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Design of Objects tracking System Based on ARM Embedded Platform

Computer Aided Drafting,Design and Manufacturing 2014年第3期24卷 65-69页

作者： XU Mei SONG Yong-duan LV Shao-dong LIU Zhi-long HUANG Cong-ying School of Energy Science and Engineering University of Electronic Science and Technology of China

In recent years, according to the need of intelligent video surveillance system increasing rapidly in metropolitan cities ,a design based on $3C2440 microprocessor and embedded Linux operating system is adopted for real-time video target tracking. However, it is very challenging as embedded systems usually afford limited processing power and limited resources. Therefore, to address this problem, a real-time tracking algorithm using multi-features based on compressive sensing is proposed and implemented The algorithm uses multiple matrix as the projection matrix of the compressive sensing and the compressed date as the multiple features to extract useful information needed by tracking process. Functions and libraries in OpenCV which were developed by Intel Corporation are utilized for building the tracking algorithms. It is tested with variant video sequences and the results show that the algorithm achieves stable tracking for the target moved of the light changed.

关键词： embedded system OpenCV tracking algorithms compressive sensing

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Finite-Time Control for Attitude tracking Maneuver of Rigid Satellite

ABSTRACT AND APPLIED ANALYSIS

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ABSTRACT AND APPLIED ANALYSIS 2014年第none期2014卷 1-15页

作者： Huo, Mingyi Huo, Xing Karimi, Hamid Reza Ni, Jianfei Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China Bohai Univ Coll Engn Jinzhou 121000 Peoples R China Univ Agder Fac Engn & Sci Dept Engn N-4898 Grimstad Norway

The problem of finite-time control for attitude tracking maneuver of a rigid spacecraft is investigated. External disturbance, unknown inertia parameters are addressed. As stepping stone, a sliding mode controller is designed. It requires the upper bound of the lumped uncertainty including disturbance and inertia matrix. However, this upper bound may not be easily obtained. Therefore, an adaptive sliding mode control law is then proposed to release that drawback. Adaptive technique is applied to estimate that bound. It is proved that the closed-loop attitude tracking system is finite-time stable. The tracking errors of the attitude and the angular velocity are asymptotically stabilized. Moreover, the upper bound on the lumped uncertainty can be exactly estimated in finite time. The attitude tracking performance with application of the control scheme is evaluated through a numerical example.

关键词： FINITE element method MATHEMATICAL models MATHEMATICAL programming THEOREMS (Mathematics) PARAMETERS (Statistics) tracking algorithms NATURAL satellites

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Circular Motion Guidance Law for Coordinated Standoff tracking of a Moving Target

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2013年第4期49卷 2440-2462页

作者： Yoon, Seungho Park, Sanghyuk Kim, Youdan Seoul Natl Univ Seoul 151742 South Korea Korea Aerosp Univ Dept Aerosp & Mech Engn Goyang City 412791 South Korea

A guidance law is presented to enable a coordinated standoff tracking of a moving target with multiple fixed-wing unmanned aircraft. The standoff tracking guidance law makes multiple aircraft circle around a moving target while maintaining a specific distance from it with a desired circling rate. The stabilization of a spherical pendulum to a conical motion is applied to the aircraft motion to obtain the standoff tracking guidance commands. The acceleration commands are designed to regulate the position and velocity errors using the Lyapunov stability theory and the backstepping technique. The coordinated standoff tracking with multiple aircraft is achieved by applying the proposed guidance law to a leader-follower formation. The only information transmitted from the leader aircraft to the follower aircraft is the phase angle of the leader. In addition an offset circle is proposed to deal with the aircraft speed limit. Tight phase spacing between the neighboring aircraft is accomplished by tracking the reference position and velocity vectors defined on the offset circle. Numerical simulations and flight tests are performed to verify the effectiveness of the proposed method. Multiple aircraft are successfully guided to a circular motion around the moving target while maintaining tight phase spacing to the neighboring aircraft as well as a desired standoff distance to the target.

