A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filte...A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.展开更多
Augmented Reality(AR)tries to seamlessly integrate virtual content into the real world of the user.Ideally,the virtual content would behave exactly like real objects.This necessitates a correct and precise estimation ...Augmented Reality(AR)tries to seamlessly integrate virtual content into the real world of the user.Ideally,the virtual content would behave exactly like real objects.This necessitates a correct and precise estimation of the user’s viewpoint(or that of a camera)with regard to the virtual content’s coordinate sys-tem.Therefore,the real-time establishment of 3-dimension(3D)maps in real scenes is particularly important for augmented reality technology.So in this paper,we integrate Simultaneous Localization and Mapping(SLAM)technology into augmented reality.Our research is to implement an augmented reality system without markers using the ORB-SLAM2 framework algorithm.In this paper we propose an improved method for Oriented FAST and Rotated BRIEF(ORB)feature extraction and optimized key frame selection,as well as the use of the Progressive Sample Consensus(PROSAC)algorithm for planar estimation of augmented reality implementations,thus solving the problem of increased sys-tem runtime because of the loss of large amounts of texture information in images.In this paper,we get better results by comparing experiments and data analysis.However,there are some improved methods of PROSAC algorithm which are more suitable for the detection of plane feature points.展开更多
Target recognition and tracking is an important research filed in the surveillance industry.Traditional target recognition and tracking is to track moving objects, however, for the detected moving objects the specific...Target recognition and tracking is an important research filed in the surveillance industry.Traditional target recognition and tracking is to track moving objects, however, for the detected moving objects the specific content can not be determined.In this paper, a multi-target vehicle recognition and tracking algorithm based on YOLO v5 network architecture is proposed.The specific content of moving objects are identified by the network architecture, furthermore, the simulated annealing chaotic mechanism is embedded in particle swarm optimization-Gauss particle filter algorithm.The proposed simulated annealing chaotic particle swarm optimization-Gauss particle filter algorithm(SA-CPSO-GPF) is used to track moving objects.The experiment shows that the algorithm has a good tracking effect for the vehicle in the monitoring range.The root mean square error(RMSE), running time and accuracy of the proposed method are superior to traditional methods.The proposed algorithm has very good application value.展开更多
Autism spectrum disorder(ASD)can be defined as a neurodevelopmental condition or illness that can disturb kids who have heterogeneous characteristics,like changes in behavior,social disabilities,and difficulty communi...Autism spectrum disorder(ASD)can be defined as a neurodevelopmental condition or illness that can disturb kids who have heterogeneous characteristics,like changes in behavior,social disabilities,and difficulty communicating with others.Eye tracking(ET)has become a useful method to detect ASD.One vital aspect of moral erudition is the aptitude to have common visual attention.The eye-tracking approach offers valuable data regarding the visual behavior of children for accurate and early detection.Eye-tracking data can offer insightful information about the behavior and thought processes of people with ASD,but it is important to be aware of its limitations and to combine it with other types of data and assessment techniques to increase the precision of ASD detection.It operates by scanning the paths of eyes for extracting a series of eye projection points on images for examining the behavior of children with autism.The purpose of this research is to use deep learning to identify autistic disorders based on eye tracking.The Chaotic Butterfly Optimization technique is used to identify this specific disturbance.Therefore,this study develops an ET-based Autism Spectrum Disorder Diagnosis using Chaotic Butterfly Optimization with Deep Learning(ETASD-CBODL)technique.The presented ETASDCBODL technique mainly focuses on the recognition of ASD via the ET and DL models.To accomplish this,the ETASD-CBODL technique exploits the U-Net segmentation technique to recognize interested AREASS.In addition,the ETASD-CBODL technique employs Inception v3 feature extraction with CBO algorithm-based hyperparameter optimization.Finally,the long-shorttermmemory(LSTM)model is exploited for the recognition and classification of ASD.To assess the performance of the ETASD-CBODL technique,a series of simulations were performed on datasets from the figure-shared data repository.The experimental values of accuracy(99.29%),precision(98.78%),sensitivity(99.29%)and specificity(99.29%)showed a better performance in the ETASD-CBODL technique over recent approaches.展开更多
