视频压缩中运动估计块匹配算法研究

首先介绍了视频压缩系统，并在此基础上阐述了运动估计块匹配算法，分别介绍了块匹配的基本原理、提高运动估计效率的几个关键技术，分析了传统的基于块的运动估计块匹配算法和后来改进的匹配算法的性能，同时在分析MPEG-4特性的基础上，阐述了未来的运动估计匹配算法的发展趋势。     

基于运动自适应的非均匀比率图像扩展算法

讨论了传统的4：3格式的标准清晰度电视信号转换为16：9格式的高清晰度电视信号的运动自适应的非均匀比率扩展变换算法，算法结合视频图像的运动检测，采用K－均值聚类法，根据图像的运动重心（motion center of gravity-MCOG)选择合适的扩展比率，并针对不同的图像区域进行扩展变换，算法符合人的视觉系统对图像的运动区域具有较强感知度的视觉特性，有效的减小了视频格式转换的图像变形，实验表明了本文提出算法的有效性。     

一种用于MPEG2运动估计的八步搜索算法

本文提出了一种用于MPEG2运动估计的八步搜索算法（8SS），它的搜索位移为（－16，＋15．5）。该算法由于利用了序列图象运动矢量的空间分布特性—中心偏置分布特性，可以明显地将搜索次数降低到（25－55）次。仿真表明这种算法减少了搜索范围和搜索次数，提高了搜索效率，并能给出更正确的运动矢量。本文还对几种不同的搜索算法在大范围搜索区域的性能进行了详细的比较。     

大失准角情形下UKF与CKF的比较研究

扼要介绍了UKF和CKF滤波算法,分析总结了两种滤波算法的异同,并基于蒙特卡罗仿真试验,对大方位失准角情形下UKF滤波算法和CKF滤波算法的应用特性进行了对比、分析和总结,指出了UKF滤波算法对角运动和线运动均敏感,角运动和线运动方向的激励均可以加速其收敛,而CKF滤波算法对角运动不敏感,但对线运动敏感,角运动方向的激励无助于其对准精度的提高,而线运动方向的激励可加速其收敛,且收敛精度随激励效果的加强而提高的特性,为该种情形下对准技术的工程化实现提供了针对性建议。     

基于FPGA的改进四帧差分的运动目标检测算法

针对运输系统中运动目标在运动垂直方向上边缘信息缺失的问题及运动目标检测实时性差的缺点，提出了一种改进的融合边缘检测算法的四帧差分法，结合现场可编程门阵列(FPGA)芯片的并行工作特性，满足了运动目标检测的实时性要求。改进的四帧差分算法是采用间隔帧间差分的方式，将运动目标区域提取出来与边缘检测相融合，同时利用FPGA中多端口SDRAM图像缓存技术对实时图像进行缓存和输出。系统实现了对运输带上运动目标的检测，结果表明，该算法能够较好地解决在传统帧间差分法中运动目标在运动垂直方向上边缘缺失的问题，同时也能准确且实时地检测出待测运动目标。     

红外序列图像中运动小目标的检测

文中介绍了红外图像背景以及运动小目标的特性，将检测算法分为两大类，概述了红外图像中运动小目标检测的一般方法和流程，并具体介绍了几种典型的检测算法，分析了它们各自的特点。     

移动卫星通信系统的轨道和覆盖特性分析（上）

本文研究了卫星运动轨道的基本理论，对不同参数的卫星轨道进行了比较，给出轨道仿真软件的运行结果，并分析了卫星覆盖特性的算法，采用计算机软件仿真，得到移动卫星通信系统的覆盖特性及链路切换时间和链路中继时间的统计结果。     

一种基于图像特性的快速运动估计算法

提出了一种应用在H.264中的基于图像特性的快速运动估计算法，简称图像特性快速算法（CPFA）。该算法利用图像序列时间和空间的相关性，为当前待编码宏块定义广宏块支持区的矢量参考集，通过该参考集对图像的运动特性进进判定，然后根据图像特性采用自适应的搜索策略，实现了一种简单高效的搜索方法。实验表明，CPFA在保证重建图像质量没有明显下降的前提下，编码速度有了显著提高。     

一种基于H．264的有效运动估计算法

运动估计算法是实时视频编解码技术的研究重点，高精度的匹配和补偿可以减少预测误差，提高视频图像的压缩效果．为降低在视频编码标准H．264中运动估计的高计算复杂度问题，提出了采用一种基于节点模型的可变形块匹配运动估计算法来搜索最佳运动矢量．该算法充分利用了H．264运动矢量的的统计特性和相关性，并采用基于像素差值分类的运动估计匹配准则．实验表明，在编码性能损失很小的条件下，该算法有效降低了视频压缩编码中运动估计的运算复杂度．     

成像制导空-空导弹仿真分析

以在现代空战条件下，成像制导空空导弹攻击空中机动目标过程进行了仿真计算，以辅助开发导引头红外目标图像处理算法。研究了机动目标在导引头焦平面上的红外图像的运动特性和图像特征（包括拓扑特征，边界特征及统计特征等），分析了成像导引头性能参数对目标图像特性的影响，可供导引头总体设计和图像处理算法设计参考。     

基于NURBS向量肌肉模型的人脸动画及实现

当前,动画及其实现技术受到业界广泛关注,而人脸动画如喜、怒、哀、乐的表达其真实感还不够好.以Waters肌肉模型为基础,提出NURBS弹性肌肉模型,该方法依据解剖学知识,用非均匀有理B样条曲线仿真肌肉.通过改变曲线控制点的权重,可以找到一个动作向量控制肌肉的运动,进而合成人脸的各种表情.控制点数量越多,肌肉就越好控制,那么就可以更加真实地仿真人脸表情.     

