A Low Power Architecture for HASM Motion Tracking

This paper proposes low power VLSI architecture for motion tracking that can be used in online video applications such as in MPEG and VRML. The proposed architecture uses a hierarchical adaptive structured mesh (HASM) concept that generates a content-based video representation. The developed architecture shows the significant reducing of power consumption that is inherited in the HASM concept. The proposed architecture consists of two units: a motion estimation and motion compensation units.The motion estimation (ME) architecture generates a progressive mesh code that represents a mesh topology and its motion vectors. ME reduces the power consumption since it (1) implements a successive splitting strategy to generate the mesh topology. The successive split allows the pipelined implementation of the processing elements. (2) It approximates the mesh nodes motion vector by using the three step search algorithm. (3) and it uses parallel units that reduce the power consumption at a fixed throughput.The motion compensation (MC) architecture processes a reference frame, mesh nodes and motion vectors to predict a video frame using affine transformation to warp the texture with different mesh patches. The MC reduces the power consumption since it uses (1) a multiplication-free algorithm for affine transformation. (2) It uses parallel threads in which each thread implements a pipelined chain of scalable affine units to compute the affine transformation of each patch.The architecture has been prototyped using top-down low-power design methodology. The performance of the architecture has been analyzed in terms of video construction quality, power and delay.     

一种基于多路径搜索的音乐节奏检测算法

乐曲节奏检测和跟踪是音乐理解系统以及可视化系统的一个重要组成部分.本文提出了一种基于多路径搜索和聚类分析的节奏检测算法.本算法能够成功地检测出节奏感较强乐曲的节奏,并能跟踪出节奏点的具体位置.     

截断巴克码的旁瓣抑制研究

在研究截断巴克码与13位巴克码匹配滤波器的脉压结果的基础上，提出一种简单的绝对值相加的截断巴克码旁瓣抑制结构。在保证13位巴克码的峰值旁瓣电平比（PSL）的前提下，对12－7位截断巴克码都能获得良好的脉压结果，峰值旁瓣电平比接近1／P，其中P为截断巴克码的码长。这种新型的截断巴克码旁瓣抑制结构的特点是结构简单，容易实现，代价是信噪比损失大和硬件设备量增大。     

带宽自适应的人体运动跟踪均值漂移算法

传统Mean shift算法带宽固定的问题,导致了人体逐渐远离或者逐渐靠近摄像头运动时跟踪效果不好甚至失败.考虑到人体运动目标特征提取后的二值图像中,头部区域的图像呈圆形形状,并且可以用Hough变换检测出圆半径的大小.本文提出根据Hough变换检测出的圆半径在人体视频图像序列中的缩放比例,对带宽进行相应调整的算法.实验和分析表明本算法有很好的准确性和鲁棒性.     

基于Visual Foxpro的北京奥运会倒计时显示牌的设计

详细分析与探讨了用Visual Foxpro设计距2008北京奥运会开幕倒计时显示牌的方法和步骤。首先在设计北京奥运会倒计时显示牌表单界面及相关属性的基础上,阐明了北京奥运会倒计时显示牌的功能目标,进一步分析相应对象相关事件的基本过程,并提供相应的Visual Foxpro程序代码。     

Global uniform asymptotical stability of a class of nonlinear cascaded systems with application to a nonholonomic wheeled mobile robot

In this article, we consider the stability analysis problem for a class of nonlinear cascaded systems by using homogeneous properties. Assume that the driving subsystem and the driven subsystem are both homogeneous and locally uniformly asymptotically stable. If the cascaded term satisfies a given inequality, then the cascaded system is globally uniformly asymptotically stable. Furthermore, in the case that both degrees of homogeneity are negative, the cascaded system is globally uniformly finite-time stable. Compared with the existing methods, the conditions given in this article are much easier to verify. These stability results are applied to the global tracking control problem of a nonholonomic wheeled mobile robot. Simulation results are provided to show the effectiveness of the methods.     

Towards a Mobile Code Management Environment for Complex,Real-Time,Distributed Systems

We present a novel mobile code management environment,currently under design and development. Our design employs anopen architecture, suitable for ``plug-and-play' with COTS andother groups' tools. While we have studied new algorithms, costand objective functions, and other fundamental issues, the maincontribution of this experimental research work is in the environmentitself. It should be noted that networked platforms, such asthe World Wide Web, are inherently not suitable for traditional,predictable real-time applications. Thus, real-time concernsnecessarily need to be blended with others concerns, and thetarget applications, making use of our environment, will toobe a blend of partially hard real-time and partially (or mostly)soft-real- time ones. The prototype environment will thereforesupport performance-based analysis and management focusing notonly on predictability but also on compilation, efficiency, safetyand other tradeoffs. We have selected the Java language and itsbytecode format as a representation for mobile code as well asa language for our implementation.     

Robust tracking control design for uncertain robotic systems with persistent bounded disturbances

In this study, a robust nonlinear L_∞‐gain tracking control design for uncertain robotic systems is proposed under persistent bounded disturbances. The design objective is that the peak of the tracking error in time domain must be as small as possible under persistent bounded disturbances. Since the nonlinear L_∞ ‐gain optimal tracking control cannot be solved directly, the nonlinear L_∞ ‐gain optimal tracking problem is transformed into a nonlinear L_∞ ‐gain tracking problem by given a prescribed disturbance attenuation level for the L_∞ ‐gain tracking performance. To guarantee that the L_∞ ‐gain tracking performance can be achieved for the uncertain robotic systems, a sliding‐mode scheme is introduced to eliminate the effect of the parameter uncertainties. By virtue of the skew‐symmetric property of the robotic systems, sufficient conditions are developed for solving the robust L_∞ ‐gain tracking control problems in terms of an algebraic equation instead of a differential equation. The proposed method is simple and the algebraic equation can be solved analytically. Therefore, the proposed robust L_∞ ‐gain tracking control scheme is suitable for practical control design of uncertain robotic systems. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society