基于信息势能的鲁棒估计器及其在同时定位与地图构建问题中的应用

提出了一种基于信息势能鲁棒估计器来解决机器人室内的同时定位与地图构建（SLAM）问题．结构化的室内环境可以用线段近似表示．然而动态环境中,测距传感器测得的数据通常湮没在大量的噪声信号中．本文采用“分割与合并”（split—and．merge）方法进行线段的分类,根据信息势能的性能指标衡量每个采样数据对该线段的信息贡献量．按照信息优化理论设计估计器,选择信息量贡献大的样本点作为信息内点提取线段参数,构建局部地图．采用粒子滤波器进行地图及机器人路径的更新．采用递推的方法估计信息势能,降低了对样本点的信息量贡献做估计时的复杂度．仿真和实验结果证明,本文所提出的方法具有较强的鲁棒性,提高了SLAM策略的准确性和实时性．     

基于能效优化的两足机器人步态控制方法

针对高能耗导致的两足机器人实用化障碍,提出了一种全新的、系统化的步态能效优化控制方法.基于两足机器人运动的重要能耗指标(平均功率、平均功率偏差、平均力矩损耗),提出了能耗预估策略和能效优化算法,获取了零力矩点(ZMP)稳定区域内的能耗极小值.沿着能耗极小值所对应的上体轨迹对机器人步态实施能效优化控制,最终获得满足ZMP稳定判据的低能耗步态.仿真结果证明,该方法能够有效降低机器人能耗并保持其稳定性.     

基于Zernike矩和DCT变换的数字水印算法

提出一种基于Zernike矩和DCT变换的鲁棒数字水印算法,对图像的旋转角度进行估计,以提高其抵抗旋转攻击的能力,将基于图像内容的具有正交特性的Zemike多项式作为水印信号,并在Watson视觉感知模型的控制下嵌入图像低频系数中,同时采用相关检测方法确定水印的存在,实验结果表明,该算法具有良好的鲁棒性、不可见性及可检测性。     

杂草入侵ABC算法及其在控制分配中的应用

针对广义逆在进行控制分配时存在分配效率较低的问题,提出了一种新的控制分配方法.首先,利用人工蜂群算法(ABC)对伪逆阵进行寻优,选择较大的转矩可达集体积,从而提高系统的分配效率;然后,采用杂草入侵算法中的子代空间扩散机制和繁殖机制,分别取代了ABC中盲目性的进化方式和轮盘赌式的选择策略,解决了该算法可能出现收敛速度降低和陷入局部最优等问题;最后,通过仿真验证了提出的控制分配方法能有效地解决多操纵面飞机的控制分配问题.     

Design of an adaptive fuzzy sliding mode control for uncertain discrete-time nonlinear systems based on noisy measurements

This paper presents the design of an adaptive fuzzy sliding mode control (AFSMC) for uncertain discrete-time nonlinear dynamic systems. The dynamic systems are described by a discrete-time state equation with nonlinear uncertainties, and the uncertainties include the modelling errors and the external disturbances to be unknown but nonlinear with the bounded properties. The states are measured by the restriction of measurement sensors and the contamination with independent measurement noises. The nonlinear uncertainties are approximated by using the fuzzy IF-THEN rules based on the universal approximation theorem, and the approximation error is compensated by adding an adaptive complementary term to the proposed AFSMC. The fuzzy inference approach based on the extended single input rule modules is proposed to reduce the number of the fuzzy IF-THEN rules. The estimates for the un-measurable states and the adjustable parameters are obtained by using the weighted least squares estimator and its simplified one. It is proved that under some conditions the estimation errors will remain in the vicinity of zero as time increases, and the states are ultimately bounded subject to the proposed AFSMC. The effectiveness of the proposed method is indicated through the simulation experiment of a simple numerical system.     

Automatic luminance control summarized

Automotive automatic luminance control concepts are summarized for displays where the ambient illumination is measured and the display luminance is modified to maintain legibility. The most important aspects are reviewed to provide a high‐level overview and insight.     

基于小波矩的图像复制粘贴篡改检测

图像的局部复制粘贴篡改技术,是最常见的一种图像伪造方式,对此提出一种基于小波矩的图像复制粘贴篡改检测算法．首先通过变分水平集活动轮廓模型初步确定图像篡改的可疑区域：然后对每一块可疑区域利用小波矩算法提取其小波矩特征;接着利用余弦相关性测度判别可疑区域的相似性;最后定位图像的篡改区域．实验结果表明本算法能够有效提取可疑区域,并进一步定位篡改区域．此外,算法对图像前景篡改区域的平移、旋转和缩放具有较强的鲁棒性．     

基于优化Prewitt的高速夜间车道检测算法

针对夜间高速公路,提出识别车道标志线的新型检测算法.该算法采用改进的中值法滤波,基于光密度差的4方向模板对数Prewitt边缘检测预处理图像,得到二值化阈值T. ROI和左右车道线的确定大大减少运算量,结合车道线宽度去除伪车道,采用临时轨迹策略排除光线变化和前方车辆的干扰,最后得到完整清晰的车道线.实验证明该车道检测方法具有快速性、稳定性、准确性.     

An extension of an over-dispersion test for count data

While over-dispersion in capture-recapture studies is well known to lead to poor estimation of population size, current diagnostic tools to detect the presence of heterogeneity have not been specifically developed for capture-recapture studies. To address this, a simple and efficient method of testing for over-dispersion in zero-truncated count data is developed and evaluated. The proposed method generalizes an over-dispersion test previously suggested for un-truncated count data and may also be used for testing residual over-dispersion in zero-inflation data. Simulations suggest that the asymptotic distribution of the test statistic is standard normal and that this approximation is also reasonable for small sample sizes. The method is also shown to be more efficient than an existing test for over-dispersion adapted for the capture-recapture setting. Studies with zero-truncated and zero-inflated count data are used to illustrate the test procedures.