针对夜晚环境中车流量统计的实时性、鲁棒性和准确性不高等问题,提出一种基于YOLOv5算法优化和摄像补光灯相配合的车辆检测方法,实现交通道路上车辆的精确检测,克服以往夜间图像模糊、光线昏暗等造成的检测不准确问题。采用基于YOLOv5...针对夜晚环境中车流量统计的实时性、鲁棒性和准确性不高等问题,提出一种基于YOLOv5算法优化和摄像补光灯相配合的车辆检测方法,实现交通道路上车辆的精确检测,克服以往夜间图像模糊、光线昏暗等造成的检测不准确问题。采用基于YOLOv5深度学习的方法,以道路临时拍摄的图像构成数据集,以高斯函数构建数据增强图像进行车辆检测,其中检测系统的硬件采用芯片双回路设计控制补光装置,提高检测识别准确性,软件上对YOLOv5算法进行超参数优化,提升系统检测精确性和快速性;采集不同天气、不同补光强度下道路交通图像,通过优化后算法分析其有效性,结果表明,相较于原有检测方法,该方法的平均准确率(mean Average Precision,mAP)和检测帧速率(Frame Per Second,FPS)分别增加4.2%、12%,检测效果较好。展开更多
This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is ...This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.展开更多
文摘针对夜晚环境中车流量统计的实时性、鲁棒性和准确性不高等问题,提出一种基于YOLOv5算法优化和摄像补光灯相配合的车辆检测方法,实现交通道路上车辆的精确检测,克服以往夜间图像模糊、光线昏暗等造成的检测不准确问题。采用基于YOLOv5深度学习的方法,以道路临时拍摄的图像构成数据集,以高斯函数构建数据增强图像进行车辆检测,其中检测系统的硬件采用芯片双回路设计控制补光装置,提高检测识别准确性,软件上对YOLOv5算法进行超参数优化,提升系统检测精确性和快速性;采集不同天气、不同补光强度下道路交通图像,通过优化后算法分析其有效性,结果表明,相较于原有检测方法,该方法的平均准确率(mean Average Precision,mAP)和检测帧速率(Frame Per Second,FPS)分别增加4.2%、12%,检测效果较好。
基金supported by the Canada Foundation for Innovation (CFI) and the National Natural Science Foundation of China (Grant No.50875257)
文摘This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.
