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31.
33.
Human tracking has been a challenging task for robot in the past decades. In this paper, to realize the human following in a cluttered environment, a human tracking system based on adaptive multi-feature mean-shift (AMF-MS) under the double-layer locating mechanism (DLLM) is proposed to solve the problem of distinguishing target, occlusion, and quick turning. The DLLM, considering the course location processing and fine location processing, is designed to estimate the person’s position using the fusion of heterogeneous data. As an ID tag attached on target can be detected by RF antennas, the course locating method can track the target easily and quickly. The Bayes rule is introduced to calculate the probability where the tag exists due to the instability of RF signals. In the fine locating step, the AMF-MS is proposed because it can reduce computational load and represent target by multi-feature histogram function. Meanwhile, we combine extended Kalman filter and AMF-MS to overcome MS’s inability of occlusion. To control the robot following the target person precisely, an intelligent gear shift strategy based on fuzzy control is implemented by analyzing the robot structure. Experiments demonstrate that the proposed approach is robust to handle complex tracking conditions, and show the system has an optimum performance. 相似文献
34.
生物发酵过程中关键生化变量难以直接检测,提出了一种利用基于敏感性与特异性的变量投影重要性(SSVIP)方法优化神经网络逆系统(NNI)的软测量方法。根据逆系统理论建立软测量模型,采用VIP变量优选方法,对软测量模型中的辅助变量进行优化。为了进一步提高VIP方法优选变量的性能,利用模型敏感性与特异性的概念,重新定义了VIP筛选阈值,确定最优的发酵过程软测量模型的变量。构造神经网络近似最优逆系统软测量模型,实现对发酵过程中关键过程变量的估计。通过Pensim仿真平台进行实验研究,结果表明经过辅助变量优选的神经网络逆系统软测量模型具有更高的估计精度和泛化能力。 相似文献
35.
纸币成像方式分为反射和透射成像两种方式。反射方式成像的纸币图像清晰、背景单一,但采集任意方向进入点验设备的冠字号图像需两个图像传感器,占用仓室空间大;相同条件下,透射方式仅需一个图像传感器,具有空间上的优势,但透射方式的图像背景复杂、两面图像重叠、易光照不均。针对这些问题,提出一种冠字号定位的新算法。检测冠字号的字符间间隙特征点;在特征点检测基础上,进行水平投影,根据人民币固有属性计算冠字号区域的准确水平位置;在水平定位基础上,通过定位欧姆龙环间接计算出冠字号区域的准确垂直位置;利用连通域标记算法定位出单个字符。对2000张正常流通05版人民币进行测试,定位正确率为100%。 相似文献
36.
边界扫描电路是在ASIC和FPGA中广泛应用的一种可测性设计。介绍了边界扫描电路的发展及应用,阐述了边界扫描电路的电路结构,并着重研究了边界扫描电路的故障类型及测试方法。 相似文献
37.
Ti‐based Ziegler–Natta catalysts supported on MgCl2 doped with AlCl3 were prepared by the reaction of MgCl2/AlCl3–ethanol adduct with TiCl4. No AlCl3 crystallites were found in the AlCl3‐doped catalysts by WAXD analysis, suggesting that AlCl3/MgCl2 solid solution was formed. The effect of doping on the catalyst performance in ethylene polymerization was investigated. The results showed that the catalysts based on AlCl3‐doped MgCl2 support exhibited a slightly higher activity than did the MgCl2‐supported catalyst and the molecular weight distribution (MWD) of polyethylene (PE) markedly increased (from 10.8 to 47.9) with the increase of AlCl3 content in catalysts. The changes in catalyst's active center distribution were studied based on nonlinear fitting of the polymer GPC curves by multiple Flory functions. It was found that increase of types of active centers by introducing AlCl3 into the support should be responsible for the broadening of MWD of PE. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 1768–1772, 2006 相似文献
38.
The epoxidation of propylene catalyzed by a reaction-controlled phase transfer catalyst [π-C5H5NC16H33]3[PW4O16] is investigated. The H2O2 is generated by the oxidation of 2-ethylanthrahydroquinone (EAHQ) with molecular oxygen in the organic solvent. Under mild conditions, the selectivity for propylene oxide, based on propylene, is 95%, and the yield, based on 2-ethylanthrahydroquinone, is 85%. During the epoxidation, the catalytic system is homogeneous. However, after the H2O2 is used up, the catalyst can be recovered as a precipitate and can be reused. After the epoxidation reaction, 2-ethylanthraquinone can be regenerated to 2-ethylanthrahydroquinone by catalytic hydrogenation, and no coproduct is produced. 相似文献
39.
介绍了乙二胺、氢氧化钠和高温等三种不同的纤维素预处理方法。研究预处理后纤维素的结构变化,讨论预处理过程中的转化机理,并通过X射线衍射对纤维素结晶度的变化进行表征,证明乙二胺预处理后纤维素的结晶度下降最大。纤维素经过预处理后可以溶解在DMAc/LiCI中,讨论其溶解机理,通过对比三种预处理纤维素的溶解性能,表明经过乙二胺预处理之后的纤维素在DMAc/LiCI中溶解性能最好,氢氧化钠预处理的纤维素次之,高温预处理的纤维素溶解性能相对较差。 相似文献
40.
Maoguo Gong Meng Jia Linzhi Su Shuang Wang Licheng Jiao 《International journal of remote sensing》2014,35(11-12):4009-4030
The Yellow River Estuary area of China is under great pressure from both human intervention and natural processes. For analysis of the changes in this area, this article presents a novel change-detection method based on a local fit-search model and kernel-induced graph cuts in multitemporal synthetic aperture radar images. Change detection involves assigning a label to every pixel. This task is naturally formulated in terms of energy minimization, which can be effectively solved by graph cuts. The difference image is transformed implicitly by a kernel function so that an alternative to complex modelling of the original data makes the piecewise constant model become applicable for graph cuts formulation. An issue is that graph cuts are sensitive to the initial estimate. The local fit-search model is proposed to approximate to the local histogram while selecting an optimal threshold for the initial labelling, which leads to an effective constraint for graph cuts and computational benefits as well. Visual and quantitative analyses obtained on the Yellow River Estuary data set confirm the effectiveness of the proposed method and that it outperforms the other state-of-the-art methods of change detection. 相似文献