电子稳像的特征点跟踪算法

提出一种利用特征跟踪进行电子稳像的算法,该算法具有计算量小,精度高,有鲁棒性等优点。算法由两部分构成:(1)基于特征点集二维运动模型进行全局运动估计。提取图像的特征点,以其为中心建立特征窗进行块匹配,得到匹配特征点集,根据特征点集内具有稳定相对位置的结构特征,提出距离不变准则,对特征匹配进行验证,以保证各点的局部运动具有良好的全局一致性,从而形成特征点集的全局运动矢量;(2)利用自适应均值滤波去除摄像机抖动。均值滤波器可以有效平滑摄像机的高频抖动,同时滤波器尺寸自适应地根据抖动频率来调整大小,能够防止过稳或欠稳。实验结果表明,该算法能够有效减轻摄像机的旋转和平移抖动。     

Particle filter-based relative rolling estimation algorithm for non-cooperative infrared spacecraft

The issue of feature point mismatching among infrared image sequence would bring big challenge to estimating the relative motion of non-cooperative spacecraft for it couldn’t provide the prior knowledge about its geometric structure and motion pattern. The paper introduces particle filter to precisely match the feature points within a desired region predicted by a kinetic equation, and presents a least square estimation-based algorithm to measure the relative rolling motion of non-cooperative spacecraft. The state transition equation and the measurement update equation of non-cooperative spacecraft are represented by establishing its kinetic equations, and then the relative pose measurement is converted to the maximum posteriori probability estimation via assuming the uncertainties about geometric structure and motion pattern as random and time-varying variables. These uncertainties would be interpreted and even solved through continuously measuring the image feature points of the rotating non-cooperative infrared spacecraft. Subsequently, the feature point is matched within a predicted region among sequence infrared image using particle filter algorithm to overcome the position estimation noise caused by the uncertainties of geometric structure and motion pattern. Finally, the position parameters including rotation motion are estimated by means of solving the minimum error of feature point mismatching using least square estimate theory. Both simulated and real infrared image sequences are induced in the experiment to evaluate the performance of the relative rolling estimation, and the experimental data show that the rolling motion estimated by the proposed algorithm is more robust to the feature extraction noise and various rotation speed. Meanwhile, the relative rolling estimation error would increase dramatically with distance and rotation speed increasing.     

一种鲁棒的目标跟踪方法

针对传统特征光流场跟踪方法中由于误差积累和错误匹配而导致的特征点丢失问题,基于一种新的Harris-SIFT特征点表示方法,提出基于预测帧与关键帧的算法框架,实现了光流场运动估计与局部特征识别相结合的目标跟踪方法.预测帧利用塔式分解和递归算法计算特征点的光流场运动矢量,使用运动矢量直方图获取目标的运动矢量,并剔除误匹配点;当特征点数量小于5个时,关键帧使用Harris-SIFT特征点进行局部特征匹配,利用仿射模型对目标精确定位及姿态修正.实验结果表明,本方法对视频序列中的纹理特征目标跟踪的鲁棒性较好,在背景复杂、目标遮挡或暂时丢失情况下,仍可以继续完成目标的可靠跟踪.     

一种鲁棒的目标跟踪方法

针对传统特征光流场跟踪方法中由于误差积累和错误匹配而导致的特征点丢失问题,基于一种新的Harris-SIFT特征点表示方法,提出基于预测帧与关键帧的算法框架,实现了光流场运动估计与局部特征识别相结合的目标跟踪方法.预测帧利用塔式分解和递归算法计算特征点的光流场运动矢量,使用运动矢量直方图获取目标的运动矢量,并剔除误匹配点;当特征点数量小于5个时,关键帧使用Harris-SIFT特征点进行局部特征匹配,利用仿射模型对目标精确定位及姿态修正.实验结果表明,本方法对视频序列中的纹理特征目标跟踪的鲁棒性较好,在背景复杂、目标遮挡或暂时丢失情况下,仍可以继续完成目标的可靠跟踪.     