Directed at the problem of occlusion in target tracking,a new improved algorithm based on the Meanshift algorithm and Kalman filter is proposed.The algorithm effectively combines the Meanshift algorithm with the Kalma...Directed at the problem of occlusion in target tracking,a new improved algorithm based on the Meanshift algorithm and Kalman filter is proposed.The algorithm effectively combines the Meanshift algorithm with the Kalman filtering algorithm to determine the position of the target centroid and subsequently adjust the current search window adaptively according to the target centroid position and the previous frame search window boundary.The derived search window is more closely matched to the location of the target,which improves the accuracy and reliability of tracking.The environmental influence and other influencing factors on the algorithm are also reduced.Through comparison and analysis of the experiments,the modified algorithm demonstrates good stability and adaptability,and can effectively solve the problem of large area occlusion and similar interference.展开更多
Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize,the trajectory tracking method of redundant manipulator based on PS...Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize,the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied.The kinematic diagram of redundant manipulator is created,to derive the equation of motion trajectory of redundant manipulator end.Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy.Based on the tracking ellipse of redundant manipulator,the tracking shape of redundant manipulator is determined with the overall tracking index as the second index,and the optimization method of tracking index is proposed.The redundant manipulator contour is located by active contour model,on this basis,combined with particle swarm optimization algorithm,the point coordinates on the circumference with the relevant joint point as the center and joint length as the radius are selected as the algorithm particles for iteration,and the optimal tracking results of the overall redundant manipulator trajectory are obtained.The experimental results show that under the proposed method,the tracking error of the redundant manipulator is low,and the error jump range is small.It shows that this method has high tracking accuracy and reliability.展开更多
In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown externa...In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown external disturbances. A safety protection algorithm is proposed to keep the constrained states within the given safe-set. A second-order disturbance observer technique is utilized to estimate the external disturbances. It is shown that the desired tracking performance of the controlled unmanned helicopter can be achieved with the application of the backstepping approach, dynamic surface control technique, and Lyapunov method. Finally, the availability of the proposed control scheme has been shown by simulation results.展开更多
This paper discusses about the new approach of multiple object track-ing relative to background information.The concept of multiple object tracking through background learning is based upon the theory of relativity,th...This paper discusses about the new approach of multiple object track-ing relative to background information.The concept of multiple object tracking through background learning is based upon the theory of relativity,that involves a frame of reference in spatial domain to localize and/or track any object.Thefield of multiple object tracking has seen a lot of research,but researchers have considered the background as redundant.However,in object tracking,the back-ground plays a vital role and leads to definite improvement in the overall process of tracking.In the present work an algorithm is proposed for the multiple object tracking through background learning.The learning framework is based on graph embedding approach for localizing multiple objects.The graph utilizes the inher-ent capabilities of depth modelling that assist in prior to track occlusion avoidance among multiple objects.The proposed algorithm has been compared with the recent work available in literature on numerous performance evaluation measures.It is observed that our proposed algorithm gives better performance.展开更多
A tracking algorithm based on improved Camshift and UKF is proposed in this paper to deal with the problems which exist in traditional Camshift algorithm, such as artificial orientation and tracking failure under colo...A tracking algorithm based on improved Camshift and UKF is proposed in this paper to deal with the problems which exist in traditional Camshift algorithm, such as artificial orientation and tracking failure under color interference as well as object’s changed illumination occlusion. Meanwhile, in order to solve the sheltered problem, the UKF is combined with improved Camshift algorithm to predict the position of the target effectively. Experiment results show that the proposed algorithm can avoid the interference of the background color and solve the sheltered problem of the object, so that achieving a precise and timely tracking of moving objects. Also it has better robustness to color noises and occlusion when the object’s scale changes and deformation occurs.展开更多
