Residual attention-based tracking-by-detection network with attention-driven data augmentation

Tracking-by-detection (TBD) is a significant framework for visual object tracking. However, current trackers are usually updated online based on random sampling with a probability distribution. The performance of the learning-based TBD trackers is limited by the lack of discriminative features, especially when the background is full of semantic distractors. We propose an attention-driven data augmentation method, in which a residual attention mechanism is integrated into the TBD tracking network as supplementary references to identify discriminative image features. A mask generating network is used to simulate changes in target appearances to obtain positive samples, where attention information and image features are combined to identify discriminative features. In addition, we propose a method for mining hard negative samples, which searches for semantic distractors with the response of the attention module. The experiments on the OTB2015, UAV123, and LaSOT benchmarks show that this method achieves competitive performance in terms of accuracy and robustness.     

车辆高速避让路径跟踪控制策略

建立车辆动力学模型,研究车辆在高速避让工况下的路径跟踪控制策略。基于自抗扰控制设计车辆横摆角速度以及道路曲率2种不同的路径跟踪控制器;设计基于车辆偏航位移和偏航角度加权的线性二次最优控制器;对3种控制器控制效果进行仿真验证,分析路径跟踪侧向位移误差、侧向加速度、前轮转向角以及偏航角度变化。越野车实车测试结果表明,路径跟踪控制策略正确。     

基于视觉传达的后继帧视频图像目标跟踪仿真

现阶段所采用的跟踪方法对后继帧视频图像目标跟踪存在跟踪效果不理想、跟踪效率较低等问题。提出基于视觉传达的后继帧视频图像目标跟踪方法。利用图像差分方法获取视频图像运动目标可能出现的区域,并对这个区域视频图像目标进行运动估计,采用形态学方法来降低聚类区域的数量,得到后继帧视频图像目标区域;采用均值漂移法估计后继帧视图像核概率密度,对后继帧视频图像进行分割处理,找出后继帧视频图像目标区域最显著的特征,通过迭代运算找到目标位置,实现目标跟踪。实验结果表明,所提算法具有较好的后继帧视频图像跟踪效果、并且跟踪效率较高,具有一定的应用价值。     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

Passive target detection and tracking from electromagnetic field measurements

This paper presents a novel approach to the localization of moving targets in a complex environment based on the measurement of the perturbations induced by the target presence on an independently‐generated time‐varying electromagnetic field. Field perturbations are measured via a set of sensors deployed over the domain of interest and used to detect and track a possible target by resorting to a particle Bernoulli filter (PBF). To comply with real‐time operation, the PBF works along with an artificial neural network (ANN) model of the environment trained offline via finite elements (FEs). The performance of the proposed algorithm is assessed via simulation experiments.     

基于船载卫星通信三轴天线的跟踪搜索技术

针对船载卫星通信三轴天线跟踪系统,介绍了船载三轴天线的系统组成,提出了一种基于捷联惯导的船载三轴天线跟踪搜索技术。天线以目标地理角为中心,通过坐标转换将目标地理角转换为天线的目标甲板角,调整AEC三轴使其及时准确地跟随目标甲板角。目前,该方法已经成功应用于多种船载三轴天线。实践表明,该方法能够快速准确地搜索到目标卫星,并实现对目标卫星的稳定跟踪。     

The benefits of integrated eye tracking with airborne image recorders in the flight deck: A rejected landing case study

Aircraft accident investigation has played a pivotal role in improving the safety of aviation. Advances in recorder technology, specifically Cockpit Voice Recorders (CVRs) and Flight Data Recorders (FDR) have made a huge contribution to the understanding of occurrences for accident investigators. However, even these recorders have limitations such as the evidence they provide about pilots' situation awareness or behaviours. Supplementing audio and data recordings with video has been discussed for many years and whilst there continues to be debate among regulators, operators, manufacturers and pilot unions, the International Civil Aviation Organization (ICAO) has mandated Airborne Image Recorders (AIR) from 2023. The purpose of installing such systems is to provide evidence of crew operational behaviours in terms of both human-human and human-computer interactions (HCI) on the flight deck. Video alone is unlikely to provide sufficient evidence for investigators. This study examines the additional value that eye-tracking technology may provide through the case study of an accident involving an Airbus A330-300 aircraft which experienced a rejected landing. Currently, the investigation of such events, where crew interaction with automation is critical to their situation awareness, relies heavily on interview data. Such data may be unavailable (in the case of serious injury) or unreliable (based on hindsight bias). By integrating eye tracking technology into an AIR, accident investigators will potentially gain a better understanding of pilots’ visual scan patterns across flight deck instrumentation. This has implications for flight deck and procedural design as well as training and simulation.     

基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

Modeling managerial behavior in real options valuation for project-based environments

Project valuation, as a decision-making tool for initiating investments in projects, should be able to value project flexibilities and incorporate reasonable risk preferences of relevant decision makers. Real options valuation methods are the available approaches for valuing project flexibilities, whereas they have shortcomings in considering managers’ reasonable risk preferences in project decisions. Therefore, researchers have suggested approximating the perspective on risk of real options methods and practitioners in project management. This study proposes a fair real options valuation for project-based environments by a behavioral economic approach, which adopts binomial lattice method, Monte-Carlo simulation, and cumulative prospect theory. The results show that behavioral factors such as ‘risk attitude’ and ‘loss aversion’ should be accepted in project investment decisions while limited to an acceptable amount depending on the project conditions (e.g. uniqueness of decision-making scenarios). This research contributes to the project management domain by enhancing project investment decisions that include project flexibilities.     

智能跟踪算法在采砂监管中的应用研究

受利益的驱动,长江流域非法采砂行为屡禁不止,给采砂有效监管造成很大的困扰。采砂监管水平的提高需要高效准确的跟踪识别技术作支撑。提出了一种基于相关滤波器的可变跟踪框智能算法。该算法可以准确快速地跟踪江河湖面上的非法采砂船,计算量少,鲁棒性高,对硬件的要求并不严苛,可以自由应用于从低性能到高性能的各种设备。基于该算法开发了非法采砂船追踪器,再配合百度深度学习平台Easy DL后,可构成一套采砂船监控系统,能够实现对长江水域非法采砂船24 h的有效监控,从而大大提高监控非法采砂行为的效率。