融合异质传感信息的机器人粒子滤波定位方法

针对机器人采用视觉传感器和激光测距传感器单独定位的缺陷,提出一种融合视觉传感器和激光测距传感器感知信息的移动机器人Monte Carlo自定位方法.视觉目标识别过程中,只采用激光测距信息单独进行粒子集更新; 当视觉目标识别完成,利用码盘信息对视觉定位信息进行修正,然后融合激光测距信息进行粒子集的同步更新.视觉信息的全局...     

应用于自动化生产线的视觉机器人系统

应用于自动化生产线基于眼固定安装方式的机器人定位系统，提出了一种方便有效的手眼标方法，通过最小二乘法求解手眼坐标的变换关系，再根据工作台平面与摄像机成像模型的约束关系，求解出目标物体的三维位姿，并最终实现了机械手的精确定位。     

摄像机动态范围测试专用灯箱的研制——LED照明技术在专业测试设备中的应用

详细论述了在应用LED照明技术进行开发和研制摄像机动态范围测试灯箱过程中遇到的诸多技术问题，成功试制出摄像机动态范围测试专用灯箱设备，该设备在摄像机动态范围评测技术方面填补了相关领域国内空白，有广阔的市场前景，对摄像机及视频监控行业的技术发展有着深远的意义。     

Robust image-based detection of activity for traffic control

An important application of image processing and computer vision is the development of intelligent systems for traffic monitoring, management and optimization. This paper presents a system for real-time detection of moving vehicles approaching an intersection from sequences of colour images acquired by a stationary camera. The proposed approach is developed in the context of traffic-light control systems. As the system is dedicated to outdoor applications, efficient and robust vehicle detection under various weather and illumination conditions must be achieved. To deal with these ever-changing conditions, the vehicle detection relies on motion segmentation with dynamic background representation and on an original switching algorithm using hue-saturation-value (HSV) colour mapping to achieve feature space segmentation. Experimental results using real outdoor image sequences demonstrate the systems robustness under various and difficult environmental conditions.     

LED location beacon system based on processing of digital images

This paper is in the field of vehicle positioning technology for the intelligent transportation systems. The ideas of an innovative light-emitting diode (LED)-based location beacon system are developed and verified. The system developed is a combination of several latest technologies which include a CMOS vision sensor, high brightness LED, and digital image processing techniques. It belongs to a new kind of simplex communication link. A digital camera is used to capture images contained in the LED beacon signal. The captured digital images are processed by the algorithms developed and a location code is extracted. The location code can be used for calibration of a vehicle positioning system which may consist of a GPS, inertial navigation system (INS) and other sensors. The issues examined include the structure of the transmitter and the receiver, the signaling method, the transmission protocol of the LED panel, the relationship between the camera capturing rate and the LED pattern update rate, the digital camera exposure technology, and the efficiency of the image processing algorithms. Experiments using a prototype transmitter and a receiver were performed. The experimental results provide a good demonstration of the viability of the ideas and methodologies developed     

A method for measuring the 3‐D shape of objects with nonuniformly reflective surfaces

A method has been developed for measuring the shapes of 3‐D objects whose surfaces have regions of different reflectance. The 3‐D coordinates of the object sections are obtained by triangulation with a light‐section method, using a slit light source and a CCD camera. A CCD camera with an expanded dynamic range is employed to reduce the influence of reflection from uneven surfaces. The CCD camera expands the dynamic range by combining multiple images captured at different shutter speeds. A trial 3‐D shape measurement system has been produced using our method. The effectiveness of the method was confirmed experimentally. © 1998 Scripta Technica, Electr Eng. Jpn, 126(2): 40–47, 1999     

基于深度学习的并联机器人定位检测技术研究

针对机器视觉领域中并联机器人存在目标识别模糊,分类效率差以及反应速度过慢的问题,提出了一种基于深度学习的并联机器人定位检测技术。首先对目标识别物进行图像采集,改进图像数据集,将处理前后图像放入训练集提高网络效率,搭建YOLOX目标检测分类识别算法提高并联机器人检测精度;其次改进训练方式,通过预训练与实际训练提高可靠性,改进损失策略;然后建立并联机器人主体基坐标系与相机坐标系,结合手眼标定与相机标定方法,求得目标实际坐标与机器人基坐标系的转换关系;最后在并联机器人实验平台验证目标标定结果,对比主流深度学习算法YOLOv3、YOLOv4、Faster-RCNN得出的并联机构网络定位与实际定位的相对误差,结果表明YOLOX的定位精度误差为3.992-5.061mm之间,平均精确度达到了91%左右。该方法可为并联机器人结合深度学习实现检测定位提供一定参考价值。     

高帧频DVI接口彩色CMOS数字相机系统设计

针对高帧频彩色CMOS图像传感器在机器视觉高速成像领域中的应用,本文介绍利用高性能可编程逻辑器件FPGA实现CMOS图像传感器MI-MV13的高速驱动时序的设计,并且在FPGA内部设计了高速FIFO缓存器和双口RAM来完成Bayer彩色阵列图像数据的实时同步转换输出RGB彩色分量。最终由2片专用DVI接口集成芯片SiI178实现了DVI-IDualLink模式的高帧频高分辨率彩色图像输出,DVI接口方便显示终端和高速存储设备链接。该相机系统具有集成度高、低功耗、接口通用紧凑、传输带宽高的优点。     

