In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and stron...In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.展开更多
配置大倍率光学系统的双光复合跟踪在地面空中监视取证等领域有广泛的应用。目前基于图像的目标跟踪算法研究主要是单光跟踪,在双光图像跟踪算法,特别是动态变焦过程中图像跟踪方面缺乏深入研究。针对双光跟踪视场变焦时的图像模糊、尺...配置大倍率光学系统的双光复合跟踪在地面空中监视取证等领域有广泛的应用。目前基于图像的目标跟踪算法研究主要是单光跟踪,在双光图像跟踪算法,特别是动态变焦过程中图像跟踪方面缺乏深入研究。针对双光跟踪视场变焦时的图像模糊、尺度快速变化容易导致目标丢失的问题,提出基于Dempster-Shafer(DS)理论的动态目标变焦双光跟踪算法。通过DS决策级融合可见光与红外跟踪目标响应图,利用双光互补优势综合判断目标位置,实现大小视场的复合跟踪;实时检测可见光和红外图像目标的能量梯度(energy of gradient,EOG),在融合中引入模糊度信息,提高图像变焦模糊的适应性。通过双光大小视场尺度归一化的处理避免尺度快速变化导致的跟丢问题。实验结果表明,提出的EOG-DS融合跟踪算法提高了跟踪的稳定性,跟踪精确率为0.833,成功率为0.41,均有明显提升,跟踪速率达到26.87 FPS,满足实时性要求。展开更多
A unique high efficiency photovoltaic(PV)system is presented. It uses partial sine wave tracking for a pulse-width modulation(PWM) boost converter as well as a full-bridge inverter. The boost converter and full-bridge...A unique high efficiency photovoltaic(PV)system is presented. It uses partial sine wave tracking for a pulse-width modulation(PWM) boost converter as well as a full-bridge inverter. The boost converter and full-bridge inverter are connected via a compact intermediate film capacitor(i.e. non-smoothing DC link stage). PWM switching is activated by a dual mode control technique. In the proposed topology, simultaneous switching of both power conversion stages is avoided and therefore this increases the power conversion efficiency. The distinctive operating principles of these two power processing stages are discussed and analyzed with the experimental results for single-phase loading of the PV system.展开更多
文摘In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.
文摘配置大倍率光学系统的双光复合跟踪在地面空中监视取证等领域有广泛的应用。目前基于图像的目标跟踪算法研究主要是单光跟踪,在双光图像跟踪算法,特别是动态变焦过程中图像跟踪方面缺乏深入研究。针对双光跟踪视场变焦时的图像模糊、尺度快速变化容易导致目标丢失的问题,提出基于Dempster-Shafer(DS)理论的动态目标变焦双光跟踪算法。通过DS决策级融合可见光与红外跟踪目标响应图,利用双光互补优势综合判断目标位置,实现大小视场的复合跟踪;实时检测可见光和红外图像目标的能量梯度(energy of gradient,EOG),在融合中引入模糊度信息,提高图像变焦模糊的适应性。通过双光大小视场尺度归一化的处理避免尺度快速变化导致的跟丢问题。实验结果表明,提出的EOG-DS融合跟踪算法提高了跟踪的稳定性,跟踪精确率为0.833,成功率为0.41,均有明显提升,跟踪速率达到26.87 FPS,满足实时性要求。
文摘A unique high efficiency photovoltaic(PV)system is presented. It uses partial sine wave tracking for a pulse-width modulation(PWM) boost converter as well as a full-bridge inverter. The boost converter and full-bridge inverter are connected via a compact intermediate film capacitor(i.e. non-smoothing DC link stage). PWM switching is activated by a dual mode control technique. In the proposed topology, simultaneous switching of both power conversion stages is avoided and therefore this increases the power conversion efficiency. The distinctive operating principles of these two power processing stages are discussed and analyzed with the experimental results for single-phase loading of the PV system.