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61.
In visual tracking, sources of information are often disrupted and deliver imprecise or unreliable data leading to major data fusion issues. In the Dempster-Shafer framework, such issues can be addressed by attempting to design robust combination rules. Instead of introducing another rule, we propose to use existing ones as part of a hierarchical and conditional combination scheme. The sources are represented by mass functions which are analysed and labelled regarding unreliability and imprecision. This conditional step divides the problem into specific sub-problems. In each of these sub-problems, the number of constraints is reduced and an appropriate rule is selected and applied. Two functions are thus obtained and analysed, allowing another rule to be chosen for a second (and final) fusion level. This approach provides a fast and robust way to combine disrupted sources using contextual information brought by a particle filter. Our experiments demonstrate its efficiency on several visual tracking situations. 相似文献
62.
G. Ambrosino G. Celentano F. Garofalo 《Journal of Optimization Theory and Applications》1986,50(2):239-255
The development of flexible manufacturing systems calls for industrial robots characterized by robustness of performance with regard to the variations of the loads and real time specification of the trajectory in the work space. In this paper, the design of a feedback controller guaranteeing such performance is considered. At first, the manipulator dynamics are embedded into a larger class of uncertain dynamical systems and a class of feedback controls is proposed that guarantees uniform ultimate boundedness of the tracking error. Successively, the methodology is specialized for the case of robotic manipulators to track trajectories described in task-oriented coordinates; the proposed control algorithm operates without requiring any explicit coordinate transformation. 相似文献
63.
64.
介绍由两同心圆组成的等投影面积五象限声-电测量装置的工作原理。当声波与声-电转换器的主要测象限垂直时,其声波在主要测象限内产生的声-电电压最强。根据声-电电压的变化大小来确定声源的方向,实现自动跟踪。 相似文献
65.
Tethered particle motion is an experimental technique to monitor conformational changes in single molecules of DNA in real time, by observing the position fluctuations of a micrometer-size particle attached to the DNA. This article reviews some recent work on theoretical problems inherent in the interpretation of TPM experiments, both in equilibrium and dynamical aspects. 相似文献
66.
The paper studies nonlinear dynamics and control of a class of space station based mobile flexible two-link manipulators, normally referred to as the Mobile Servicing System (MSS).The governing nonlinear, nonautonomous and coupled equations of motion are described first followed by the modal discretizations procedure. A parametric response study suggests situations with unacceptable levels of deflections and accelerations for certain proposed missions, as well as station libration and payload positioning errors.An inverse control technique is proposed to achieve high tracking accuracy of the MSS in presence of maneuver induced disturbances. The control strategy is so designed as to regulate the libration of the Space Station as well as to insure joints tracking of prescribed trajectories, while limiting the effect of the structural vibration during large slewing maneuvres of the MSS. Two different control schemes, both based on the feedback linearization technique, are developed and their relative merit assessed.This investigation was supported by the Centers of Excellence Program, Grant No. IRIS/C-8, 5-55380, and Natural Sciences and Engineering Research Council of Canada, Grant No. A-2181. 相似文献
67.
Zhang Xiaolin 《International Journal of Infrared and Millimeter Waves》1992,13(4):559-568
Typical IR systems' sensitivity equations have been established for decades, these include the NETD equation for IR imaging systems, and the acquisition and tracking range equations for IR searching and tracking systems, but they only fit the specific or simplified conditions. For example, the NETD equation can only be used for systems tested under the standard condition. In the field application, we must deal with the noise equivalent radiance difference NELD, not the NETD, and give out its explicit equation for concrete calculation. For the range equation, when the small target, often called a point source, is not strong enouph, i. e., when the target contrast is seriously decreased, we must consider the unneglectable background effect. In this paper, we summarrize some more general and valuable IR systems' sensitivity equations, which can be used for the practical engineering analysis and projection effectively. 相似文献
68.
介绍一种光电跟踪系统所采用的轴角编码与数字显示器。分析跟踪型轴角编码器的基本原理,探讨并提出了提高分辨率的具体方法,保证系统测角精度并可进行数字显示。 相似文献
69.
In this paper, linear time-invariant single-input single-output (SISO) systems that are stabilizable by linear proportional and integral (PI) compensators are considered. For such systems, a five-parameter nonlinear PI compensator is proposed. The parameters of the proposed compensator are tuned by solving an optimization problem. The optimization problem always has a solution.Additionally, a general nonlinear PI compensator is proposed and is approximated by easy-to-compute compensators, for instance, a six-parameter nonlinear PI compensator. The parameters of the approximate compensators are tuned to satisfy an optimality condition. The superiority of the proposed nonlinear PI compensators over linear PI compensators is discussed and is demonstrated for two feedback systems. 相似文献
70.
Kitaro Adachi 《Rheologica Acta》1986,25(6):555-563
An extension of a previous work concerning the calculation of strain histories along streamlines is made to get more complete and useful expressions of Finger's strain tensor in a cylindrical (or Cartesian) coordinate system as well as in an orthogonal streamline coordinate system. One of the results shows that Winter's tracking model is correct.Relations among the recent three results of Winter, Adachi and Crochet et al. are presented clearly. Moreover useful applications of Frenet-Serret's formula to the study of the deformation and flow kinematics along streamlines are shown in comparison with the ordinary tensor approach. 相似文献