多元感知的强夯施工质量智能监测装备系统

夯坑位置、夯次和夯沉量是强夯法施工质量监测的主要指标,其中夯沉量是传统监测的技术难点,监测的效率和精度往往难以兼顾。为此,本文研发了基于多元感知的强夯施工质量智能监测装备及配套的智能监测系统。构建了基于夯锤主动目标的夯沉量摄影测量监测体系;集成GNSS-RTK和磁方位角传感器实现了夯机和夯坑的协同定位;基于机器视觉和时序模式实现了夯次智能监测;研发了强夯施工质量智能监测云平台发布监测数据,集成上述系统实现了夯次、夯沉量、夯坑位置等施工参数的实时监测系统。现场实验验证了本智能装备的监测精度和效率均满足施工管理的要求。本文可为强夯施工等智能监测装备研发提供参考。     

An Address-Event Fall Detector for Assisted Living Applications

In this paper, we describe an address-event vision system designed to detect accidental falls in elderly home care applications. The system raises an alarm when a fall hazard is detected. We use an asynchronous temporal contrast vision sensor which features sub-millisecond temporal resolution. The sensor reports a fall at ten times higher temporal resolution than a frame-based camera and shows 84% higher bandwidth efficiency as it transmits fall events. A lightweight algorithm computes an instantaneous motion vector and reports fall events. We are able to distinguish fall events from normal human behavior, such as walking, crouching down, and sitting down. Our system is robust to the monitored person's spatial position in a room and presence of pets.      

光纤电流互感器系统的鲁棒控制器设计

为了减少系统增益的不确定性对系统动态性能的影响,笔者根据系统性能指标的要求,利用鲁棒控制理论设计控制器,改善了光纤电流互感器系统的动态性能,提高了系统的鲁棒性。同时分析了光纤电流互感器的闭环检测原理,建立了系统的数学模型。最后,通过计算机仿真对鲁棒控制器进行了仿真验证。仿真结果表明,改进的控制器设计提高了光纤电流互感器的鲁棒性,可使系统在较大范围参数变化时仍具有良好的频率特性和阶跃响应速度。     

Co-Ordinated Self-Tuning Control for Turbine and Exciter of a Turboalternator

ABSTRACT

Multivariable minimum variance self-tuning control of the exciter voltage and turbine speed of an isolated a–c turbogenerator system connected to a large-scale power network is considered. Simulation studies, employing a high-order non-linear representative system model are reported, with emphasis on rigorous assessment of performance within an operational context. Three-phase faults, with and without permanent line-switching, dynamic and transient stability, are amongst problems addressed, and comparison with conventional control philosophies is made. Convergence of the self-tuning algorithm under a wide range of operating conditions is demonstrated, and results indicate that a self-tuning controller, based on minimal advance plant knowledge, provides a viable, robust alternative to conventional schemes within the power system environment.     

A hybrid neuro-fuzzy power system stabilizer for multimachine powersystems

A fuzzy basis function network (FBFN) based power system stabilizer (PSS) is presented in this paper to improve power system dynamic stability. The proposed FBFN based PSS provides a natural framework for combining numerical and linguistic information in a uniform fashion. The proposed FBFN is trained over a wide range of operating conditions in order to re-tune the PSS parameters in real-time based on machine loading conditions. The orthogonal least squares (OLS) learning algorithm is developed for designing an adequate and parsimonious FBFN model. Time domain simulations of a single machine infinite bus system and a multimachine power system subject to major disturbances are investigated. The performance of the proposed FBFN PSS is compared with that of conventional (CPSS). The results show the capability of the proposed FBFN PSS to enhance the system damping of local modes of oscillations over a wide range of operating conditions. The decentralized nature of the proposed FBFN PSS makes it easy to install and tune     

Lane keeping based on location technology

Vehicle positioning with an accuracy of 10 cm or less will enable lane-keeping assistance in addition to other safety benefits when an enhanced lane-level digital map is in place. With constantly evolving technology and sensors, a high-precision positioning system that fits into the automotive market can be expected within the next decade. Such a system will incorporate Global Positioning System (GPS) and inertial system (INS) for enhanced positioning performance and availability. In this paper, the technology fields that will have a significant impact on the deployment of a centimeter-level vehicle-positioning system will be discussed. Vision-based lane-recognition (VBLR) systems are relatively mature and have already been introduced to the market for lane-departure warning, etc. However, both systems have some limitations. GPS/INS-based systems may suffer from frequent satellite signal masking or blockage, while vision-based systems do not work well in adverse weather conditions or with poor lane signature. Effectively combining these two technologies can make a robust lane-departure warning system. A precision map was made for the test area near Stuttgart using DaimlerChrysler Research and Technology North America (RTNA)'s map-making approach. A Mercedes S-class equipped with both a vision system and a high-precision GPS/INS was used for the test. The positioning map-matching results and the vision offset are compared and the complementary effectiveness is illustrated.     