一维波动过程的简化系统分析

将拉普拉斯变换用于空间变量ｘ，使一维波动的分布参数系统模型变换为以时间为独立变量的常微分方程系统。同时将边界控制变换为状态控制。然后用常微分方程系统的已知理论结果对可控性、可观测性和稳定性做了判定。这是对一维波动的分布参数系统的一种简化处理方法。     

Fast Motion Synthesis of Quadrupedal Animals Using a Minimum Amount of Motion Capture Data

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.     

Magnetic Maneuvering of Endoscopic Capsules by Means of a Robotic Navigation System

The use of video capsules for noninvasive explorations of the digestive tube is progressively increasing today. At present, the motion of these wireless endoscopic devices cannot be controlled and they proceed by means of visceral peristalsis and gravity. Aimed at enabling a motion control, the technique described here uses an external magnetic field applied to the video capsule, previously coated with a magnetic shell. As a source of controlled magnetic field, a robotic magnetic navigation system, recently introduced in the clinical practice to magnetically steer cardiovascular interventional devices, was suggested in a previous study to be deserving of investigation. The attractive potentialities of this system, along with its current limitations, in order to maneuver endoscopic capsules were studied in this work for the first time, both from a theoretical and an experimental point of view. The actual capabilities were experimentally assessed with preliminary motion control tests on a conventional video capsule inside a human-sized plastic phantom. Results demonstrated the possibility of achieving controlled magnetic maneuvers within the considered environment.      

Reliable gait planning and control for miniaturized quadruped robot pet

This paper proposes a gait planning and control algorithm for the quadruped robot pet commercialized by Dasarobot, Korea. Reliable motion and online characteristics are the key requisites for the motion planning algorithm of a commercialized robot. At joint control level of the proposed gait control, sample-based interpolation makes joint trajectory tractable for small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. By using ground coordinates representation, it is possible to integrate several online gaits and realize a compact and efficient gait planning algorithm. Experimental results are presented to verify the proposed gait planning and control algorithm.     

复杂背景下运动目标检测方法

利用相邻两帧图像的运动信息更新特征块提取阈值，实时地提取出当前帧图像中最能体现背景运动特征的特征块。采用块匹配的运动估计方法获取了各块的运动矢量，再依据所有特征块运动矢量的统计特性提取出背景运动矢量来配准差分，实现了目标的检测。实验结果表明，此方法能有效地检测复杂背景下的运动目标。     

太阳能测试分选机的运动控制设计

概述了太阳能测试分选机的结构和基本原理,介绍了其运动控制的组成部分,用模块化和线程同步方式实现了整机运动,此方法亦可用于类似设备的运动控制设计。     

中型组机器人运动控制系统的FPGA设计

以RoboCup中型组足球机器人为实验平台,提出一种基于FPGA的全方位移动足球机器人运动控制系统的实现方法。首先分析和研究三轮全方位移动机器人的运动学特性,建立其运动控制模型,然后以FPGA为主要处理器,设计了PID速度闭环控制算法,实现了对机器人的精确控制。实验发现,该设计方法具有很好的实时性,能够对全方位移动机器人进行快速、准确的控制。     

A motion control of mobile manipulator with external force

Describes a stable motion control of a mobile manipulator with the consideration of external force. As is well known, the mobile manipulator has infinite motion area, which brings several sophisticated advantages to the manipulator control. However, the unexpected external force to the mobile manipulator makes its motion unstable since there are no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, the cooperative control of the manipulator and vehicle parts is strongly required. To address the above issue, the paper presents a stable control strategy for mobile manipulator in the case that an eternal force exists. The validity of the proposed method is confirmed by several experimental results     

Optimal Synchronization Control of High-Precision Motion Systems

Recently, in the motion control area, one of the most challenging problems has been synchronization control of multiple motion axes or drivers. Unfortunately, the majority of the previous approaches have not fully addressed the synchronization problem when the system performs a complex motion. In this paper, a novel synchronized design of the high-precision motion control system is presented. The basic idea is to introduce the coupling and synchronization factors into the definition of the synchronization error. Then, a new quadratic performance index incorporating the synchronization errors of the multiple motion axes is introduced so that the resulting control law generates the cross-coupling control action, and as a consequence, improved tracking and synchronization performance can be obtained. The key to the success of the new design is to ensure that each motor tracks its desired trajectory while synchronizing motion with others. Computer simulations and real-time experiments on a servo system with two permanent-magnet linear motors demonstrate the effectiveness of the method.