关键词： CIRCULAR motion tracking algorithms MOVING target indicator radar AIRPLANES LYAPUNOV stability RADAR target recognition

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Optimal tracking of Distributed Heavy Hitters and Quantiles

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ALGORITHMICA 2013年第1期65卷 206-223页

作者： Yi, Ke Zhang, Qin Hong Kong Univ Sci & Technol Kowloon Hong Kong Peoples R China Aarhus Univ MADALGO Ctr Mass Data Algorithm Aarhus Denmark

We consider the problem of tracking heavy hitters and quantiles in the distributed streaming model. The heavy hitters and quantiles are two important statistics for characterizing a data distribution. Let A be a multiset of elements, drawn from the universe U={1,aEuro broken vertical bar,u}. For a given 0a parts per thousand currency signI center dot a parts per thousand currency sign1, the I center dot-heavy hitters are those elements of A whose frequency in A is at least I center dot|A|;the I center dot-quantile of A is an element x of U such that at most I center dot|A| elements of A are smaller than A and at most (1-I center dot)|A| elements of A are greater than x. Suppose the elements of A are received at k remote sites over time, and each of the sites has a two-way communication channel to a designated coordinator, whose goal is to track the set of I center dot-heavy hitters and the I center dot-quantile of A approximately at all times with minimum communication. We give tracking algorithms with worst-case communication cost O(k/I mu a <...logn) for both problems, where n is the total number of items in A, and I mu is the approximation error. This substantially improves upon the previous known algorithms. We also give matching lower bounds on the communication costs for both problems, showing that our algorithms are optimal. We also consider a more general version of the problem where we simultaneously track the I center dot-quantiles for all 0a parts per thousand currency signI center dot a parts per thousand currency sign1.

关键词： QUANTILES tracking algorithms DATA distribution DATABASES COMMUNICATION models MATHEMATICAL models MATHEMATICAL optimization

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Computer-aided checking systems for the geometric parameters of objects based on wide-range tracking fluidic sensors

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AUTOMATION AND REMOTE CONTROL 2013年第11期74卷 1903-1911页

作者： Sergeev, A. S. Lesnoi, B. V. Volgograd State Tech Univ Volgograd Russia

This paper demonstrates the efficiency of wide-range tracking fluidic sensors in computer-aided checking systems. The functional models of air sensors are studied depending on influencing factors. The results obtained allow estimating transient processes, amplitude errors and phase errors, as well as metrological characteristics of tracking air sensors in computer-aided checking systems.

关键词： COMPUTER-aided design GEOMETRIC analysis PARAMETER estimation FLUIDIC devices tracking algorithms MATHEMATICAL models

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Arabidopsis Growth Simulation Using Image Processing Technology

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JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING 2014年第1期2014卷 1-6页

作者： Zhang, Junmei Ke, Qiuhong Tian, Ye Beijing Forestry Univ Sch Technol Beijing 100083 Peoples R China

This paper aims to provide a method to represent the virtual Arabidopsis plant at each growth stage. It includes simulating the shape and providing growth parameters. The shape is described with elliptic Fourier descriptors. First, the plant is segmented from the background with the chromatic coordinates. With the segmentation result, the outer boundary series are obtained by using boundary tracking algorithm. The elliptic Fourier analysis is then carried out to extract the coefficients of the contour. The coefficients require less storage than the original contour points and can be used to simulate the shape of the plant. The growth parameters include total area and the number of leaves of the plant. The total area is obtained with the number of the plant pixels and the image calibration result. The number of leaves is derived by detecting the apex of each leaf. It is achieved by using wavelet transform to identify the local maximum of the distance signal between the contour points and the region centroid. Experiment result shows that this method can record the growth stage of Arabidopsis plant with fewer data and provide a visual platform for plant growth research.

关键词： DIGITAL image processing ARABIDOPSIS COMPUTER simulation PLANT growth SEGMENTATION (Image processing) tracking algorithms BOUNDARY value problems

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Design of Iterative Learning Control Method with Global Convergence Property for Nonlinear Systems

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JOURNAL OF CONTROL SCIENCE AND ENGINEERING 2014年第1期2014卷 1-5页

作者： Xu, Guang-Wei Shao, Cheng Han, Yu Dalian Univ Technol Inst Adv Control Technol Dalian 116024 Peoples R China Dalian Univ Technol Sch Software Technol Dalian 116600 Peoples R China

We address an iterative learning control (ILC) method for overcoming initial value problem caused by local convergence methods. Introducing a feedback recursive form of tracking errors into iterative learning law, this algorithm can avoid a crude linear approximation to nonlinear plants to reach global convergence property. The algorithm's structure is entirely illustrated. Under assumptions, it is guaranteed that tracking errors of the closed-loop system converge to zero. Besides, we discuss the roles of parameters in iterative learning law for algorithm realization, and a nonlinear case study is presented to demonstrate the effectiveness and tracking performance of the proposed algorithm.

