采用激光染料DCM、向列相液晶TEB30A、手性剂S-811、聚乙烯醇(PVA),通过微胶囊法制备了聚合物分散胆甾相液晶薄膜,测量激光辐射谱,研究了其激光辐射机理和温度调谐特性.利用正交偏光显微镜观察器件织构,看到液晶微滴分散均匀,尺寸较大,约为80μm,并且微滴中液晶分子呈现平面态排列织构.以532 nm的Nd：YAG固体激光器作为抽运源,测得在634.5 nm和680.2 nm波长处出现了尖锐的激光辐射峰,线宽分别约为0.25 nm,0.29 nm.并与染料掺杂胆甾相液晶激光器件进行比较.升高器件温度,其输出激光波长蓝移,获得666.7 nm至643.9 nm共22.8 nm的调谐范围.由实验结果分析得出,激光辐射机理为光子禁带末端激光,出射波长分别对应光子禁带的两个边沿.

In this work, laser dye DCM, nematic liquid crystal TEB30A, chiral dopant S-811 and PVA are used to pre-pare polymer dispersed cholesteric liquid crystal (LC) films by the method of microcapsule. Lasing mechanism and temperature-tunable characteristics of the films are investigated. The diameters of large droplets in the films are about 80 μm and LC molecules are planar-textured in the droplets when viewed between crossed polarisers through a polar-ization microscope. Pumped by the 532 nm Nd:YAG laser, narrow linewidths in laser emissions are obtained at 634.5 nm and 680.2 nm, and the linewidths are of 0.25 nm and 0.29 nm, respectively. The device is then compared with a dye-doped cholesteric liquid crystal laser. The wavelength of output laser will blueshift when the temperature of the device is increased, and a 22.8 nm tunable lasing, from 666.7 nm to 643.9 nm, is obtained. Analysis concludes that the lasing mechanism of the film is band-edge lasing, and the emission wavel

为了提高轻型机械臂的末端感知及操作能力,研制了一种用于轻型机械臂末端感知的近距离大测量范围的高集成化微小型激光测距传感器.基于三角法测距原理,以线阵CCD作为光敏感元件,以FPGA作为主控器,根据传感器分辨率的分布要求设计光学系统,使传感器具有测距范围大、测量最近距离近和测量速度快的显著优点.传感器利用光机电一体化设计思想,采用柔性PCB折叠电路、微小型光学元件和机械封装,实现了高集成化微型化设计.所研制的激光测距传感器测距范围为25mm~350mm,体积47mm×50mm×15mm,质量70 g,测量时间1 ms.实验结果表明,该测距传感器易于集成于机械臂控制系统,适用于末端感知,能够有效提高轻型机械臂末端定位精度.

In order to improve the operation and the end perception abilities of light-weight robot arm, a micro laser range finder is developed, which is highly integrated with a wide range and a shorter minimum measurement range. The range finder is designed based on the triangulation ranging theory. It adopts the linear CCD (charge-coupled device) as the light sensor, and the FPGA (field-programmable gate array) as the main controller chip, and the optical system of the sensor is designed according to the distribution requirements of the resolution. Thus, the range finder has a wide measurement range, a shorter minimum measurement range and a high measuring speed. To realize the high integration and miniaturization design, the range finder utilizes the design concept of the optics, mechanism and electricity unitization, which adopts the flexible and foldable PCB (printed circuit board) circuit, miniature optics units and miniature mechanical packaging. The measuring range of the rang

设计与实现了一套激光视觉引导的焊缝自动跟踪系统，包括系统的整体硬件构成和关键算法。在工业机器人末端安装激光视觉传感器构成焊缝跟踪系统的硬件部分。采用小波变换滤除焊缝图像噪声，采用改进的Steger算法和Hough变换方法提取激光条纹中心直线，进一步提取出焊缝位置。提出一种双队列控制策略，在采集的焊缝特征点的基础上进一步插值，从而实现激光视觉引导的焊缝自动与平滑跟踪。实验结果表明，该系统具有较好的跟踪精度，能满足工业实际需求。

It designs and realizes a set of laser vision guided automatic seam tracking system, including overall system structure and key algorithms. A laser vision sensor is installed at the end of an industrial robot. Wavelet transform is used to filter image noise and improved Steger algorithm and Hough transform method are applied to extract the laser stripe center line. Then the position of welding seam is located. A strategy of dual queues is put forward to control the move-ment of the manipulator, and a series of intermediate points among welding points are obtained by interpolation, so as to realize the automatic and smooth tracking of weld laser visual guide. The experimental results show the system has good tracking accuracy and can meet the industrial requirement.

首先,以某激光制导弹药为背景,提出了室内半实物仿真系统的总体设计方案,介绍了一种激光半主动导引头的工作原理。其次,在室内局限环境下,建立了弹目几何关系的数学模型,研究了导引头入瞳光学特性,并根据制导与控制系统的工作原理,设计了末制导段弹道的半实物仿真模型。最后,设置两种末端制导的初始条件,引入导引头和角速率陀螺等弹上部件进行多次弹道仿真试验。试验结果表明,基于该导引头和角速率陀螺的制导与控制系统设计合理,可以实现精确打击。

With background of terminal guided weapon, at first, a scheme of hardware-in-the-loop simulation (HILS) was derived; and the principle of laser semi-active seeker was introduced in detail. Secondly, in the limited indoor environment, mathematical model of geometry between missile and target was established; subsequently the optical characteristics of the laser received by seeker were researched;the model of HILS in the terminal trajectory was designed for guidance and control system. In the end, seeker and gyro was introduced into the closed loop of simulation, simulations were repeated many times under two different conditions of the initial state. In conclusion, the results indicate that guidance and control system of the missile based on this seeker and gyro is achieved correctly and have the ability to hit the target precisely.

以α-溴代异丁酰溴封端的5，10，15，20-四对羟乙基苯基卟啉锌三丙酸酯为引发剂，通过原子转移自由基聚合方法（ATRP）合成卟啉锌末端功能化的PMMA高分子聚合物。通过红外光谱仪和氢核磁共振波谱对聚合物的结构进行了确定。利用GPC测试了聚合物分子量、分子量分布，研究了其聚合过程动力学，结果表明聚合过程符合一级反应动力学。通过Z-扫描技术测试了ns和ps脉冲激光下的非线性特性，拟合结果样品的非线性吸收系数β分别为4.5×10-10m/W和6.0×10-12m/W。样品对ns和ps激光均有非线性吸收特性，且ns脉冲下β值大于ps，说明样品三重激发态吸收截面大于单重激发态。

Used α-bromo-isobutyryIbromide end-caped 5,10,15,20-tetra(p-hydroxyethylphenyl) zincporphyrin tripropio-nate as indicator,zincporphyrin-end-functionalized polymethacrylate (PMMA) was synthesized by atom transfer radical polymerization (ATRP) method. The structure of the prepared polymer was determined by infrared spectrum and nucle-ar magnetic resonance hydrogen spectrum techniques. The molecular weight and molecular weight distribution of the polymer samples were measured by gel permeation chromatograph (GPC) technique. Polymerziation reaction kinetics of the synthesized polymer was also studied by GPC. The rusults showed that polymerziation process followed a first-or-der reaction kinetics. By z-scan method, nonlinear optical properties of the polymer sample were tested using ns and ps pulsed laser. By fitting the experimental results, nonlinear absorption coefficient of the polymer sample,β is 4.5 × 10-10 m/W and 6.0×10-12 m/W,respectively. The results displayed that t