An integrated simulation system is proposed in the paper,which considers the universal runtime platform environment,the resource management mechanism,and the aerospace oriented model software *** platform is compatibl...
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ISBN:
(纸本)9781509009107
An integrated simulation system is proposed in the paper,which considers the universal runtime platform environment,the resource management mechanism,and the aerospace oriented model software *** platform is compatible with the HLA protocol and support both synchronous and asynchronous modes for data *** simulation execution is established on the specifically formulated scenarios,which provides flexibilities in customizing the organization of the simulation *** resource framework is designed by combining the characteristics of both aerospace engineering and software engineering,and the modeling objects are expanded from the entities of satellites,sub-systems and equipments,to the non-entity relationships of the system *** the developed model database and management software,the simulation can be applied either in the visible and non-programming way,or in a secondary development way with ***,the proposed system is user-friendly to engineers with various disciplinary backgrounds.
With the battlefield environment becomes more complicated nowadays, it's difficult to achieve high precision target tracking only using single platform of target tracking system. Especially for maneuvering targets...
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ISBN:
(纸本)9781467374439
With the battlefield environment becomes more complicated nowadays, it's difficult to achieve high precision target tracking only using single platform of target tracking system. Especially for maneuvering targets, the application of interactive multiple model(IMM) algorithm based on a variety model becomes necessary and feasible. At the same time, the best linear unbiased estimate(BLUE) filter is much more appropriate and useful than Kalman filter when it comes to deal with nonlinear system. Most of the time, we are blind to the correlation degree of our target during the merge process of tracking. We can track our target with multi-platform with introduction of Cross-Correlation(CI) fusion algorithm which is based on distributed data and proves its effectiveness by simulation.
Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. Recently, many dehazing algorithms have been proposed based on the dark channel prior(DCP)....
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ISBN:
(纸本)9781467374439
Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. Recently, many dehazing algorithms have been proposed based on the dark channel prior(DCP). However, these algorithms aim to improve the refinement of the raw transmission map, while ignore the computational complexity of DCP ***, this paper proposes a new technique for fast single image haze removal, which achieves a good tradeoff between the dehazing performance and the computational complexity. We first decompose the observed haze image into a coarse image and a detail image using Gaussian-Laplacian pyramid. Then, the coarse image is dehazed by Dark Channel Prior and Guided filter(GDCP). For the size of the coarse image is 1/4 of the original image, the computational complexity is reduced ***, the recomposed image is blurred, since the detail image is still haze. So, we employ an unsharp filter to sharpen the blurred recomposed image. Experimental results show that the proposed dehazing technique effectively removes haze, and significantly reduces the computational complexity by 69.59% on average, compared with traditional GDCP algorithm.
In this paper, we employ a two-dimensional dynamic bipedal walking robot to investigate the effects of controllable stiffness and limb coordination on speed transition of bipedal walking. The robot is equipped with a ...
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ISBN:
(纸本)9781509047192
In this paper, we employ a two-dimensional dynamic bipedal walking robot to investigate the effects of controllable stiffness and limb coordination on speed transition of bipedal walking. The robot is equipped with a variable stiffness actuator at each joint. We proposed a central pattern generatorbased control method to implement limb coordination and realize independent control of torque and stiffness for the robot. Then we carry out human motion experiments on speed transitions. The comparison of hip joint kinematics and ground reaction forces between human and the robot during speed transitions shows that variable stiffness and limb coordination are important for adaptive human walking and can improve the performance of bipedal walking robot. The results may be used to exploit possible principles of complex human gaits.
Scale space generation is a fundamental problem in almost all feature extraction algorithms. Often, it is a critical prior step of most image/video analytic applications that are based on the invariance or co-invarian...
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ISBN:
(纸本)9781467374439
Scale space generation is a fundamental problem in almost all feature extraction algorithms. Often, it is a critical prior step of most image/video analytic applications that are based on the invariance or co-invariance of local features, such as SIFT based recognition, matching, and tracking applications. However, it is still quite a challenging problem to enable real-time applications of the extraction of local features due to the fact that scale space generation has a rather large computational complexity. This paper proposes the optimal FPGA design for acceleration of scale space generation. First, in order to derive the mathematical model for scale space generation that fits best in with the FPGA, we have discarded the conventional template convolution based Gaussian filtering scheme and adopted a novel IIR filter based recursive Gaussian blurring algorithm. Then, an approach based on the Retiming technique, which could find the minimal operational period for any given IIR filter, is used to finalize the overall design. For 1024×768 video, the proposed design is able to generate scale spaces at almost 400 fps, which is fast enough to support most real-time applications like object recognition, object matching, and 3D reconstruction.
The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor exp...
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ISBN:
(纸本)9781467383196
The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix,which will affect the accuracy and numerical stability of the system *** in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation *** simulation results show that the position,velocity and attitude errors are reduced effectively compared with the EKF *** SCKF method is more suitable for the state estimation problems in integrated navigation system.
Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles(MAUVs).In this work,in order to solve the invalidation of location due to the time delayed ...
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ISBN:
(纸本)9781467383196
Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles(MAUVs).In this work,in order to solve the invalidation of location due to the time delayed measurements,an algorithm which based on the augmented extended Kalman filter(AEKF) is *** algorithm expands the variable dimension of slave AUV according to the time delayed measurements,and infers the fundamental equations of *** to the traditional EKF method,simulation results prove that AEKF has higher positioning accuracy.
A flatness based robust active disturbance rejection control technique is proposed for the trajectory tracking problem of a special under-actuated system known as four-wheel-steering car. The under-actuated problem of...
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A flatness based robust active disturbance rejection control technique is proposed for the trajectory tracking problem of a special under-actuated system known as four-wheel-steering car. The under-actuated problem of such nonlinear coupled system consisting of three degrees of freedom is settled by exploiting its flatness property to obtain an input-output map. Active disturbance rejection control (ADRC), which shows many advantages in estimating and compensating the lumped effects is then utilized. Several simulations are carried out to show the improvements in vehicle handling and stability of the flat based high-order linear ADRC scheme.
Purpose–The purpose of this paper is to design a disturbance observer-based finite-time global sliding mode control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties...
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Purpose–The purpose of this paper is to design a disturbance observer-based finite-time global sliding mode control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach–Feedback linearization is first introduced to transform vehicle model into three independent second order uncertain *** a finite-time controller(FTC)is proposed for the nominal system on the basis of the homogeneity *** the integral sliding mode method is introduced for the vehicle with *** finite time convergence is achieved and global robustness is also assured by the combination of finite time control method and integral sliding mode ***,to improve the attitude angle tracking accuracy a novel finite time disturbance observer(DO)is ***–Simulation is made for the reentry vehicle with disturbances *** the results show the finite-time convergence,tracking accuracy and robustness of the proposed ***/value–The proposed control strategy has three *** of all it can achieve finite time convergence and avoid ***,it can also realize global ***,a new kind of DO is introduced to improve the tracking accuracy.
Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear p...
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