跟踪系统中跟踪器延迟的自适应预测补偿方法

跟踪系统中跟踪器的延迟会对系统的稳定性和跟踪精度产生不利影响。为此以典型Ⅱ型系统为例，理论上定理地分析了跟踪器延迟对跟踪系统的影响，并提出了将采用LMS算法和横向滤波器结构的自适应滤波器用于延迟预测补偿的方法。仿真结果验证了方法的有效性。     

Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

星间激光通信技术进展与趋势

较详细地评述了目前国外卫星间光通信技术研究的现状．根据关键单元技术的进展情况，总结了未来星间光通信系统的发展趋势。     

套管开窗侧钻技术在吐哈老井改造中的应用

从侧钻井层、开窗工艺、井身剖面的优选和井眼轨迹控制、固井措施优化等方面，详细总结了套管开窗定向侧钻技术在吐哈油田老井改造中应用的经验，系统地描述了该技术应用的地质条件和工程要素，提出了吐哈侧钻井层优选的量化指标和固井质量的优化措施。近两年，该技术在老井治理、开采难动用储量、提高采收率、降低开发钻井成本等方面展现出广阔的前景。     

Learning-based dynamic coupling of discrete and continuous trackers

We present a data-driven dynamic coupling between discrete and continuous methods for tracking objects of high dofs, which overcomes the limitations of previous techniques. In our approach, two trackers work in parallel, and the coupling between them is based on the tracking error. We use a model-based continuous method to achieve accurate results and, in cases of failure, we re-initialize the model using our discrete tracker. This method maintains the accuracy of a more tightly coupled system, while increasing its efficiency. At any given frame, our discrete tracker uses the current and several previous frames to search into a database for the best matching solution. For improved robustness, object configuration sequences, rather than single configurations, are stored in the database. We apply our framework to the problem of 3D hand tracking from image sequences and the discrimination between fingerspelling and continuous signs in American Sign Language.     

一种基于稳健匹配准则的视频文本跟踪方法

本文首先根据文本中各个字符的颜色相似的特性,确定已知文本块的文本的颜色,利用文本的颜色信息二值化文本图像以得到文本块中的字符数、字符的尺寸和间距;其次,根据视频图像的大小和视频的播放速度确定搜索窗口的大小,并利用文本的运动信息来预测搜索窗口的位置;第三,根据在相邻两帧中具有相同内容文本的颜色相似的特性,提出了一个可以解决脉冲噪声和部分缺损或遮挡问题的稳健匹配准则来跟踪文本块;最后,确定跟踪输出的文本的颜色、尺寸和运动方式。本文方法可以很好地跟踪平移、缩小或放大、旋转、淡入淡出和部分被遮挡的水平或倾斜排列的文本,并且可以记录文本平移、旋转和缩放的速度。     

Investigations of surface characterization of silicone rubber due to tracking phenomena under a.c. and d.c. voltages

In the present work, tracking phenomena has been studied with silicone rubber material under the a.c. and d.c. voltages following IEC-587 standards. The surface condition of the tracked zone was analysed using wide angle X-ray diffraction (WAXD) and thermogravimetric differential thermal analysis (TG-DTA) studies. The tracking time was different for a.c. and d.c. voltages.     

Minimum switching control for adaptive tracking

The switching adaptive control method has been used for quite a few years to solve the adaptive stabilization and model reference adaptive control problems. However, a serious problem with the switching control method is that the number of ‘candidate’ controllers can potentially be very large, especially for multi‐input–multi‐output systems. In this paper, we consider a class of minimum‐phase multi‐input–multi‐output plants with some mild compactness assumptions. Given any polynomial reference input, we provide a switching control law which guarantees exponentially stability of the closed‐loop system with exponential tracking performance. The main contribution of the paper is that we give the minimum number of candidate controllers required for switching. In particular, the number is equal to 2 for single‐input–single‐output plants (one for each sign of the high‐frequency gain), and is equal to 2^m for m‐input–m‐output plants. That is, the number is independent of the degree and the relative degree of the plant. Copyright © 2006 John Wiley & Sons, Ltd.     

自适应相位制中波同步广播及现场试验

在本试验中，采用智能同步广播激励器和ＣＣＴＶ传输的１ＭＨｚ标频，实现了中波同步广播同频保护率趋于０ｄＢ．并提出了自适应相位跟踪同步的概念。     

采用信息融合技术的IR／MMW复合导引头的目标跟踪

从误差测量环节入手，基于IR／MMW双模结构，采用信息融合处理技术提高其估计跟踪精度，最终达到降低制导误差，提高武器性能的目的，仿真结果验证了该方法的有效性。