一种智能寻迹与搬运机器人的控制系统设计

提出寻迹与搬运机器人的一种智能控制系统设计;该系统主要由单片机、传感器和执行舵机组成;通过分析直行、弯道与取物等工作模式,建立相应的舵机驱动控制;传感器将检测到的路线和工件信号传送给单片机进行处理;按照不同的优先级别,由单片机发出脉冲信号,控制舵机的速度与方向,完成抓取、转运工件的任务;实验结果表明:多路传感器的信息融合能有效识别寻迹路径,确定优先级别的控制;舵机的驱动控制能满足寻迹与搬运的要求;系统设计简单,实用可靠,具有良好的开放性与扩展性.     

太阳能LED路灯控制系统的设计

设计了一套基于STC12单片机的太阳能LED路灯控制系统,系统采用变步长的电导增量法跟踪太阳能电池板最大功率点,充分利用太阳能电池板的能量,对铅酸蓄电池充电。同时实时监测铅酸蓄电池的电压防止蓄电池过充、过放等现象;对LED路灯采用多段式的恒流控制,通过环境照度的监测控制LED路灯在不同电流强度下工作,以增强LED路灯的使用寿命,实现节约用电的目的。     

Android智能手机的云服务应用研究

云计算的应用目标并不仅局限于PC,随着移动互联网的蓬勃发展,基于手机等移动终端的云服务已成为IT行业炙手可热的新业务发展模式。本文基于Openmobster搭建移动云计算环境,并利用Android智能手机作为终端来访问云端服务器资源,以数据传输的事务处理为应用背景,采用c／s模式和B／S模式相结合的方式,建立了云服务下移动智能终端信息采集和处理的基础架构,并根据此架构初步实现了追踪定位的功能。该方法通过无线网络连接,利用服务器端与手机客户端的即时通信,实现了为Android智能手机提供云推送和云同步的服务。     

Multi-target tracking on confidence maps: An application to people tracking

We propose a generic online multi-target track-before-detect (MT-TBD) that is applicable on confidence maps used as observations. The proposed tracker is based on particle filtering and automatically initializes tracks. The main novelty is the inclusion of the target ID in the particle state, enabling the algorithm to deal with unknown and large number of targets. To overcome the problem of mixing IDs of targets close to each other, we propose a probabilistic model of target birth and death based on a Markov Random Field (MRF) applied to the particle IDs. Each particle ID is managed using the information carried by neighboring particles. The assignment of the IDs to the targets is performed using Mean-Shift clustering and supported by a Gaussian Mixture Model. We also show that the computational complexity of MT-TBD is proportional only to the number of particles. To compare our method with recent state-of-the-art works, we include a postprocessing stage suited for multi-person tracking. We validate the method on real-world and crowded scenarios, and demonstrate its robustness in scenes presenting different perspective views and targets very close to each other.     

Particle filters and occlusion handling for rigid 2D–3D pose tracking

In this paper, we address the problem of 2D–3D pose estimation. Specifically, we propose an approach to jointly track a rigid object in a 2D image sequence and to estimate its pose (position and orientation) in 3D space. We revisit a joint 2D segmentation/3D pose estimation technique, and then extend the framework by incorporating a particle filter to robustly track the object in a challenging environment, and by developing an occlusion detection and handling scheme to continuously track the object in the presence of occlusions. In particular, we focus on partial occlusions that prevent the tracker from extracting an exact region properties of the object, which plays a pivotal role for region-based tracking methods in maintaining the track. To this end, a dynamical choice of how to invoke the objective functional is performed online based on the degree of dependencies between predictions and measurements of the system in accordance with the degree of occlusion and the variation of the object’s pose. This scheme provides the robustness to deal with occlusions of an obstacle with different statistical properties from that of the object of interest. Experimental results demonstrate the practical applicability and robustness of the proposed method in several challenging scenarios.     

