This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and ...
详细信息
ISBN:
(纸本)9781612848006
This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.
This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller for...
详细信息
This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.
It has been shown that there is a strong correlation between breast tissue density/patterns and the risk of developing breast cancer. Thus, modelling mammographic tissue patterns is important for quantitative anal...
详细信息
It has been shown that there is a strong correlation between breast tissue density/patterns and the risk of developing breast cancer. Thus, modelling mammographic tissue patterns is important for quantitative analysis of breast density and computeraided mammographic risk assessment. In this paper, we first review different local feature based texture representation algorithms, where images are represented as occurrence histograms over a dictionary of local features. Subsequently, we use these approaches to model mammographic tissue patterns based on local tissue appearances in mammographic images. We investigate the performance of different breast tissue representations for breast denstiy classification. The evaluation is based on the full MIAS database using BIRADS ground truth. The obtained classification results are comparable with existing work, which indicates the potential capability of local feature based texture representation in mammographic tissue pattern analysis.
We introduce the Egs mote platform based on the Cortex M3 microcontroller that focuses on medical sensing applications. Egs uses an Atmel SAM3U microcontroller that runs up to 96 MHz and has up to 52 KB of RAM and 256...
详细信息
In this paper we consider the problem of state estimation over a communication network. Using estimation quality as a metric, two communication schemes are studied and compared. In scheme one, each sensor node communi...
详细信息
In this paper we consider the problem of state estimation over a communication network. Using estimation quality as a metric, two communication schemes are studied and compared. In scheme one, each sensor node communicates its measurement data to the remote estimator, while in scheme two, each sensor node communicates its local state estimate to the remote estimator. We show that with perfect communication link, if the sensor has unlimited computation capability, the two schemes produce the same estimate at the estimator, and if the sensor has limited computation capability, scheme one is always better than scheme two. On the other hand, when data packet drops occur over the communication link, we show that if the sensor has unlimited computation capability, scheme two always outperforms scheme one, and if the sensor has limited computation capability, we show that in general there exists a critical packet arrival rate, above which scheme one outperforms scheme two. Simulations are provided to demonstrate the two schemes under various circumstances.
The exploration and three dimension map building of mobile robot tasks in an unknown environment are normally do not have any future reference information. The mobile robot has to estimate positions and poses itself. ...
详细信息
Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation met...
详细信息
Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.
DNA tile self-assembly is a promising paradigm for nanotechnology. Recently, many researches show that computation by DNA tile self-assembly maybe scalable. In this paper, we propose the algorithm for elliptic curve D...
详细信息
Complex industrial and aerospatial systems require efficient monitoring and fault detection schemes to ease prognosis and health monitoring tasks. In this work we rely upon the model-based approach to perform robust f...
详细信息
ISBN:
(纸本)9781936263011
Complex industrial and aerospatial systems require efficient monitoring and fault detection schemes to ease prognosis and health monitoring tasks. In this work we rely upon the model-based approach to perform robust fault detection and isolation using analytical and statistical models. We have combined Principal Component Analysis (PCA) together with Possible Conflicts (PCs), to improve the overall diagnosis process for complex system. Our proposal uses residuals computed using PCs as the input for the PCA tool. The PCA tool is able to accurately determine significant deviations in the residuals, that will be identified as faults. The integration of both techniques provides more robust results for fault detection, while avoiding false alarms in PCAs due to changes in operation modes. Moreover, it provides the PCA approach with the necessary mechanisms to perform fault isolation. This approach has been tested on a laboratory plant with real data, obtaining promising results.
Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the propos...
详细信息
Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.
暂无评论