Aim To find an effective method to remove the registration error in multi-sensor systems. Methods A Kalman filtering technique was proposed to estimate and remove sensor bias and sensor fare tilt errors in multisenso...Aim To find an effective method to remove the registration error in multi-sensor systems. Methods A Kalman filtering technique was proposed to estimate and remove sensor bias and sensor fare tilt errors in multisensor systems with a moving platform. Results Simulation results are presented to demonstrate the performance of the approach. Conclusion The Kalman filter algorithm am detect registration errors and use this information to converge tracks from independent sensors. This is particularly important if the data from the sensors are to fused.展开更多
Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in diff...Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans.This study proposes a family of novel(5+1)degrees of freedom(three translations and two rotations plus an additional grasping motion)gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform.First,the configurable moving platform,which is a closed loop,is designed for grasping manipulation.The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios.A sufficient rule based on Lie group theory is proposed to synthesize the mechanism.TTie hybrid limb structure is also enumerated.A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule.Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study.A kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.In addition,a stiffiiess analysis is performed.展开更多
In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion ...In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is studied.Furthermore,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking algorithm.For the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking algorithm.The simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.展开更多
文摘Aim To find an effective method to remove the registration error in multi-sensor systems. Methods A Kalman filtering technique was proposed to estimate and remove sensor bias and sensor fare tilt errors in multisensor systems with a moving platform. Results Simulation results are presented to demonstrate the performance of the approach. Conclusion The Kalman filter algorithm am detect registration errors and use this information to converge tracks from independent sensors. This is particularly important if the data from the sensors are to fused.
基金This research work was supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2020YJS153)the National Natural Science Foundation of China(Grant No.51975039).
文摘Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans.This study proposes a family of novel(5+1)degrees of freedom(three translations and two rotations plus an additional grasping motion)gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform.First,the configurable moving platform,which is a closed loop,is designed for grasping manipulation.The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios.A sufficient rule based on Lie group theory is proposed to synthesize the mechanism.TTie hybrid limb structure is also enumerated.A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule.Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study.A kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.In addition,a stiffiiess analysis is performed.
基金the National Natural Science Foundation of China (No.61627810)the National Science and Technology Major Program of China (No.2018YFB1305003)the National Defense Science and Technology Outstanding Youth Science Foundation (No.2017-JCJQ-ZQ-031)。
文摘In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is studied.Furthermore,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking algorithm.For the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking algorithm.The simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.