Satisfactory results cannot be obtained when three-dimensional (3D) targets with complex maneuvering characteristics are tracked by the commonly used two-dimensional coordinated turn (2DCT) model. To address the probl...Satisfactory results cannot be obtained when three-dimensional (3D) targets with complex maneuvering characteristics are tracked by the commonly used two-dimensional coordinated turn (2DCT) model. To address the problem of 3D target tracking with strong maneuverability, on the basis of the modified three-dimensional variable turn (3DVT) model, an adaptive tracking algorithm is proposed by combining with the cubature Kalman filter (CKF) in this paper. Through ideology of real-time identification, the parameters of the model are changed to adjust the state transition matrix and the state noise covariance matrix. Therefore, states of the target are matched in real-time to achieve the purpose of adaptive tracking. Finally, four simulations are analyzed in different settings by the Monte Carlo method. All results show that the proposed algorithm can update parameters of the model and identify motion characteristics in real-time when targets tracking also has a better tracking accuracy.展开更多
Since the joint probabilistic data association(JPDA)algorithm results in calculation explosion with the increasing number of targets,a multi-target tracking algorithm based on Gaussian mixture model(GMM)clustering is ...Since the joint probabilistic data association(JPDA)algorithm results in calculation explosion with the increasing number of targets,a multi-target tracking algorithm based on Gaussian mixture model(GMM)clustering is proposed.The algorithm is used to cluster the measurements,and the association matrix between measurements and tracks is constructed by the posterior probability.Compared with the traditional data association algorithm,this algorithm has better tracking performance and less computational complexity.Simulation results demonstrate the effectiveness of the proposed algorithm.展开更多
Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i...Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.展开更多
This research introduces a challenge in integrating and cleaning the data,which is a crucial task in object matching.While the object is detected and then measured,the vibration at different light intensities may influ...This research introduces a challenge in integrating and cleaning the data,which is a crucial task in object matching.While the object is detected and then measured,the vibration at different light intensities may influence the durability and reliability of mechanical systems or structures and cause problems such as damage,abnormal stopping,and disaster.Recent research failed to improve the accuracy rate and the computation time in tracking an object and in the vibration measurement.To solve all these problems,this proposed research simplifies the scaling factor determination by assigning a known real-world dimension to a predetermined portion of the image.A novel white color sticker of the known dimensions marked with a color dot is pasted on the surface of an object for the best result in the template matching using the Improved Up-Sampled Cross-Correlation(UCC)algorithm.The vibration measurement is calculated using the Finite-Difference Algorithm(FDA),a machine vision systemfitted with a macro lens sensor that is capable of capturing the image at a closer range,which does not affect the quality of displacement measurement from the video frames.Thefield test was conducted on the TAFE(Tractors and Farm Equipment Limited)tractor parts,and the percentage of error was recorded between 30%and 50%at very low vibration values close to zero,whereas it was recorded between 5%and 10%error in most high-accelerations,the essential range for vibration analysis.Finally,the suggested system is more suitable for measuring the vibration of stationary machinery having low frequency ranges.The use of a macro lens enables to capture of image frames at very close-ups.A 30%to 50%error percentage has been reported when the vibration amplitude is very small.Therefore,this study is not suitable for Nano vibration analysis.展开更多
Sparsity Adaptive Matching Pursuit (SAMP) algorithm is a widely used reconstruction algorithm for compressive sensing in the case that the sparsity is unknown. In order to match the sparsity more accurately, we presen...Sparsity Adaptive Matching Pursuit (SAMP) algorithm is a widely used reconstruction algorithm for compressive sensing in the case that the sparsity is unknown. In order to match the sparsity more accurately, we presented an improved SAMP algorithm based on Regularized Backtracking (SAMP-RB). By adapting a regularized backtracking step to SAMP algorithm in each iteration stage, the proposed algorithm can flexibly remove the inappropriate atoms. The experimental results show that SAMP-RB reconstruction algorithm greatly improves SAMP algorithm both in reconstruction quality and computational time. It has better reconstruction efficiency than most of the available matching pursuit algorithms.展开更多
Dynamic alliance(DA),namely,virtual corporations (VCs),is an enterprise management method. It means a temporary union formed by some independent commercial processes or corporations.Here, genetic algorithms(GA) is app...Dynamic alliance(DA),namely,virtual corporations (VCs),is an enterprise management method. It means a temporary union formed by some independent commercial processes or corporations.Here, genetic algorithms(GA) is applied to the research of nodes DA selection optimization in wireless sensor networks(WSN) target tracking(TT) problem.The detailed optimized selection method is presented in the paper and a typical simulation is conducted to verify the effectiveness of our model.展开更多