关键词： NONLINEAR control theory MACHINE learning ITERATIVE methods (Mathematics) STOCHASTIC convergence ERROR analysis (Mathematics) tracking algorithms

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Vision-Based Estimation of Airborne Target Pseudobearing Rate using Hidden Markov Model Filters

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2013年第4期49卷 2129-2145页

作者： Lai, John Ford, Jason J. O'Shea, Peter Mejias, Luis Queensland Univ Technol Fac Built Environm & Engn Sch Engn Syst Brisbane Qld 4001 Australia

The problem of estimating pseudobearing rate information of an airborne target based on measurements from a vision sensor is considered. Novel image speed and heading angle estimators are presented that exploit image morphology, hidden Markov model (HMM) filtering, and relative entropy rate (RER) concepts to allow pseudobearing rate information to be determined before (or whilst) the target track is being estimated from vision information.

关键词： AIRBORNE computers PARAMETER estimation IMAGE sensors ENTROPY (Information theory) tracking algorithms MARKOV processes IMAGE analysis INFORMATION filtering systems

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Leader-Following Consensus of Linear Multiagent Systems with State Observer under Switching Topologies

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MATHEMATICAL PROBLEMS IN ENGINEERING 2013年第1期2013卷 1-12页

作者： Gao, Lixin Zhu, Xinjian Chen, Wenhai Zhang, Hui Wenzhou Univ Inst Intelligent Syst & Decis Wenzhou 325035 Zhejiang Peoples R China Zhejiang Univ Dept Control Sci & Engn Hangzhou 310027 Zhejiang Peoples R China Zhejiang Univ Inst Ind Proc Control State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China

The leader-following consensus problem of higher order multiagent systems is considered. The dynamics of each agent are given in general form of linear system, and the communication topology among the agents is assumed to be directed and switching. To track the leader, two kinds of distributed observer-based consensus protocols are proposed for each following agent, whose distributed observers are used to estimate the leader's state and tracking error based on the relative outputs of the neighboring agents, respectively. Some sufficient consensus conditions are established by using parameter-dependent Lyapunov function method under a class of directed interaction topologies. As special cases, the consensus conditions for balanced and undirected interconnection topology cases can be obtained directly. The protocol design technique is based on algebraic graph theory, Riccati equation, and Sylvester equation. Finally, a simulation example is given to illustrate our obtained result.

关键词： LINEAR systems OBSERVABILITY (Control theory) TOPOLOGY DISTRIBUTED algorithms tracking algorithms ERROR analysis (Mathematics)

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Neural-Fuzzy Digital Strategy of Continuous-Time Nonlinear Systems Using Adaptive Prediction and Random-Local-Optimization Design

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MATHEMATICAL PROBLEMS IN ENGINEERING 2013年第1期2013卷 1-12页

作者： Tsai, Zhi-Ren Asia Univ Dept Comp Sci & Informat Engn Taichung 41354 Taiwan

A tracking problem, time-delay, uncertainty and stability analysis of a predictive control system are considered. The predictive control design is based on the input and output of neural plant model (NPM), and a recursive fuzzy predictive tracker has scaling factors which limit the value zone of measured data and cause the tuned parameters to converge to obtain a robust control performance. To improve the further control performance, the proposed random-local-optimization design (RLO) for a model/controller uses offline initialization to obtain a near global optimal model/ controller. Other issues are the considerations of modeling error, input-delay, sampling distortion, cost, greater flexibility, and highly reliable digital products of the model-based controller for the continuous-time (CT) nonlinear system. They are solved by a recommended two-stage control design with the first-stage (offline) RLO and second-stage (online) adaptive steps. A theorizing method is then put forward to replace the sensitivity calculation, which reduces the calculation of Jacobin matrices of the back-propagation (BP) method. Finally, the feedforward input of reference signals helps the digital fuzzy controller improve the control performance, and the technique works to control the CT systems precisely.

关键词： FUZZY neural networks CONTINUOUS-time filters tracking algorithms NONLINEAR systems ADAPTIVE control systems PREDICTION (Logic) MATHEMATICAL optimization

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