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8th International Conference on Modelling, Identification and Control (ICMIC)

作者： Ferrag, Abdelmoumen Oussar, Abdelatif Guiatni, Mohamed Ecole Mil Polytech Control Lab Bordj El Bahri Algeria

ISBN: (纸本)9780956715777

In this paper, a coordinated motion of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UGV plays the role of a leader for the UAV. While UGV tracks a predefined geometric path, the UAV is supposed to track the UGV. A robust controller based on integral sliding mode is designed to solve the tracking problem in the presence of input saturations and of the unknown disturbances, and tracking controller algorithm is considered for UAV to track the UGV. Simulations results are presented in order to evaluate the performances of the proposed approach.

关键词： coordinated motion UAV UGV robust control tracking algorithm

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Path-tracking simulation and field tests for an auto-guidance tillage tractor for a paddy field

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COMPUTERS AND ELECTRONICS IN AGRICULTURE 2015年 112卷 161-171页

作者： Han, Xiong Zhe Kim, Hak Jin Kim, Joon Yong Yi, Sang Yup Moon, Hee Chang Kim, Jung Hun Kim, Young Joo Seoul Natl Univ Dept Biosyst & Biomat Engn Seoul South Korea Seoul Natl Univ Res Inst Agr & Life Sci Seoul South Korea SimLab Co Ltd Seoul South Korea Unmanned Solut Co Ltd Seoul South Korea Tongyang Moolsan Co Ltd R&D Inst Gongju South Korea Korea Inst Ind Technol Environm Mat & Components Ctr Jeonju South Korea

The application of an auto-guided tractor to rice cultivation in Korean paddy fields may be limited by tire slippage and headland turning due to wet soil conditions and the use of small-sized fields < 1 ha. This study examines the development of a computer simulator capable of virtually testing the motion of a tractor based on a look-ahead distance method in a real-time 3D graphic environment. The tractor motion was simulated based on the dynamic model of a vehicle that considered the effects of tire slippage and side force imparted by soil. The validity of the computer simulation was confirmed by a paved road test, thereby providing tracking trajectories similar to those obtained from the road test. However, an oscillation in the steering angle, ranging from -8 to +5 deg., occurred when the tractor traveled on straight paths. This oscillation might be related to the limitations of the electric motor in controlling the tractor's hydraulic steering system due to the non-linear response of the hydraulic actuator to the rotation of the steering wheel by motor torque. In an arable field (90 m x 25 m), the auto-guided tractor followed the predefined path including C-shape headland turning with acceptable tracking, showing RMS lateral errors ranging from 3.8 to 12.8 cm on the straight paths. However, RMS lateral errors obtained on the curved paths increased to 100 cm when the tractor traveled in a wet sub-field with moisture content > 30%, thereby requiring more accurate estimation of sliding parameters. (C) 2015 Elsevier B.V. All rights reserved.

关键词： tracking algorithm Autonomous tractor Kinematic model Computer simulation Tire slippage Paddy field

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Research on Robustness tracking of Maneuvering Target for Bionic Robot

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INTERNATIONAL JOURNAL OF SECURITY AND ITS APPLICATIONS 2015年第12期9卷 67-75页

作者： Wang Peng Wu Jian Zhang Yuan Li Jixiang Zhang Peng Harbin Univ Sci & Technol Sch Mech & Power Engn Harbin Peoples R China Harbin Univ Sci & Technol Coll Automat Harbin Peoples R China

In order to improve vision tracking quality of the bionic robot, the new automatic tracking algorithm system is proposed in this paper. Base on design of FPGA image acquisition system, the scene noise is removed by adaptive wiener filtering. Aiming at the problem of ROI region extraction in the scene, the seed pixel is selected with background subtraction, orderly, the neighborhood point is judged, the label of the primary selection seed is calibrated. The scene image segmentation algorithm is proposed based on snake model. The matching process is to find the maximum optimization process of the similar function, and the gradient drop method is adopted in mean shift algorithm. Extended kalman filtering is used to realize the robustness state estimation and prediction of the target tracking system. The results given by tracing experiment indicate that the proposed detailed algorithm is effective for partial loss of maneuvering target.

