一种基于光照变化补偿的颜色识别方法

针对RoboCup中型组足球机器人比赛中光照变化会使颜色发生色彩漂移,影响颜色识别的准确性问题,提出一种基于光照变化补偿的颜色识别方法。该方法首先利用球的历史信息预测球的位置,然后在较小的区域内用基于色调直方图反向投影的方法找到球后,通过球的亮度直方图的变化计算出光照变化率,用于动态补偿颜色查找表。实验表明该方法能提高颜色识别的光照自适应性。     

世界杯小组赛出线预测程序

每届足球世界杯都会受到无数人的关注,媒体和个人都很热衷比赛结果的预测。该程序根据世界杯比赛胜负出线规则对比赛结果进行预测。     

基于组反馈融合机制的视频超分辨率模型

视频超分辨率（video super-resolution,VSR）的目的是利用多个相邻帧的信息来生成参考帧的高分辨率版本。现有的许多VSR工作都集中在如何有效地对齐相邻帧以更好地融合相邻帧信息,而很少在相邻帧信息融合这一重要步骤上进行研究。针对该问题,提出了基于组反馈融合机制的视频超分辩模型（GFFMVSR）。具体来说,在相邻帧对齐后,将对齐视频序列输入第一重时间注意力模块;然后,将序列分成几个小组,各小组依次通过组内融合模块实现初步融合。不同小组的融合结果经过第二重时间注意力模块;然后,各小组逐组输入反馈融合模块,利用反馈机制反馈融合不同组别的信息,最后将融合结果输出重建。经验证,该模型具有较强的信息融合能力,在客观评价指标和主观视觉效果上都优于现有的模型。     

Positive state‐bounding observer for positive interval continuous‐time systems with time delay

This paper is concerned with the problem of positive observer synthesis for positive systems with both interval parameter uncertainties and time delay. Conventional observers may no longer be applicable for such kind of systems due to the positivity constraint on the observers, and they only provide an estimate of the system state in an asymptotic way. A pair of positive observers with state‐bounding feature is proposed to estimate the state of positive systems at all times in this paper. A necessary and sufficient condition for the existence of desired observers is first established, and the observer matrices can be obtained easily through the solutions of a set of linear matrix inequalities (LMIs). Then, to reduce the error signal between the system state and its estimates, an iterative LMI algorithm is developed to compute the optimized state‐bounding observer matrices. Finally, a numerical example is presented to show the effectiveness and applicability of the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

A delay‐dependent bounded real lemma for singular LPV systems with time‐variant delay

This paper is concerned with establishing a delay‐dependent bounded real lemma (BRL) for singular linear parameter‐varying (LPV) systems with time‐variant delay. In terms of linear matrix inequality, a delay‐dependent BRL is presented to ensure singular time‐delay LPV systems to be admissible and satisfy a prescribed H_∞ performance level. The BRL is obtained based on the construction of a parameter‐dependent Lyapunov–Krasovskii functional. The effectiveness of the proposed approach is shown by several numerical examples. Copyright © 2011 John Wiley & Sons, Ltd.     

Memoryless SMC Design Methods for Stochastic Delay Systems

Recently, the sliding mode control (SMC) method has been extended to accommodate stochastic systems. Particularly, restrictive assumption on the structure of the control systems have been removed and a practical SMC design method for stochastic systems has been presented. This paper continues this line of research and studies the SMC methods for stochastic systems with state delay in diffusion. Both delay‐independent and delay‐dependent approaches are investigated. Essentially, this paper studies SMC design methods with memoryless controllers for time delay systems, which has been a problem in the past decades.     

Stability of Impulsive Stochastic Neutral Partial Differential Equations With Infinite Delays

In this paper, we study the existence and asymptotic stability in the pth moment of the mild solutions to impulsive stochastic neutral partial differential equations with infinite delays. Sufficient conditions ensuring the stability of the impulsive stochastic system are established. The results are obtained via the Banach fixed point theorem.     

Input‐to‐state stability of min‐max MPC scheme for nonlinear time‐varying delay systems

This paper studies the robustness problem of the min–max model predictive control (MPC) scheme for constrained nonlinear time‐varying delay systems subject to bounded disturbances. The notion of the input‐to‐state stability (ISS) of nonlinear time‐delay systems is introduced. Then by using the Lyapunov–Krasovskii method, a delay‐dependent sufficient condition is derived to guarantee input‐to‐state practical stability (ISpS) of the closed‐loop system by way of nonlinear matrix inequalities (NLMI). In order to lessen the online computational demand, the non‐convex min‐max optimization problem is then converted to a minimization problem with linear matrix inequality (LMI) constraints and a suboptimal MPC algorithm is provided. Finally, an example of a truck‐trailer is used to illustrate the effectiveness of the proposed results. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A new admissibility condition of discrete-time singular systems with time-varying delays

This paper gives a novel delay-dependent admissibility condition of discrete-time singular systems with time-varying delays. For convenience, the time-varying delay is assumed to be the sum of delay lower bound and the integral multiples of a constant delay. Specially, if the constant delay is of unit length, the delay is an interval-like time-varying delay. The proposed admissibility condition is presented and expressed in terms of linear matrix inequality (LMI) by Lyapunov approach. Generally, the uncertainty of time-varying delay would lead to conservatism. In this paper, this critical issue is tackled by accurately estimating the time-varying delay. Consequently, the proposed admissibility condition is less conservative than the existing results, which is demonstrated by a numerical example.