Self-calibration of multi-camera networks without feature correspondence between different cameras

An automatic calibration approach for multi-camera networks is proposed to calibrate the intrinsic parameters of each camera and the extrinsic parameters between different cameras. Firstly, the moving objects are tracking, and the feature points are detected and calculated by a matching method from image sequences. And then we estimate the intrinsic parameters of each camera respectively by a self-calibration method from the motion of feature points, while estimating the rotation and translation of each camera with respect to the object. Thirdly, we estimate the extrinsic parameters between different cameras from the rotation and the motion of each camera with respect to the object. Our method only needs to track the motion of objects in each camera without the correspondence between different cameras. It avoids the difficulty of the correspondence between different cameras in real networks. Experiments with simulated data and real images are carried out to verify the theoretical correctness and numerical robustness.     

基于特征点跟踪的数字稳像算法

针对图像平移和旋转的数字电子稳像问题,提出了一种新的稳像算法。采用K-R法(Kitchen-Rosenfeld)提取图像特征,根据Similarity变换模型进行运动估计,将图像平移和旋转模型转化为仅绕中心点旋转的单一旋转模型,降低了模型的复杂度和计算量。实验证明,这种算法具有很好的稳像效果。     

基于SVD的超精密工件自寻位加工算法能力评价

为进一步改善超精密表面修形的最终精度、效率与成本,优化超精密自寻位加工的工艺方向与工艺决策过程, 开展了对超精密工件的自寻位加工算法点云融合过程的定量评价研究,提出了基于SVD的自寻位加工算法能力评价方法。首先基于运动学方法建立了点云融合的矩阵表示,分别对平动、转动、复合运动等情况建立了自寻位结果的转换矩阵表示,获得自寻位点云融合转换矩阵;进而对转换矩阵进行奇异值分解得到转换矩阵的奇异值列表;最后将列表中最大奇异值用以表征自寻位加工算法的能力。通过对某型超精密叶片在平动、转动和复合运动、共计1078组自由放置状态进行分析,发现所提出的评价指标在独立平动和独立转动两种任意放置情况下能够正确地表征自寻位加工算法的工艺能力。对于独立平动情况,自寻位加工算法能够正常定位加工,其最大奇异值也与预设偏差较小;对于独立转动情况,当旋转角度小于45°时,均能够正确地进行自寻位加工,最大奇异值差值也趋近于零,旋转角度超过45°时,算法的自寻位加工能力恶化,这一特性能够被所提指标正确捕捉。对于由平动和转动构成的复合运动而言,所提指标显示约35%的情况能够正确进行自寻位加工,其余情况无法进行正确的自寻位加工。结果表明本文所提方法建立的指标能够正确表征自寻位加工算法能力。     

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method.     

一个新的超混沌系统及其自适应追踪控制

通过在一个三维混沌系统中加入状态反馈控制器, 构造出一个新的四维超混沌系统. 分析表明, 随着不同参数变化该系统呈现周期、复杂周期、准周期、混沌及超混沌运动. 同时设计出模拟电子电路对该超混沌系统进行了实验验证. 最后, 设计了一个自适应追踪控制器,实现了其对各种不同参考信号的单变量追踪控制.     

基于人眼视觉非均匀特性的实时Mean Shift跟踪方法

由于在成像制导过程中需要实时处理大量的信息,为了在尽可能保留有效信息情况下降低计算量,采用了一种人眼视觉非均匀采样模型——对数极坐标模型,来压缩信息量以提高计算速度;另外,由于对数极坐标变换对目标形状具有旋转和缩放不变性,在跟踪非刚性变形目标时该模型能表现出很好的稳健性;考虑到在成像跟踪末段,质心、角点之类的跟踪方法会产生匹配点漂移,为了抑制匹配点漂移,采用基于目标强度特征的Mean Shift跟踪方法,并对采用Gauss核函数的Mean Shift方法进行了优化来加快计算速度;实验结果表明,该方法能够有效抑制匹配点漂移,是一个稳健的目标跟踪方法.     