Maximum Power Point Tracking (MPPT) is an important process in Photovoltaic (PV) systems because of the need to extract maximum power from PV panels used in these systems. Without the ability to track and have PV pane...Maximum Power Point Tracking (MPPT) is an important process in Photovoltaic (PV) systems because of the need to extract maximum power from PV panels used in these systems. Without the ability to track and have PV panels operate at its maximum power point (MPP) entails power losses;resulting in high cost since more panels will be required to provide specified energy needs. To achieve high efficiency and low cost, MPPT has therefore become an imperative in PV systems. In this study, an MPP tracker is modeled using the IC algorithm and its behavior under rapidly changing environmental conditions of temperature and irradiation levels is investigated. This algorithm, based on knowledge of the variation of the conductance of PV cells and the operating point with respect to the voltage and current of the panel calculates the slope of the power characteristics to determine the MPP as the peak of the curve. A simple circuit model of the DC-DC boost converter connected to a PV panel is used in the simulation;and the output of the boost converter is fed through a 3-phase inverter to an electricity grid. The model was simulated and tested using MATLAB/Simulink. Simulation results show the effectiveness of the IC algorithm for tracking the MPP in PV systems operating under rapidly changing temperatures and irradiations with a settling time of 2 seconds.展开更多
Track association of multi-target has been recognized as one of the key technologies in distributed multiple-sensor data fusion system,and its accuracy directly impacts on the performance of the whole tracking system....Track association of multi-target has been recognized as one of the key technologies in distributed multiple-sensor data fusion system,and its accuracy directly impacts on the performance of the whole tracking system.A multi-sensor data association is proposed based on aftinity propagation(AP)algorithm.The proposed method needs an initial similarity,a distance between any two points,as a parameter,therefore,the similarity matrix is calculated by track position,velocity and azimuth of track data.The approach can automatically obtain the optimal classification of uncertain target based on clustering validity index.Furthermore,the same kind of data are fused based on the variance of measured data and the fusion result can be taken as a new measured data of the target.Finally,the measured data are classified to a certain target based on the nearest neighbor ideas and its characteristics,then filtering and target tracking are conducted.The experimental results show that the proposed method can effectively achieve multi-sensor and multi-target track association.展开更多
For data association in multisensor and multitarget tracking, a novel parallel algorithm is developed to improve the efficiency and real-time performance of FGAs-based algorithm. One Cluster of Workstation (COW) wit...For data association in multisensor and multitarget tracking, a novel parallel algorithm is developed to improve the efficiency and real-time performance of FGAs-based algorithm. One Cluster of Workstation (COW) with Message Passing Interface (MPI) is built. The proposed Multi-Deme Parallel FGA (MDPFGA) is run on the platform. A serial of special MDPFGAs are used to determine the static and the dynamic solutions of generalized m-best S-D assignment problem respectively, as well as target states estimation in track management. Such an assignment-based parallel algorithm is demonstrated on simulated passive sensor track formation and maintenance problem. While illustrating the feasibility of the proposed algorithm in multisensor multitarget tracking, simulation results indicate that the MDPFGAs-based algorithm has greater efficiency and speed than the FGAs-based algorithm.展开更多
Single passive sensor tracking algorithms have four disadvantages: bad stability, longdynamic time, big bias and sensitive to initial conditions. So the corresponding fusion algorithm results in bad performance. A new...Single passive sensor tracking algorithms have four disadvantages: bad stability, longdynamic time, big bias and sensitive to initial conditions. So the corresponding fusion algorithm results in bad performance. A new error analysis method for two passive sensor tracking system is presented and the error equations are deduced in detail. Based on the equations, we carry out theoretical computation and Monte Carlo computer simulation. The results show the correctness of our error computation equations. With the error equations, we present multiple 'two station'fusion algorithm using adaptive pseudo measurement equations. This greatly enhances the tracking performance and makes the algorithm convergent very fast and not sensitive to initial conditions.Simulation results prove the correctness of our new algorithm.展开更多
基金supported by National Natural Science Foundation of China (Nos.62265010,62061024)Gansu Province Science and Technology Plan (No.23YFGA0062)Gansu Province Innovation Fund (No.2022A-215)。
文摘A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.