Pseudoreal-time activity detection for railroad grade-crossing safety

It is important to understand the factors underlying grade-crossing crashes and to examine potential solutions. We have installed a camera in front of a locomotive to examine grade-crossing accidents (or near accidents). We present a computer vision system that automatically extracts possible near-accident scenes by detecting the activity of vehicles crossing in front of the train after signals are ignited. We present a fast algorithm to detect moving objects recorded by a moving camera with minimal computation. The moving object is detected by: 1) estimating the ego motion of the camera and 2) detecting and tracking feature points whose motion is inconsistent with the camera motion. We introduce a pseudoreal-time ego-motion (camera-motion) estimation method with a robust optimization algorithm. We present experiments on ego-motion estimation and moving-object detection. Our algorithm works in pseudoreal-time and we expect that our algorithm can be applied to real-time applications such as collision warning in the near future, with the development of hardware technology.     

Learning-based spatio-temporal vehicle tracking and indexing for transportation multimedia database systems

One key technology of intelligent transportation systems is the use of advanced sensor systems for on-line surveillance to gather detailed information on traffic conditions. Traffic video analysis can provide a wide range of useful information to traffic planners. In this context, the object-level indexing of video data can enable vehicle classification, traffic flow analysis, incident detection and analysis at intersections, vehicle tracking for traffic operations, and update of design warrants. In this paper, a learning-based automatic framework is proposed to support the multimedia data indexing and querying of spatio-temporal relationships of vehicle objects in a traffic video sequence. The spatio-temporal relationships of vehicle objects are captured via the proposed unsupervised image/video segmentation method and object tracking algorithm, and modeled using a multimedia augmented transition network model and multimedia input strings. An efficient and effective background learning and subtraction technique is employed to eliminate the complex background details in the traffic video frames. It substantially enhances the efficiency of the segmentation process and the accuracy of the segmentation results to enable more accurate video indexing and annotation. The paper uses four real-life traffic video sequences from several road intersections under different weather conditions in the study experiments. The results show that the proposed framework is effective in automating data collection and access for complex traffic situations.     

会议电视专用会议室探讨

会议电视的图像和声音质量决定了电视会议的使用效果,而作为会议电视视频和音频的来源——电视会议室,其相关的技术要素则对会议电视的图像和声音有重要影响。文章分析了会议电视专用会议室的环境、布局、照明、声学和电气方面对会议电视图像和声音质量的影响,并着重对环境布置、亮度、色温、光线均匀度、摄像机位置等一些要素进行了研究。对会议电视实际使用中遇到的图像和声音质量问题给出了解决方法,由此提升电视会议的转播质量。     

DLR/HIT II灵巧手控制系统及基关节同步控制

针对多传感器、多自由度机器人灵巧手,开发了基于DSP＆FPGA的多层控制系统.将手指驱动控制系统和传感器系统集成在手指内部,使得与人手尺寸和活动性相似的DLR/HIT II五指机器人灵巧手得以实现.对于手指基关节差分齿轮的运动协调问题,设计了包含速度和加速度前馈项、同步误差和位置误差反馈项以及平滑鲁棒非线性反馈补偿项的交叉耦合同步控制器,该控制器不需要精确的动力学模型.经与传统的非同步控制PD加摩擦力补偿控制和轨迹跟踪控制对比,实验验证了所设计的控制系统及交叉耦合同步控制器的有效性.     

基于滑模控制的LED恒流电源研究

发光二极管(LED)由于发光效率高、寿命长等优点在照明领域得到了越来越多的研究,但其伏安特性的非线性和温度敏感性为LED的高性能控制带来了难度。本文基于Boost变换器,提出了一种应用于LED照明系统恒流电源的新型滑模控制(SMC)方法,建立了新的滑模面函数,无需非线性负载的复杂模型。采用PSIM软件进行仿真,在实际50W光伏LED照明系统中进行了实验,将SMC与常规电流反馈PI控制方法进行了对比研究。仿真和实验结果表明在LED照明系统中采用本文提出的SMC方法,具有算法简单、动态响应快、鲁棒性好等优点。     

基于三维GIS的电网视频监控系统

电网视频监控系统是智能电网的一个重要组成部分,系统将三维GIS与视频监控进行集成,通过三维GIS显示监控点空间布局的功能,实现了以电网设备为中心的监控格局,增强了监控的针对性,利用摄像机预置位功能,简化了操作,节约了设备。以三维GIS为背景进行监控,并将三维视野、视角与摄像机预置位双向联动,使监控与环境融为一体,利用最佳路径分析,实现应急处理辅助决策和三维模拟演练。系统主要由前端系统、监控平台、客户端组成。监控平台分为三维GIS平台和视频平台,三维GIS平台通过组件调用的方式为视频平台提供三维GIS服务。系统使用了多种数据组织与空间索引优化技术、用Oracle数据库集成与管理多源数据、采用多级及分块处理技术处理三维数据、用基于SIP协议的信令软交换技术管理视频数据,以组件技术实现集成。以输电线路过江大跨越铁塔的视频监控为例,说明了该系统的建设和使用情况。