Pedestrian Detection and Tracking Using Deformable Part Models and Kalman Filtering

Abstract： Pedestrian detection techniques are important and challenging especially for complex real world scenes. They can be used for ensuring pedestrian safety, ADASs （advance driver assistance systems） and safety surveillance systems. In this paper, we propose a novel approach for multi-person tracking-by-detection using deformable part models in Kalman filtering framework. The Kalman filter is used to keep track of each person and a unique label is assigned to each tracked individual. Based on this approach, people can enter and leave the scene randomly. We test and demonstrate our results on Caltech Pedestrian benchmark, which is two orders of magnitude larger than any other existing datasets and consists of pedestrians varying widely in appearance, pose and scale. Complex situations such as people occluded by each other are handled gracefully and individual persons can be tracked correctly after a group of people split. Experiments confirm the real-time performance and robustness of our system, working in complex scenes. Our tracking model gives a tracking accuracy of 72.8% and a tracking precision of 82.3%. We can further reduce false positives by 2.8%, using Kalman filtering.     

光伏电池最大功率点跟踪方法比较

根据太阳能光伏电池的工程数学模型,在Matlab环境下建立了光伏电池仿真模型,分析了光照强度和温度变化对光伏电池输出特性的影响。针对扰动观察法采用固定的扰动步长而难以获得较高跟踪精度和响应速度的问题,提出了一种基于变步长的改进的扰动观察法,并通过对光伏电池控制系统进行仿真,比较了这2种最大功率点跟踪方法的仿真曲线。结果表明,采用改进的扰动观察法的光伏电池控制系统能更快速跟踪最大功率点,且在最大功率点处稳定性较好。     

改进型双馈风力发电机最大功率点跟踪策略

针对传统双馈风力发电机最大功率点跟踪极值搜索策略将正弦信号作为搜索信号而很难将正弦信号从总的输出信号中区分出来的问题,提出了一种利用风湍流作为极值搜索信号的改进型最大功率点跟踪策略。该改进策略对叠加风湍流的叶尖速比和功率系数进行傅里叶变换,获得相位差信息,从而确定叶尖速比变化方向,使双馈风力发电机达到最佳运行工作点。仿真结果表明,该改进策略可控制风力发电机转速较好地跟踪风速变化,实现了额定风速以下运行区域的最大风能捕获。     

A reservoir serves as refuge for adults of the endangered Macquarie perch

Home‐range estimates are an important input to species recovery plans. Our aim was to estimate the home‐range size of the endangered Macquarie Perch in the lower Cotter River catchment, Australia. In total, fourteen home‐range estimates were calculated from intensive radio‐tracking of adult individuals over a minimum of five diel periods in either autumn (n = 5) or spring (n = 9). Home‐range (95% Kernel) and core area (50% Kernel) were calculated by Kernel estimation and corrected for overlap with land. Seasonal estimates of home‐range and core area were not asymptotic in relation to cumulative number of radio‐fixes in four of fourteen cases. The mean within‐season home‐range of adult Macquarie perch was 5.5 ha ranging from 0.2 to 18.4 ha, based on 10 cumulative estimates that were asymptotic in relation to radio‐tracking effort. All five individuals radio‐tracked in autumn occupied a single core area, whereas in spring, six individuals occupied a single core area and three individuals each occupied three core areas. Despite individuals moving on a scale almost comparable to Cotter Reservoir (48.5 ha), only a single radio‐tagged individual was found to leave the reservoir and enter the river. Regional fisheries managers are generally aware of the requirement for Macquarie perch to access flowing water for spawning in south‐eastern Australia; however, in the Cotter River catchment, the protection of habitat for this species within Cotter Reservoir is also paramount. Our study highlights the importance of reservoirs for conserving a threatened aquatic species.     

基于自适应水平集方法的运动目标跟踪

在对复杂背景条件下的非刚体目标进行跟踪时,水平集方法是一种非常有效的方法。针对水平集的初始化问题,提出了一种自适应初始化的水平集方法。首先采用粒子滤波对目标进行跟踪,得到运动目标的粗外接矩形轮廓;然后以外接矩形轮廓的质心为基础进行水平集曲线演化,求取目标的精确轮廓信息,并将轮廓的提取结果反馈到跟踪框架中;最后,动态更新参考模板,以改进似然函数。实验结果表明,本方法能够适应非刚体目标在运动中的自由变化,使得跟踪更加精确。