迭代学习的高速伺服系统位置控制策略

针对高速运动伺服控制系统的精确位宣跟踪控制问题,在A型迭代学习控制算法的基础上,提出了一种基于比例一预期迭代学习控制的位置控制策略,并将其应用于建立的交流永磁同步电机模型,最后利用Matlab进行仿真研究。结果表明,此控制策略仅需少量对象信息就能满足系统的性能要求。它与常见迭代学习控制算法相比,具有位置控制精度高、学习收敛速度快等优点。     

Light-weight salient foreground detection for embedded smart cameras

An embedded smart camera is a stand-alone unit that not only captures images, but also includes a processor, memory and communication interface. Battery-powered, embedded smart cameras introduce many additional challenges since they have very limited resources, such as energy, processing power and memory. Computer vision algorithms running on these camera boards should be light-weight and efficient. Considering the memory requirements of an algorithm and its portability to an embedded processor should be an integral part of the algorithm design in addition to the accuracy requirements. This paper presents a light-weight and efficient background modeling and foreground detection algorithm that is highly robust against lighting variations and non-static backgrounds including scenes with swaying trees, water fountains and rain. Compared to many traditional methods, the memory requirement for the data saved for each pixel is very small in the proposed algorithm. Moreover, the number of memory accesses and instructions are adaptive, and are decreased depending on the amount of activity in the scene. Each pixel is treated differently based on its history, and instead of requiring the same number of memory accesses and instructions for every pixel, we require less instructions for stable background pixels. The plot of the number of unstable pixels at each frame also serves as a tool to find the video portions with high activity. The proposed method selectively updates the background model with an automatically adaptive rate, thus can adapt to rapid changes. As opposed to traditional methods, pixels are not always treated individually, and information about neighbors is incorporated into decision making. The results obtained with nine challenging outdoor and indoor sequences are presented, and compared with the results of different state-of-the-art background subtraction methods. The ROC curves and memory comparison of different background subtraction methods are also provided. The experimental results demonstrate the success of the proposed light-weight salient foreground detection method.     

Video analysis based on volumetric event detection

During the past decade, feature extraction and knowledge acquisition based on video analysis have been extensively researched and tested on many applications such as closed-circuit television(CCTV)data analysis, large-scale public event control, and other daily security monitoring and surveillance operations with various degrees of success. However, since the actual video process is a multi-phased one and encompasses extensive theories and techniques ranging from fundamental image processing, computational geometry and graphics, and machine vision, to advanced artificial intelligence, pattern analysis, and even cognitive science, there are still many important problems to resolve before it can be widely applied. Among them, video event identification and detection are two prominent ones. Comparing with the most popular frame-to-frame processing mode of most of today's approaches and systems, this project reorganizes video data as a 3D volume structure that provides the hybrid spatial and temporal information in a unified space. This paper reports an innovative technique to transform original video frames to 3D volume structures denoted by spatial and temporal features. It then highlights the volume array structure in a so-called "pre-suspicion" mechanism for a later process. The focus of this report is the development of an effective and efficient voxel-based segmentation technique suitable to the volumetric nature of video events and ready for deployment in 3D clustering operations. The paper is concluded with a performance evaluation of the devised technique and discussion on the future work for accelerating the pre-processing of the original video data.     

基于MFC和OpenGL的喷砼机器人三维仿真平台的设计

以PJR-2X喷砼机器人为例,介绍了一种基于VC++的MFC和OpenGL的人机交互式三维仿真平台的设计方法。该方法采用Solidworks软件对该机器人建模,并将三维模型保存为.STL文件,然后导入3DSMax中确立纹理坐标,输出的3DS文件再导入Deep Exploration中进行三维模型材质、纹理的二次处理,最后通过MFC导入到以OpenGL为标准建立的工作场景中进行场景渲染,从而得到逼真的机器人三维虚拟仿真平台。实际应用表明,该仿真平台能精确表达机器人的正逆运动特性,并能示教演示。     

动画专业人物基础素描特征浅析

动画素描表现形式与技法具有绘画艺术的普遍共性特征,多角度全方位理解与掌握人体造型与运动规律,简洁准确地表现人物的形体特征,将写生能力与形象记忆能力相结合并同步提高,为创造形象和专业学习打好基础。     

一种AVS-M整数像素运动估计快速算法

根据AVS-M编码过程中运动估计的特点,在整数像素运动矢量搜索过程中,提出一种基于起点预测和早停止的自适应运动估计快速搜索算法.与MVFAST算法相比,大大减少了搜索点数,加速了搜索过程,平均速度提高了39.9%~45.7%,减少了整数像素运动估计的计算量,在保持较低的编码码率和较好的图像质量的同时,提高了编码速度.     

一种基于自适应扁平搜索模板的改进ARPS算法

针对ARPS算法中初始预测运动矢量不够精确并且ARPS算法针对不同宏块采用相同搜索策略的问题,在深入研究ARPS算法原理的基础上,提出一种基于自适应扁平搜索模板的新的快速运动估计算法.本文在算法的初始预测运动矢量、算法提前终止准则等方面提出了新的观点和方法,同时针对物体的不同运动趋势采用不同的搜索模板.实验证明,本文提出的改进算法在不影响图像编码效率的前提下较大地降低了计算复杂度.     

一种用于帧频提升系统的运动估计算法

基于静止检测、运动矢量预测,结合局部全搜索和下采样方法,提出一种有效的运动估计算法。将该算法用于基于运动估计运动补偿的帧频提升系统中。实验结果表明,该算法在减少计算量的同时,保证了内插帧有较高的主客观质量,能减少搜索点数,同时保持较高的搜索准确度。     

基于运动矢量分量差的视频隐写算法

针对H.264/AVC视频压缩标准,提出基于运动矢量分量差的隐写算法。根据人眼视觉特性,筛选出人眼较不敏感的运动矢量,计算其分量差以控制嵌入操作的位置,并在选定的运动矢量分量中嵌入秘密信息。由于操作具有对称性,因此对视频质量的影响较小。理论分析和实验结果证明,该算法具有较高的载体利用率和嵌入效率,能够达到视频隐蔽通信对隐蔽性和隐写容量的要求。     

Stochastic differential equations driven by a Wiener process and fractional Brownian motion: Convergence in Besov space with respect to a parameter

A stochastic differential equation involving both a Wiener process and fractional Brownian motion, with nonhomogeneous coefficients and random initial condition, is considered. The coefficients and initial condition depend on a parameter. The assumptions on the coefficients and the initial condition supplying continuous dependence of the solution on a parameter, with respect to the Besov space norm, are established.