Vibration suppression control of smart piezoelectric rotating truss structure by parallel neuro-fuzzy control with genetic algorithm tuning

The main goal of this paper is to develop a novel approach for vibration control on a piezoelectric rotating truss structure. This study will analyze the dynamics and control of a flexible structure system with multiple degrees of freedom, represented in this research as a clamped–free–free–free truss type plate rotated by motors. The controller has two separate feedback loops for tracking and damping, and the vibration suppression controller is independent of position tracking control. In addition to stabilizing the actual system, the proposed proportional–derivative (PD) control, based on genetic algorithm (GA) to seek the primary optimal control gain, must supplement a fuzzy control law to ensure a stable nonlinear system. This is done by using an intelligent fuzzy controller based on adaptive neuro-fuzzy inference system (ANFIS) with GA tuning to increase the efficiency of fuzzy control. The PD controller, in its assisting role, easily stabilized the linear system. The fuzzy controller rule base was then constructed based on PD performance-related knowledge. Experimental validation for such a structure demonstrates the effectiveness of the proposed controller. The broad range of problems discussed in this research will be found useful in civil, mechanical, and aerospace engineering, for flexible structures with multiple degree-of-freedom motion.     

Feature tracking for projection registration in laboratory-scale reflective tomography laser radar imaging

In range-resolved reflective tomography laser radar imaging system, for accurate image reconstruction, all projections must be aligned to the center of target rotation. Due to the unknown location of the axis of rotation and random target translation, the center of target rotation in each projection cannot be measured accurately and images reconstructed based on range-resolved projections without registration would be dislocated. Here, we apply a feature tracking method to align projections data for tomographic reconstruction in laboratory-scale laser radar imaging. The target was placed on a spin table with an unknown and fixed axis, and the oscillatory motion of the target translation was simulated by a second order inertia filter to accord with the real satellites vibrations. The experimental simulation results demonstrate the effectiveness of this method to improve images reconstruction equality. The application of this method to actual radar imaging in remote distance was discussed and the differences were compared with the lab setups.     

Hand vein recognition based on the connection lines of reference point and feature point

According to the essential characters of the image topology, a new hand vein recognition algorithm based on the connection lines of reference point and feature points is proposed. In this method, the intersection points and the endpoints of the vein image are used as feature points. After the intersection points and the endpoints selected as feature points, the reference point for image matching are extracted from these points. The relative distances between the reference point and the feature points and the angles between the adjacent connections of the reference point and feature points are calculated and used as recognition features. Finally these two features are combined for hand vein recognition. This method can effectively overcome the influence on the recognition results caused by image translation and rotation. Experimental results show that the proposed algorithm is able to achieve hand vein recognition reliably and quickly.     

Sliding mode control of a new chaotic system

In this paper, a sliding mode controller (SMC) is designed to control a new dynamical system with canonical chaos characters. With the proposed SMC, the new chaotic system can be regulated to a fixed point in the state space. Simulation shows that the chattering phenomenon is greatly alleviated.     

一类非线性相对转动系统的混沌运动及多时滞反馈控制

建立一类含非线性粘滑摩擦力的两质量非线性相对转动系统的动力学方程. 研究此非线性相对转动系统在外激励作用下的混沌运动及多时滞反馈控制. 当系统在外激励作用下处于混沌状态时, 考虑引入多时滞反馈对系统的混沌运动进行控制. 应用Melnikov理论给出系统在Smale意义下的混沌临界条件, 研究了多时滞反馈对系统运动及混沌临界值的影响规律. 并结合系统相图、Poincare截面图和功率谱分析多时滞反馈参数对系统混沌运动的控制作用. 关键词： 多时滞 相对转动 控制 数值仿真     

