An adaptive object tracking algorithm based on particle filtering and a modified Gradient Vector Flow (GVF) Snake is proposed for tracking moving and deforming objects. The original contours of objects are obtained by...An adaptive object tracking algorithm based on particle filtering and a modified Gradient Vector Flow (GVF) Snake is proposed for tracking moving and deforming objects. The original contours of objects are obtained by using the background differencing method,and the true contours of objects can be converged by means of the powerful searching ability of a modified GVF-Snake. Finally,an Energetic Particle Filtering (EPF) algorithm is obtained by combining particle filtering and a modified GVF-Snake,and by using K-means and the EPF algorithm,multiple objects can be tracked. The proposed tracking tactic for partially occluded objects can effectively improve its anti-occlusion ability. Experiments show that this algorithm can obtain better tracking effect even though the tracked object is occluded.展开更多
A novel adaptive fault-tolerant control scheme in the differential algebraic framework was proposed for attitude control of a heavy lift launch vehicle （HLLV）. By using purely mathematical transformations, the decou...A novel adaptive fault-tolerant control scheme in the differential algebraic framework was proposed for attitude control of a heavy lift launch vehicle （HLLV）. By using purely mathematical transformations, the decoupled input-output representations of HLLV were derived, rendering three decoupled second-order systems, i.e., pitch, yaw and roll channels. Based on a new type of numerical differentiator, a differential algebraic observer （DAO） was proposed for estimating the system states and the generalized disturbances, including various disturbances and additive fault torques. Driven by DAOs, three improved proportional-integral- differential （PID） controllers with disturbance compensation were designed for pitch, yaw and roll control. All signals in the closed-loop system were guaranteed to be ultimately uniformly bounded by utilization of Lyapunov＇s indirect method. The convincing numerical simulations indicate that the proposed control scheme is successful in achieving high performance in the presence of parametric perturbations, external disturbances, noisy corruptions, and actuator faults.展开更多
基金Supported by the Significant Term of Science and Technology Research in Ministry of Education (No. 205060)Open Research Fund of National Mobile Communications Research Laboratory,Southeast University (N200911)+2 种基金Significant Basic Research of Jiangsu Province Colleges and Universities Natural Science Projects (07 KJA51006)Research Fund of Nanjing College of Traffic Vocational Technology (JY0903)Huawei Science and Technology Fund
文摘An adaptive object tracking algorithm based on particle filtering and a modified Gradient Vector Flow (GVF) Snake is proposed for tracking moving and deforming objects. The original contours of objects are obtained by using the background differencing method,and the true contours of objects can be converged by means of the powerful searching ability of a modified GVF-Snake. Finally,an Energetic Particle Filtering (EPF) algorithm is obtained by combining particle filtering and a modified GVF-Snake,and by using K-means and the EPF algorithm,multiple objects can be tracked. The proposed tracking tactic for partially occluded objects can effectively improve its anti-occlusion ability. Experiments show that this algorithm can obtain better tracking effect even though the tracked object is occluded.
基金Foundation item： Project（2012M521538） supported by China Postdoctoral Science Foundation Project suppolted by Postdoctoral Science Foundation of Central South University
文摘A novel adaptive fault-tolerant control scheme in the differential algebraic framework was proposed for attitude control of a heavy lift launch vehicle （HLLV）. By using purely mathematical transformations, the decoupled input-output representations of HLLV were derived, rendering three decoupled second-order systems, i.e., pitch, yaw and roll channels. Based on a new type of numerical differentiator, a differential algebraic observer （DAO） was proposed for estimating the system states and the generalized disturbances, including various disturbances and additive fault torques. Driven by DAOs, three improved proportional-integral- differential （PID） controllers with disturbance compensation were designed for pitch, yaw and roll control. All signals in the closed-loop system were guaranteed to be ultimately uniformly bounded by utilization of Lyapunov＇s indirect method. The convincing numerical simulations indicate that the proposed control scheme is successful in achieving high performance in the presence of parametric perturbations, external disturbances, noisy corruptions, and actuator faults.