关键词： maneuvering target tracking algorithm mean shift extended kalman filtering

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EFFICIENT AND DISTRIBUTED tracking OF EVOLVING STATE 25

EFFICIENT AND DISTRIBUTED TRACKING OF EVOLVING STATE

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IEEE International Workshop on Machine Learning for Signal Processing

作者： Sayin, Muhammed O. Vanli, N. Denizcan Delibalta, Ibrahim Kozat, Suleyman S. Bilkent Univ Dept Elect & Elect Engn TR-06800 Ankara Turkey Avea Labs Istanbul Turkey

ISBN: (纸本)9781467374545

We propose a distributed tracking algorithm for evolving states. Here, we consider a distributed network of agents that observe an underlying state through a linear model. The agents can process observation data in a fully distributed manner irrespective of any centralized processing unit. We introduce a novel strategy based on aggregation of information in time at each agent and we employ a time-windowing approach in order to achieve computationally efficient algorithm with enhanced tracking performance. This strategy also performs efficiently in terms of the communication load over certain environments, e.g., where observation data has smaller dimension than state vector. Finally, we demonstrate the performance of the introduced algorithm over several scenarios.

关键词： tracking algorithm Markov chain random walk model dynamic state distributed learning

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The Concept of Development and Test Results of the Multimedia Shooting Detection System

The Concept of Development and Test Results of the Multimedi...

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Future Technologies Conference

作者： Karol Jedrasiak Krzysztof Daniec Dawid Sobel Damian Bereska Aleksander Nawrat VRTechnology Luzycka 16 44-100 Gliwice Poland SilSense Technologies Konarskiego 18C 44-100 Gliwice Poland Institute of Automatic Control Silesian University of Technology Akademicka 16 44-100 Gliwice Poland

ISBN: (纸本)9781509041725

The article presents the development of innovative multimedia shooting detection system solving problems of existing solutions and characterized by four major advantages: algorithm of photometric recalibration, a gun bullet's hit detection video analysis algorithm using thermal imaging camera, IR laser spot tracking algorithm, implementation of ballistics equations. The combination of the aforementioned benefits in one multimedia shooting system, creates a comprehensive and professional solution for tracking aiming point and detection of the realistic impact point using ballistics equations. tracking of aiming point, and not only the impact point allows you to create more advanced scenarios for shooting exercises, and improving training of intervention tactics of uniformed services. Introduced algorithm of photometric recalibration allows using of the economically viable commercially available projectors for systems that require long and intensive use without most of negative impacts on color mapping of existing multi-projector multimedia shooting range systems. The article presents the results of the developed algorithms and their application in real training systems.

关键词： Hit detection Color recalibration tracking algorithm Thermography Ballistics

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An Intention Based Manipulation Method of Large Models in Virtual Environment

An Intention Based Manipulation Method of Large Models in Vi...

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International Conference on Control, Automation and Robotics ICCAR

作者： Wang Dawei Yang Hongyan COMAC Beijing Aeronaut Sci & Technol Res Inst Computat & Simulat Lab Beijing Peoples R China

ISBN: (纸本)9781467375238

This paper proposes a big-span position tracking algorithm based on pre-position time series to determine the user operation intention in virtual environment. Some problems, such as lost subject and inconvenient operation, when a tracker is working on big-scale models, like an airplane or a ship, can't be solved well in an immersive virtual reality system. Based on the moving trajectory and speed of a tracker in a unit of time span, the tracking algorithm is a plus to the mainstream relative position algorithm. The algorithm can tell the magnitude and intensity of a user's operation. It makes it especially convenient to display large-scale models in the CAVE system. Cases are used in this thesis to prove the effectiveness and convenience of this algorithm.

