基于伪ID码的树型防碰撞算法

树型防碰撞算法在标签数目过多的情况下,由于树的深度过深导致标签识别效率低.为此,提出一种基于伪ID码的树型防碰撞算法.阅读器利用标签数量预测算法,检测出识别范围内未识别标签的大致数量并发给其标签.标签根据数量随机生成一个数字,作为自己的伪ID码.阅读器依次查询伪ID码,若发生碰撞,则利用碰撞跟踪树算法进行识别,在识别标签的过程中通过伪ID码降低查询树的深度,提高标签的识别效率.理论分析和仿真结果表明,与CTT算法和QT算法相比,该算法吞吐率分别提高了15%和74%,并且能够有效加快标签的识别速度,减少时隙总数.     

Barrier Lyapunov functions for the output tracking control of constrained nonlinear switched systems

In this paper, we investigate the output tracking control problem of constrained nonlinear switched systems in lower triangular form. First, when all the states are subjected to constraints, we employ a Barrier Lyapunov Function (BLF), which grows to infinity whenever its arguments approach some finite limits, to prevent the states from violating the constraints. Based on the simultaneous domination assumption, we design a continuous feedback controller for the switched system, which guarantees that asymptotic output tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded, provided that the initial states are feasible. Then, we further consider the case of asymmetric time-varying output constraints by constructing an appropriate BLF. Finally, the effectiveness of the proposed results is demonstrated with a numerical example.     

On the solution of the tracking problem for non-linear systems with MPC

This paper presents a Model Predictive Control (MPC) algorithm for non-linear systems which solves the tracking problem for asymptotically constant references. Closed-loop stability of the equilibrium and asymptotic zero-error regulation are guaranteed. The performance of the method is discussed with the classical Continuous Stirred Tank Reactor (CSTR) control application.     

人体运动分析研究的若干新进展

人体运动视觉分析主要包括运动目标检测、运动目标分类、人体运动跟踪、人体行为识别与描述四个环节,在多领域具有广阔的应用前景.本文从上述四个方面综述了人体运动分析的研究现状,对人体运动分析的热点难点进行讨论,对可能的发展方向进行阐述和展望.     

基于强跟踪滤波器训练的前向神经网络及其在系统辨识中的应用研究*

给出基于强跟踪滤波器训练前向神经网络的新方法。由于强制残差序列保持相互正交,强跟踪滤波器相对扩展Kalman滤波的收敛速度更快,同时精度更高。最后通过系统辨识仿真实例验证该方法的有效性。     

二进制无线传感器网络目标跟踪问题的研究

无线传感器网络是近几年发展起来的一门新技术,其研究的重点之一是目标跟踪问题。二进制传感器网络由于其低廉的布设代价、体积小、低能耗以及传感器节点简单,正得到越来越多的关注并用于目标跟踪。目前二进制无线传感器网络中的目标跟踪方法主要分为两大类:基于分段线性拟合的方法和基于粒子滤波的方法。现分别归纳总结现有二进制无线传感器网络中目标跟踪的两大类方法的研究成果并指出其优缺点以及未来的研究方向或需要完善的工作。     

间隙度量与跟踪系统中的鲁棒控制器设计

为定量研究鲁棒控制器允许对象有尽可能大的不确定性.在引入间隙度量的基础上,定义了跟踪系统鲁棒控制器的鲁棒边界,并对某跟踪系统设计了基于间隙度量的鲁棒控制器.该控制器能兼顾对象的不确定性与控制器的不确定性.由仿真结果可以看出,与普通的PID控制器相比,具有较大鲁棒边界的鲁棒控制器不仅具有较强的干扰抑制能力.而且能够在模型加性不确定性存在的情况下具有很好的跟踪性能.     

On the improvement of anthropometry and pose estimation from a single uncalibrated image

Recently, we developed a technique that allows semi-automatic estimation of anthropometry and pose from a single image. However, estimation was limited to a class of images for which an adequate number of human body segments were almost parallel to the image plane. In this paper, we present a generalization of that estimation algorithm that exploits pairwise geometric relationships of body segments to allow estimation from a broader class of images. In addition, we refine our search space by constructing a fully populated discrete hyper-ellipsoid of stick human body models in order to capture the variance of the statistical anthropometric information. As a result, a better initial estimate can be computed by our algorithm and thus the number of iterations needed during minimization are reduced tenfold. We present our results over a variety of images to demonstrate the broad coverage of our algorithm.Published online: 1 September 2003     

Tracking trajectories of the cart-pendulum system

The problem of tracking a periodic trajectory of the well-known cart-pendulum system is solved. After a change of coordinates and a change of feedback, the equations of this system are nonlinear but feedforward. This property is extensively used to carry out for this system the design of uniformly asymptotically stabilizing time-varying state feedbacks by using the forwarding approach.