Multiple-model Rao-Blackwellized particle probability hypothesis density filter for multitarget tracking

Multitarget tracking (MTT) is a frequent topic in visual surveillance systems. Although the multiple-model probability hypothesis density (MM-PHD) filter plays an important role in the MTT, both computerized intractability and imprecise estimate are still inevitable. To solve the problems, a novel filter is presented in this paper. Different from the previous work, the Rao-Blackwellized particle filtering algorithm is incorporated with the MM-PHD filter to reduce computational load, where the sequence Monte Carlo method is adopted to estimate the nonlinear state of targets, and the linear state is predicted using the Kalman filter with the information embedded in the estimated nonlinear state. With respect to tracking precision, we find that the reweighting scheme can be realized for the numberestimate of both undetected targets and false alarms. The result is useful in balancing the required particle number in order to stabilize target estimates during the surveillance period. The illustrative simulation is finally provided to show the effectiveness of the proposed filter.     

围油栏形状优化的数值模拟

文中对传统围油栏进行形状优化,应用流体体积分数法(VOF),数值模拟优化后的围油栏对两种不同粘度油类拦油效果;通过分析、比较拦油失效速度、失效时间以及围油栏失效前的栏前受压,说明围油栏形状优化的可行性,以提高围油栏的拦油性能。     

Path planning in complex 3D environments using a probabilistic roadmap method

This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, free space is represented by free voxels, which have enough space margin for the UAV to pass through. A bounding box array is created in the whole 3D space to evaluate the free voxel connectivity. The probabilistic roadmap method （PRM） is improved by random sampling in the bounding box array to ensure a more efficient distribution of roadmap nodes in 3D space. According to the connectivity evaluation, the roadmap is used to plan a feasible path by using A＊ algorithm. Experimental results indicate that the proposed algorithm is valid in complex 3D environments.     

Adaptive Decentralized NN Control of Nonlinear Interconnected Time‐Delay Systems with Input Saturation

In this paper, a novel decentralized adaptive neural control scheme is proposed for a class of interconnected large‐scale uncertain nonlinear time‐delay systems with input saturation. Radial basis function (RBF) neural networks (NNs) are used to tackle unknown nonlinear functions. Then, the decentralized adaptive NN tracking controller is constructed by combining Lyapunov–Krasovskii functions and the dynamic surface control (DSC) technique, along with the minimal‐learning‐parameters (MLP) algorithm. The stability analysis subject to the effect of input saturation constraints are conducted with the help of an auxiliary design system based on the Lyapunov–Krasovskii method. The proposed controller guarantees uniform ultimate boundedness (UUB) of all of the signals in the closed‐loop large‐scale system, while the tracking errors converge to a small neighborhood around the origin. An advantage of the proposed control scheme lies in the number of adaptive parameters of the whole system being reduced to one and in the solution of the three problems of “computational explosion,” “dimension curse,” and “controller singularity”. Finally, simulation results along with comparisons are presented to demonstrate the advantages, effectiveness, and performance of the proposed scheme.     

降低煮练工序印染废水COD的常用方法

印染的煮练工序中要排放出大量的废水,这些废水如果不加以妥善处理就排入水体中,将会破坏当地的生态环境,给人们的身体健康带来危害。因此,寻求高效廉价的处理方法处理煮练废水有很重要的现实意义。     

基于物理模型的近岸海浪建模与实时绘制

提出一种可以逼真地模拟大面积近岸海浪的方法。首先利用Boussinesq类方程求得指定海域一段时间内的海面运动序列;然后通过对此序列进行重建,得到"无限"长的海面运动序列;最后把相应的海面高度场作为顶点纹理进行绘制。在绘制时采用视点相关的海面网格,达到实时绘制的效果。实验表明,该方法模拟的大面积近岸海浪真实感强,绘制速度快,适合于实时仿真应用。     

EDI技术在集装箱运输市场应用研究

在信息技术高速发展的知识经济时代,EDI技术在航运市场的应用不但得到了肯定,而且已经形成了全球性的EDI网络。该文主要分析数据仓库系统的结构和建立,其次对基于EDI信息的集装箱运输市场系统进行分析。目的在于对于EDI技术如何进一步加工提炼信息增值服务,为众多港航EDI用户的日常运作提供更多的信息支持。     

连续不确定模糊系统的静态输出反馈控制

对于一类状态矩阵、输入矩阵和扰动输入矩阵中均含有不确定项的连续T-S模糊系统,研究其静态输出反馈控制问题.用矩阵不等式的形式给出了该模糊系统可通过静态输出反馈控制稳定的充分条件,并将矩阵不等式的条件转化为迭代线性矩阵不等式,同时给出了相应的迭代算法.最后用数值仿真例子说明了该算法的有效性和收敛性.     

一种自适应振动主动控制策略及其在C型三维表面检测系统中的应用

基干广义最小方差和一步超前预报理论,围绕三维型面扫描系统中所存在的周期性徽振动问题,提出了一种新的自适应振动主动控制算法.以C型臂式三维激光扫描系统为应用背景,基于来自于该系统的数据样本建立了系统的振动动态自回归滑动平均模型(ARMA模型).采用所提出的自适应控制算法对该模型进行了振动主动控制仿真研究.仿真结果验证了所提出的方案可以有效地抑制C型臂运动过程中产生的振动,提高系统的整体三维检测精度.