基金supported by the Hainan Provincial Natural Science Foundation of China(project number:621QN269)the Sanya Science and Information Bureau Foundation(project number:2021GXYL251).
文摘Augmented Reality(AR)tries to seamlessly integrate virtual content into the real world of the user.Ideally,the virtual content would behave exactly like real objects.This necessitates a correct and precise estimation of the user’s viewpoint(or that of a camera)with regard to the virtual content’s coordinate sys-tem.Therefore,the real-time establishment of 3-dimension(3D)maps in real scenes is particularly important for augmented reality technology.So in this paper,we integrate Simultaneous Localization and Mapping(SLAM)technology into augmented reality.Our research is to implement an augmented reality system without markers using the ORB-SLAM2 framework algorithm.In this paper we propose an improved method for Oriented FAST and Rotated BRIEF(ORB)feature extraction and optimized key frame selection,as well as the use of the Progressive Sample Consensus(PROSAC)algorithm for planar estimation of augmented reality implementations,thus solving the problem of increased sys-tem runtime because of the loss of large amounts of texture information in images.In this paper,we get better results by comparing experiments and data analysis.However,there are some improved methods of PROSAC algorithm which are more suitable for the detection of plane feature points.
基金Supported by the National Key R&D Plan of China (2021YFE0105000)the National Natural Science Foundation of China (52074213)+1 种基金Shaanxi Key R&D Plan Project (2021SF-472)Yulin Science and Technology Plan Project (CXY-2020-036)。
文摘Target recognition and tracking is an important research filed in the surveillance industry.Traditional target recognition and tracking is to track moving objects, however, for the detected moving objects the specific content can not be determined.In this paper, a multi-target vehicle recognition and tracking algorithm based on YOLO v5 network architecture is proposed.The specific content of moving objects are identified by the network architecture, furthermore, the simulated annealing chaotic mechanism is embedded in particle swarm optimization-Gauss particle filter algorithm.The proposed simulated annealing chaotic particle swarm optimization-Gauss particle filter algorithm(SA-CPSO-GPF) is used to track moving objects.The experiment shows that the algorithm has a good tracking effect for the vehicle in the monitoring range.The root mean square error(RMSE), running time and accuracy of the proposed method are superior to traditional methods.The proposed algorithm has very good application value.
基金funded by the Deanship for Research&Innovation,Ministry of Education in Saudi Arabia,for funding this research work through Project Number:IFP22UQU4281768DSR145.
文摘Autism spectrum disorder(ASD)can be defined as a neurodevelopmental condition or illness that can disturb kids who have heterogeneous characteristics,like changes in behavior,social disabilities,and difficulty communicating with others.Eye tracking(ET)has become a useful method to detect ASD.One vital aspect of moral erudition is the aptitude to have common visual attention.The eye-tracking approach offers valuable data regarding the visual behavior of children for accurate and early detection.Eye-tracking data can offer insightful information about the behavior and thought processes of people with ASD,but it is important to be aware of its limitations and to combine it with other types of data and assessment techniques to increase the precision of ASD detection.It operates by scanning the paths of eyes for extracting a series of eye projection points on images for examining the behavior of children with autism.The purpose of this research is to use deep learning to identify autistic disorders based on eye tracking.The Chaotic Butterfly Optimization technique is used to identify this specific disturbance.Therefore,this study develops an ET-based Autism Spectrum Disorder Diagnosis using Chaotic Butterfly Optimization with Deep Learning(ETASD-CBODL)technique.The presented ETASDCBODL technique mainly focuses on the recognition of ASD via the ET and DL models.To accomplish this,the ETASD-CBODL technique exploits the U-Net segmentation technique to recognize interested AREASS.In addition,the ETASD-CBODL technique employs Inception v3 feature extraction with CBO algorithm-based hyperparameter optimization.Finally,the long-shorttermmemory(LSTM)model is exploited for the recognition and classification of ASD.To assess the performance of the ETASD-CBODL technique,a series of simulations were performed on datasets from the figure-shared data repository.The experimental values of accuracy(99.29%),precision(98.78%),sensitivity(99.29%)and specificity(99.29%)showed a better performance in the ETASD-CBODL technique over recent approaches.
