This paper transfered the problem of the 3D craniofacial registration into the one in 2D parameter domain by using surface parameterization. Firstly, six landmarks on the craniofacial surfaces were calibrated according to the physiological characteristics, and the pose and size of the craniofacial surfaces were normalized by projecting the craniofacial surfaces into a unified coordinate system which was determined by using the six landmarks. Secondly, Least Squares Conformal Mapping (LSCM) was performed for a reference craniofacial surface by pinning two outer corners of the eyes, by which the 2D parameters of the six landmarks were computed. Thirdly, any craniofacial surface could be mapped into a 2D domain using LSCM by pinning the six landmarks. Finally, the 3D point correspondences were obtained by mapping the 2D correspondences into the 3D surfaces. To validate the proposed method, the reference model was deformed into the target one by the Thin Plate Spline (TPS) transform with the corresponding vertices being control points, and the average distance between two corresponding point sets after deformation was computed. By the average distance, the proposed method was compared with the principal axes analysis based ICP (Iterative Closest Point) and the random sampling control points based iterative TPS registration methods. The comparison shows that the proposed approach is more accurate and effective.
For the control allocation problem of flexible fly-wing aircraft with multi-control surfaces, the machine vibration force index was put forward to measure the elastic vibration. Total control allocation model was established, the superior performance of the Estimation of Distribution Algorithm (EDA) was used for solving the model. Firstly the rudder structure was designed, the way of work and control capability of every aerodynamic rudder were analyzed, and the rudder functional configuration was built in accordance with the rudder control efficiency of redundant rudder, elevator aileron and aileron rudder in aerodynamic data. During the control allocation, main performance indices of control allocation were analyzed, the overall multi-objective optimal evaluation function was established, which combined with the equality and inequality constraints, and solved by EDA. The true distribution was estimated by establishing a probability model, during the evolutionary process of EDA, the rudder would be allocated according to the deflection efficiency, the optimal solution was got by combining with the optimization function. At last, the impact of aero wing flexibility on static control performance of the system was analyzed. After considering aeroelasticity, the overshoot and transition time are decreases. The flying quality of flying wing aircraft is significantly improved, the system efficiency is improved by at least 10% after optimization. The simulation results show that the EDA can better solve the control allocation problem, and can improve the dynamic quality of the system, verifying the effectiveness of multi-control surfaces to control allocation.