旋转扫描式成像光谱仪高光谱的几何变形矫正

Offner成像光谱仪是一种线推扫式成像系统,需要光谱仪与物体之间存在相对移动,从而记录整个区域的光谱和形貌信息。在光谱仪镜头前放置一块反射镜进行旋转扫描,也可以对大尺度物体进行高光谱成像,并且相机固定不动。然而旋转扫描时,记录的高光谱图存在较大的几何误差。该工作分析一般情况下Offner成像光谱仪单次拍摄得到的物点和像点的投影关系;根据投影关系,以旋转角为变量,分析物点在成像面上的投影分布,给出图像几何变形的矫正方法。在成像光谱仪上设计并安装了反射镜旋转扫描装置,进行旋转扫描实验,通过矫正算法,得到了清晰的高光谱图。     

A new four-dimensional chaotic system with first Lyapunov exponent of about 22,hyperbolic curve and circular paraboloid types of equilibria and its switching synchronization by an adaptive global integral sliding mode control

This paper presents a new four-dimensional(4 D) autonomous chaotic system which has first Lyapunov exponent of about 22 and is comparatively larger than many existing three-dimensional(3 D) and 4 D chaotic systems.The proposed system exhibits hyperbolic curve and circular paraboloid types of equilibria.The system has all zero eigenvalues for a particular case of an equilibrium point.The system has various dynamical behaviors like hyperchaotic,chaotic,periodic,and quasi-periodic.The system also exhibits coexistence of attractors.Dynamical behavior of the new system is validated using circuit implementation.Further an interesting switching synchronization phenomenon is proposed for the new chaotic system.An adaptive global integral sliding mode control is designed for the switching synchronization of the proposed system.In the switching synchronization,the synchronization is shown for the switching chaotic,stable,periodic,and hybrid synchronization behaviors.Performance of the controller designed in the paper is compared with an existing controller.     

基于模糊模型的耦合时空混沌H_\infty$跟踪控制

由于子系统的时空耦合作用，实现耦合时空混沌的跟踪控制比较困难。然而模型未知的耦合时空混沌的子系统可由一系列模糊逻辑模型逼近，每个模糊逻辑模型代表子系统在特定运行点的局部线性化模型。基于该系列模糊模型，采用模糊跟踪控制方法实现了耦合时空混沌的模型参考跟踪控制，并用线性矩阵不等式的凸优化方法求解控制器参数，确保系统的全局渐近稳定性。仿真验证了方案的有效性。     

星上定标漫射板远紫外BRDF测量方法

针对星载漫射板远紫外波段(140~240nm)的双向反射分布函数测量过程中,探测器响应线性问题和紫外光源稳定性差的问题,提出一种采用光源监测比例补偿的相对测量方法.根据测量方法设计了一种基于六自由度转台结构形式的测量系统,该系统采用漫射板两维平移+两维转动、探测器两维转动的组合运动形式,可实现漫射板半球空间内任意点、任意方位的双向反射分布函数测量.用所提方法进行测量实验,并对影响系统测量结果的主要因素进了不确定度分析,结果表明总测量不确定度约为5.5%.     

多移动机器人轨迹跟踪控制系统设计与实现

针对轮式移动机器人的轨迹跟踪控制问题,在分析了机器人运动学模型的基础上,构建多机器人的领航-追随模型。采用跟踪微分器在输入输出两端安排过渡过程,设计了一种基于多变量解耦的非线性PID轨迹跟踪控制器。搭建以Arduino Mega 1280控制板为核心的移动机器人实验平台,采用速度PID控制器以满足机器人驱动电机的实时调速要求,基于ROS提出一种结构化和模块化的多机器人控制系统。在此基础上进行实验,并将实验结果与传统PID方法控制的实验结果进行对比。实验结果验证了本文所提算法的有效性,控制器易于实现且具有一定的鲁棒性。