基金Supported by the Scholarship of China Scholarship Council(CSC)(201606935043)
文摘Directed at the problem of occlusion in target tracking,a new improved algorithm based on the Meanshift algorithm and Kalman filter is proposed.The algorithm effectively combines the Meanshift algorithm with the Kalman filtering algorithm to determine the position of the target centroid and subsequently adjust the current search window adaptively according to the target centroid position and the previous frame search window boundary.The derived search window is more closely matched to the location of the target,which improves the accuracy and reliability of tracking.The environmental influence and other influencing factors on the algorithm are also reduced.Through comparison and analysis of the experiments,the modified algorithm demonstrates good stability and adaptability,and can effectively solve the problem of large area occlusion and similar interference.
基金This work has been supported by the Ningbo National Natural Science Foundation(2019A610124)General Project of Education Department of Zhejiang Province(Y201737089).
文摘Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize,the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied.The kinematic diagram of redundant manipulator is created,to derive the equation of motion trajectory of redundant manipulator end.Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy.Based on the tracking ellipse of redundant manipulator,the tracking shape of redundant manipulator is determined with the overall tracking index as the second index,and the optimization method of tracking index is proposed.The redundant manipulator contour is located by active contour model,on this basis,combined with particle swarm optimization algorithm,the point coordinates on the circumference with the relevant joint point as the center and joint length as the radius are selected as the algorithm particles for iteration,and the optimal tracking results of the overall redundant manipulator trajectory are obtained.The experimental results show that under the proposed method,the tracking error of the redundant manipulator is low,and the error jump range is small.It shows that this method has high tracking accuracy and reliability.
基金supported in part by the National Natural ScienceFoundation of China (U2013201)the National Science Fund for Distinguished Young Scholars (61825302)the Postgraduate Research&Practice Innovation Program of Jiangsu Province (KYCX20_0208)。
文摘In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown external disturbances. A safety protection algorithm is proposed to keep the constrained states within the given safe-set. A second-order disturbance observer technique is utilized to estimate the external disturbances. It is shown that the desired tracking performance of the controlled unmanned helicopter can be achieved with the application of the backstepping approach, dynamic surface control technique, and Lyapunov method. Finally, the availability of the proposed control scheme has been shown by simulation results.
文摘This paper discusses about the new approach of multiple object track-ing relative to background information.The concept of multiple object tracking through background learning is based upon the theory of relativity,that involves a frame of reference in spatial domain to localize and/or track any object.Thefield of multiple object tracking has seen a lot of research,but researchers have considered the background as redundant.However,in object tracking,the back-ground plays a vital role and leads to definite improvement in the overall process of tracking.In the present work an algorithm is proposed for the multiple object tracking through background learning.The learning framework is based on graph embedding approach for localizing multiple objects.The graph utilizes the inher-ent capabilities of depth modelling that assist in prior to track occlusion avoidance among multiple objects.The proposed algorithm has been compared with the recent work available in literature on numerous performance evaluation measures.It is observed that our proposed algorithm gives better performance.
文摘A tracking algorithm based on improved Camshift and UKF is proposed in this paper to deal with the problems which exist in traditional Camshift algorithm, such as artificial orientation and tracking failure under color interference as well as object’s changed illumination occlusion. Meanwhile, in order to solve the sheltered problem, the UKF is combined with improved Camshift algorithm to predict the position of the target effectively. Experiment results show that the proposed algorithm can avoid the interference of the background color and solve the sheltered problem of the object, so that achieving a precise and timely tracking of moving objects. Also it has better robustness to color noises and occlusion when the object’s scale changes and deformation occurs.