关键词： virtual reality CAVE tracking algorithm relative position

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High Accuracy tracking with an Active Pan-Tilt-Zoom Camera

High Accuracy Tracking with an Active Pan-Tilt-Zoom Camera

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2015 International Conference on Computer Information Systems and Industrial Applications(CISIA2015)

作者： W.Fu L.Gao School of Electronics and Information Engineering Xi'an Technological University

ISBN: (纸本)9781510805750

Traditional PTZ tracking system focus on tracking algorithm,but PTZ camera control is not taken seriously and the control method has the large *** algorithm for PTZ camera control is defined according to the target position which is achieved by the tracking algorithm in the image,calculates the rotation angles of the two motors to control the PTZ *** a result,the target appears in the centre of the *** paper proposes a model-based algorithm for PTZ camera control,taking into account the camera distortion and the deviation is within 5 *** results show that the algorithm can be effectively applied to PTZ tracking system.

关键词： PTZ camera control tracking algorithm camera calibration

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Research on Maximum Power Point tracking Method for Grid-Connected Photovoltaic Power Generation System

Research on Maximum Power Point Tracking Method for Grid-Con...

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2015 International Conference on Automation,Mechanical Control and Computational Engineering(AMCCE 2015)

作者： Ying Zhang Junhai Jiang Mechanical and Electrical Engineering Jiangsu food and drug of Career Technical College Department of omputer Science and Technology Changchun University

ISBN: (纸本)9781510803084

Aiming at the solar photovoltaic characteristics and the lower transformation efficiency problem in grid-connected photovoltaic power generation, a maximum power point tracking(MPPT) algorithm is put forward. According to the changes of amplitude and frequency of power-grid voltage, the proposed algorithm can calculate the correction value of maximum power point, which will be stacked with the maximum power obtained by means of perturbation and observation method, and then the MPPT control is realized. Simulation experiment results present that, compared with the traditional MPPT method using perturbation observation, the proposed method can avoid misjudgment, guarantee the shorter time for maximum power point tracking, and reduce the shock around the maximum power point. Moreover, it can effectively suppress the influences of instable factors on the maximum power point, and meet the optimal power point for stable operation of power grid.

关键词： Grid-connected photovoltaic power generation maximum power point tracking algorithm controller

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GPU Parallel Computing algorithm in Target tracking of Space

GPU Parallel Computing Algorithm in Target Tracking of Space

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第四届智能结构与振动控制国际会议

作者： Tuo Ding The 8th Institute Shanghai Academy of Spaceflight Technology

Article careful analysis of existing processes and target tracking algorithm and part of the video image processing algorithm that consume large amount of data based *** algorithm for image pre-processing module and tracking module algorithm designed operational *** studies algorithm for image pre-processing module,and each was carried out in parallel GPU accelerated processing,and were tested in a unified CUDA computing *** data show that some parts of the algorithm can be improved after the adoption of CUDA target tracking algorithm optimized overall efficiency,has some practical significance.

关键词： GPU CUDA,Moving Target tracking algorithm

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Two-Tier Precoding for FDD Multi-Cell Massive MIMO Time-Varying Interference Networks

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IEEE JOURNAL ON SELECTED AREAS IN COMMUNICATIONS 2014年第6期32卷 1230-1238页

作者： Chen, Junting Lau, Vincent K. N. Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Kowloon Hong Kong Peoples R China

Massive MIMO is a promising technology in future wireless communication networks. However, it raises a lot of implementation challenges, for example, the huge pilot symbols and feedback overhead, requirement of real-time global CSI, large number of RF chains needed, and high computational complexity. We consider a two-tier precoding strategy for multi-cell massive MIMO interference networks, with an outer precoder for inter-cell/inter-cluster interference cancellation, and an inner precoder for intra-cell multiplexing. In particular, to combat with the computational complexity issue for the outer precoding, we propose a low complexity online iterative algorithm to track the outer precoder under time-varying channels. We follow an optimization technique and formulate the problem on the Grassmann manifold. We develop a low complexity iterative algorithm, which converges to the global optimal solution under static channels. In time-varying channels, we propose a compensation technique to offset the variation of the time-varying optimal solution. We show with our theoretical result that, under some mild conditions, perfect tracking of the target outer precoder using the proposed algorithm is possible. Numerical results demonstrate that the two-tier precoding with the proposed iterative compensation algorithm can achieve a good performance with a significant complexity reduction compared with the conventional two-tier precoding techniques in the literature.

关键词： Massive MIMO two-tier precoding tracking algorithm optimization Grassmann manifold

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