89C51单片微机在自动定位系统中的应用

针对枕式包装机定位系统存在的问题，提出并研制了基于单片机机的控制系统，该系统使包装定位精确，实现袋长和袋速的予置和实时检测等功能，实际运行平稳可靠，效果良好。     

一维驱动二维跟踪太阳自动跟踪系统设计

本文从对太阳方位变化规律的分析计算入手,利用天文时间来提供准确可靠的自动跟踪信号,并采用一维驱动实现二维精密跟踪的新技术。依此所设计的新型太阳能聚光器自动跟踪系统与同类产品相比,具有准确可靠、抗干扰能力强、成本低、方便实用等特点;这对于通过聚光方式推动太阳能应用具有重大的现实意义。     

一种在线学习的目标跟踪与检测方法

针对现有在线学习跟踪方法缺乏监督机制的缺点,提出一种新的跟踪框架。以随机森林在线学习理论构造分类器作为目标检测器,用SURF特征点匹配方法作为目标跟踪器,跟踪过程中用可靠跟踪的结果形成对检测结果的监督机制,不对低置信度样本或错误样本进行学习,避免了分类器分类精度的逐渐下降,同时在跟踪失败时用目标检测器对目标进行重新捕获,形成跟踪、学习、检测三者有机结合的跟踪框架。对不同视频序列的测试结果表明,本文算法能有效避免目标出现较大外观变化或被大面积遮挡等复杂情况下的跟踪失败问题。     

基于车载环境的交通目标跟踪

针对车载环境下小目标难以识别和相机动态移动造成的目标跟踪精度下降问题, 提出一种基于改进YOLOv5与ByteTrack的交通目标跟踪方法. 首先, 引入Transformer与加权特征金字塔(BiFPN)结构的思想重构YOLOv5检测网络, 有效捕获了特征的全局依赖关系, 缓解了深层卷积小目标信息丢失问题, 改善了车载环境下的目标检测性能. 此后, 以ByteTrack为基础提出了添加相机移动补偿的CMC-ByteTrack跟踪方法, 更精准地描述了视频前后帧的数据关联关系, 提高了相机大幅位移时的跟踪精度. 实验结果表明, 改进YOLOv5的平均检测精度(mAP)达到了82.2%, 相比原算法提高了3.9%, 与CMC-ByteTrack结合后的跟踪准确性(MOTA)相比改进前的跟踪方法提高了2.8%.     

基于粒子滤波的机动目标跟踪算法仿真研究

针对非线性多目标模型,应用粒子滤波算法,这种方法不受模型线性和Gauss假设的约束,是一种处理非线性非高斯动态系统状态递推估计的有效算法。在粒子滤波的基础上融合扩展卡尔曼滤波算法和无迹卡尔曼滤波算法。融合后的新算法在计算提议概率密度分布时,粒子的产生充分考虑当前时刻的量测,使得粒子的分布更加接近状态的后验概率分布,再用平滑算法处理滤波的结果。仿真结果表明,算法有较好的跟踪效果。     

The Skeptical Explorer: A Multiple-Hypothesis Approach to Visual Modeling and Exploration

The primary intent of this work is to present a method for sequentially associating three-dimensional surface measurements acquired by an autonomous exploration agent with models that describe those surfaces. Traditional multiple-viewpoint registration approaches are concerned only with finding the transformation that maps data points to a chosen global frame. Given a parts-based object representation, and assuming that the view correspondence can be found, the problem of associating the registered data with the correct part models still needs to be solved. While traditional approaches are content to group segmented data sets that geometrically overlap one another with the same part, there are cases where this causes ambiguous situations. This paper addresses the model-data association problem as it applies to three-dimensional dynamic object modeling. By tracking the state of part models across subsequent views, we wish to identify possible events that explain model-data association ambiguities and represent them in a Bayesian framework. The model-data association problem is therefore relaxed to allow multiple interpretations of the object's structure, each being assigned a probability. Rather than making a decision at every iteration about an ambiguous mapping, we look to the future for the information needed to disambiguate it. Experimental results are presented to illustrate the effectiveness of the approach.     

自适应Kalman滤波器在水下被动目标跟踪中的应用

在水下被动目标跟踪系统中，直角坐标系下的扩展卡尔曼滤波器容易发散而导致滤波精度很差，提出了一种修正极坐标系下的自适应卡尔曼滤波算法，对虚拟噪声进行估计，动态补偿模型线性化误差，消减系统的观测误差．对其滤波理论及算法进行了研究和仿真。仿真结果表明，该算法提高了滤波的稳定性、快速性和精确性，优于一般的扩展卡尔曼滤波算法。     

Finite‐time attitude‐tracking control for rigid spacecraft with actuator failures and saturation constraints

In this article, the problem of finite‐time attitude‐tracking control for rigid spacecraft is addressed. Uncertainties caused by external disturbances, unknown inertial matrix, actuator failures, and saturation constraints are tackled simultaneously. First, a smooth function that is more qualified to approximate the standard saturation characteristics is presented to deal with the actuator saturation constraints. Second, a fast nonsingular terminal sliding mode (FNTSM) manifold is constructed as a foundation of controllers design. By incorporating the fuzzy logic system into FNTSM technique, a less demanding solution of coping with model uncertainties is provided because the requirement of a prior knowledge of unknown inertial parameters and external disturbances in many existing achievements is removed. To reduce the number of parameters to be estimated, the norm approximation approach is exploited. Subsequently, an antichattering attitude controller is presented such that all the tracking errors converge into arbitrary small domains around the origin in finite time. The result is further extended to obtain a fault‐tolerant controller against completely failed actuators. Finally, numerical simulation is conducted to verify the effectiveness of the proposed control scheme and comparison with relevant literature demonstrates its high performance. Furthermore, an experiment for the large satellite Hubble Space Telescope is carried out to validate the practical feasibility.     

3-RRRT并联机器人鲁棒自适应模糊滑模控制

针对3-RRRT型搬运并联机器人提出了一种直接自适应模糊滑模控制方法.根据机器人的系统动力学模型特点,基于Lyapunov函数的综合设计方法和滑模控制理论,利用模糊逻辑系统与自适应技术相结合,提出了一种控制律,然后进行了系统控制仿真实验.结果表明,采用这种直接自适应模糊滑模控制方法的3-RRRT型并联机器人在周期干扰状况下达到了较高的轨迹控制精度,其闭环系统具有较强的自适应性和鲁棒稳定性.     

基于边界边缘检测的在线产品轮廓跟踪

产品流水线实时检测需有效解决流水线上运动产品的图像跟踪,提出仅选择在视频码流中跟踪目标的一个边界边缘来实现产品轮廓的跟踪。首先利用边缘运动去除背景,随后使用跟踪轮廓的正常方向导数选择边界边缘。准确跟踪是基于减少无关边缘的影响,因此仅选择边界边缘像素。使用边缘运动消除背景边缘需要计算跟踪目标的运动,同时移除边缘的运动和边缘与目标不同方向的运动,从而得到运动产品的轮廓。仿真实验结果表明,该跟踪方法对流水线上的产品有较好的跟踪效果,且具有较强的稳健性。