基于非下采样Contourlet变换的 SVM多聚焦图像融合

提出基于非下采样Contourlet变换的支持向量机(SVM)多聚焦图像融合算法. 采用非下采样Contourlet变换分解图像得到不同频域子带系数. 针对直接取系数绝对值最大融合规则不能反映图像区域的缺点,提出SVM分类系数融合规则. 根据各子带系数物理意义将区域方差、区域能量作为SVM核函数参考量来选择清晰像素点系数,根据融合系数重构得到融合图像. 结果证明该算法能有效并准确地融合图像中的信息.     

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

This paper proposes an adaptive discrete finite-time synergetic control （ADFTSC） scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter （EKF）, the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.