基金supported by the National Natural Science Foundation of China(51467013)
文摘Satisfactory results cannot be obtained when three-dimensional (3D) targets with complex maneuvering characteristics are tracked by the commonly used two-dimensional coordinated turn (2DCT) model. To address the problem of 3D target tracking with strong maneuverability, on the basis of the modified three-dimensional variable turn (3DVT) model, an adaptive tracking algorithm is proposed by combining with the cubature Kalman filter (CKF) in this paper. Through ideology of real-time identification, the parameters of the model are changed to adjust the state transition matrix and the state noise covariance matrix. Therefore, states of the target are matched in real-time to achieve the purpose of adaptive tracking. Finally, four simulations are analyzed in different settings by the Monte Carlo method. All results show that the proposed algorithm can update parameters of the model and identify motion characteristics in real-time when targets tracking also has a better tracking accuracy.
基金the National Natural Science Foundation of China(61771367)the Science and Technology on Communication Networks Laboratory(HHS19641X003).
文摘Since the joint probabilistic data association(JPDA)algorithm results in calculation explosion with the increasing number of targets,a multi-target tracking algorithm based on Gaussian mixture model(GMM)clustering is proposed.The algorithm is used to cluster the measurements,and the association matrix between measurements and tracks is constructed by the posterior probability.Compared with the traditional data association algorithm,this algorithm has better tracking performance and less computational complexity.Simulation results demonstrate the effectiveness of the proposed algorithm.
基金Supported by Ministerial Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.
文摘This research introduces a challenge in integrating and cleaning the data,which is a crucial task in object matching.While the object is detected and then measured,the vibration at different light intensities may influence the durability and reliability of mechanical systems or structures and cause problems such as damage,abnormal stopping,and disaster.Recent research failed to improve the accuracy rate and the computation time in tracking an object and in the vibration measurement.To solve all these problems,this proposed research simplifies the scaling factor determination by assigning a known real-world dimension to a predetermined portion of the image.A novel white color sticker of the known dimensions marked with a color dot is pasted on the surface of an object for the best result in the template matching using the Improved Up-Sampled Cross-Correlation(UCC)algorithm.The vibration measurement is calculated using the Finite-Difference Algorithm(FDA),a machine vision systemfitted with a macro lens sensor that is capable of capturing the image at a closer range,which does not affect the quality of displacement measurement from the video frames.Thefield test was conducted on the TAFE(Tractors and Farm Equipment Limited)tractor parts,and the percentage of error was recorded between 30%and 50%at very low vibration values close to zero,whereas it was recorded between 5%and 10%error in most high-accelerations,the essential range for vibration analysis.Finally,the suggested system is more suitable for measuring the vibration of stationary machinery having low frequency ranges.The use of a macro lens enables to capture of image frames at very close-ups.A 30%to 50%error percentage has been reported when the vibration amplitude is very small.Therefore,this study is not suitable for Nano vibration analysis.
基金Supported by National Natural Science Foundation of China (61304079, 61125306, 61034002), the Open Research Project from SKLMCCS (20120106), the Fundamental Research Funds for the Central Universities (FRF-TP-13-018A), and the China Postdoctoral Science. Foundation (201_3M_ 5305_27)_ _ _
文摘为有致动器浸透和未知动力学的分离时间的系统的一个班的一个新奇最佳的追踪控制方法在这份报纸被建议。计划基于反复的适应动态编程(自动数据处理) 算法。以便实现控制计划,一个 data-based 标识符首先为未知系统动力学被构造。由介绍 M 网络,稳定的控制的明确的公式被完成。以便消除致动器浸透的效果, nonquadratic 表演功能被介绍,然后一个反复的自动数据处理算法被建立与集中分析完成最佳的追踪控制解决方案。为实现最佳的控制方法,神经网络被用来建立 data-based 标识符,计算性能索引功能,近似最佳的控制政策并且分别地解决稳定的控制。模拟例子被提供验证介绍最佳的追踪的控制计划的有效性。
基金Supported by the National Natural Science Foundation of China (No. 61073079)the Fundamental Research Funds for the Central Universities (2011JBM216,2011YJS021)
文摘Sparsity Adaptive Matching Pursuit (SAMP) algorithm is a widely used reconstruction algorithm for compressive sensing in the case that the sparsity is unknown. In order to match the sparsity more accurately, we presented an improved SAMP algorithm based on Regularized Backtracking (SAMP-RB). By adapting a regularized backtracking step to SAMP algorithm in each iteration stage, the proposed algorithm can flexibly remove the inappropriate atoms. The experimental results show that SAMP-RB reconstruction algorithm greatly improves SAMP algorithm both in reconstruction quality and computational time. It has better reconstruction efficiency than most of the available matching pursuit algorithms.
