic segmentation of long-distance targets．
14002 结构光三维测量技术以其非接触、精度高等优点而具有广泛的应用，但对于强反射物体表面，所采集的结构光图像会形成局部亮度饱和，导致信息失真或丢失，无法进行精确的三维重建。 The 3D measurement technology using structural light has wide application due to its advantages of no contact and high precision． However local brightness saturation will occur on the captured images for the highly-reflective surface which will lead to information distortion or loss and inaccurate 3D reconstruction．
14003 为实现强反射表面的测量，采用了一种改进的基于投影栅相位法的三维测量方法，对投影的相移编码图像二值化，并采用多幅不同曝光时间下所采集的图像进行融合，重建条纹图像序列，该方法增强了编码图像的鲁棒性，较好地解决了相机动态范围与物体表面反射亮度范围不一致的问题。 In order to realize the measurement of the highly-reflective surface an improved 3D measurement method based on phase detection of projected grating is proposed． The method conducts binaryzation on the projected encoded phase-shifting image fuses the images captured under different exposure time and reconstructs the fringe image sequence． The method can improve the robustness of encoded images and avoids the inconsistency of the camera’s dynamic range with the brightness range of the object’s surface reflection．
14004 实验结果表明，所提方法能够克服已有方法中图像局部饱和所导致的测量信息丢失的缺陷，实现对强反射曲面的结构光三维形貌的高精度完整测量。 The experimental results show that the proposed method can overcome the defect of loss of measurement informa- tion caused by local saturation of the image in the existing methods and realize the high-precision and com- plete measurement of 3D topography of the highly-reflective curved surface by using structural light．