文摘Dynamic alliance(DA),namely,virtual corporations (VCs),is an enterprise management method. It means a temporary union formed by some independent commercial processes or corporations.Here, genetic algorithms(GA) is applied to the research of nodes DA selection optimization in wireless sensor networks(WSN) target tracking(TT) problem.The detailed optimized selection method is presented in the paper and a typical simulation is conducted to verify the effectiveness of our model.
文摘Maximum Power Point Tracking (MPPT) is an important process in Photovoltaic (PV) systems because of the need to extract maximum power from PV panels used in these systems. Without the ability to track and have PV panels operate at its maximum power point (MPP) entails power losses;resulting in high cost since more panels will be required to provide specified energy needs. To achieve high efficiency and low cost, MPPT has therefore become an imperative in PV systems. In this study, an MPP tracker is modeled using the IC algorithm and its behavior under rapidly changing environmental conditions of temperature and irradiation levels is investigated. This algorithm, based on knowledge of the variation of the conductance of PV cells and the operating point with respect to the voltage and current of the panel calculates the slope of the power characteristics to determine the MPP as the peak of the curve. A simple circuit model of the DC-DC boost converter connected to a PV panel is used in the simulation;and the output of the boost converter is fed through a 3-phase inverter to an electricity grid. The model was simulated and tested using MATLAB/Simulink. Simulation results show the effectiveness of the IC algorithm for tracking the MPP in PV systems operating under rapidly changing temperatures and irradiations with a settling time of 2 seconds.
基金Supported by the National Natural Science Foundation of China(11078001)
文摘Track association of multi-target has been recognized as one of the key technologies in distributed multiple-sensor data fusion system,and its accuracy directly impacts on the performance of the whole tracking system.A multi-sensor data association is proposed based on aftinity propagation(AP)algorithm.The proposed method needs an initial similarity,a distance between any two points,as a parameter,therefore,the similarity matrix is calculated by track position,velocity and azimuth of track data.The approach can automatically obtain the optimal classification of uncertain target based on clustering validity index.Furthermore,the same kind of data are fused based on the variance of measured data and the fusion result can be taken as a new measured data of the target.Finally,the measured data are classified to a certain target based on the nearest neighbor ideas and its characteristics,then filtering and target tracking are conducted.The experimental results show that the proposed method can effectively achieve multi-sensor and multi-target track association.
基金Supported by National Defence Scientific Research Foundation
文摘For data association in multisensor and multitarget tracking, a novel parallel algorithm is developed to improve the efficiency and real-time performance of FGAs-based algorithm. One Cluster of Workstation (COW) with Message Passing Interface (MPI) is built. The proposed Multi-Deme Parallel FGA (MDPFGA) is run on the platform. A serial of special MDPFGAs are used to determine the static and the dynamic solutions of generalized m-best S-D assignment problem respectively, as well as target states estimation in track management. Such an assignment-based parallel algorithm is demonstrated on simulated passive sensor track formation and maintenance problem. While illustrating the feasibility of the proposed algorithm in multisensor multitarget tracking, simulation results indicate that the MDPFGAs-based algorithm has greater efficiency and speed than the FGAs-based algorithm.
文摘Single passive sensor tracking algorithms have four disadvantages: bad stability, longdynamic time, big bias and sensitive to initial conditions. So the corresponding fusion algorithm results in bad performance. A new error analysis method for two passive sensor tracking system is presented and the error equations are deduced in detail. Based on the equations, we carry out theoretical computation and Monte Carlo computer simulation. The results show the correctness of our error computation equations. With the error equations, we present multiple 'two station'fusion algorithm using adaptive pseudo measurement equations. This greatly enhances the tracking performance and makes the algorithm convergent very fast and not sensitive to initial conditions.Simulation results prove the correctness of our new algorithm.