An algorithm namely the TDOA-Camberra is proposed for the multi-target passive location in this paper. The algorithm uses the Camberra distance to associate the target data and do the optimal search, then uses the tim...
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ISBN:
(纸本)9781467355339
An algorithm namely the TDOA-Camberra is proposed for the multi-target passive location in this paper. The algorithm uses the Camberra distance to associate the target data and do the optimal search, then uses the time difference of arrival (TDOA) to locate multiple targets passively once data from the same target is determined. At the same time, as the computing time of associating data using Camberra distance is long, the improved sequential similarity detection algorithm (SSDA) is added to the calculation in order to shorten the time of the data association, thus to increase the speed of the multi-target passive location. The theoretical analysis and simulation experiment proves that the multi-target passive location can be implemented by the proposed algorithm accurately and quickly.
Vehicle Detection is an important part in intelligent transportation system (ITS) and driver assistance system. Considering vehicles have strong edges and lines in different orientation and scales, in this paper, we p...
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One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anth...
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The multipath estimation of global navigation satellite system (GNSS) signal is actually the state estimation of nonlinear/non-Gaussian systems. The extension of sliced Gaussian mixture filter (ESGMF) based on Gaussia...
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The multipath estimation of global navigation satellite system (GNSS) signal is actually the state estimation of nonlinear/non-Gaussian systems. The extension of sliced Gaussian mixture filter (ESGMF) based on Gaussian sum approximation is proposed for the state estimation of nonlinear/non-Gaussian state space, and the probability density function (PDF) expression of states is derived recursively for a time varying system. Resampling is applied to the prediction PDF to reduce the complexity of Bayesian inference. The simulation result of multipath estimation with ESGMF shows that the ESGMF algorithm performs better in accuracy than the algorithms based on particle filter (PF) and extended Kalman filter (EKF).
A new method based on Hessian matrix threshold of finding local low-level saliency features is proposed in this study after the standard local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) i...
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To obtain and update the kernel-bandwidth,we present an adaptive bandwidth obtainment algorithm based on object contour extraction from optical-flow *** combination of modified mountain cluster approach and fast scann...
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ISBN:
(纸本)9781479900305
To obtain and update the kernel-bandwidth,we present an adaptive bandwidth obtainment algorithm based on object contour extraction from optical-flow *** combination of modified mountain cluster approach and fast scanning window contour extractor guarantees the speed of this algorithm.A novel ellipse detection method based on a modified RANSAC is adopted to reduce the *** results demonstrate that the algorithm select the proper size of tracking kernel-bandwidth with minor extra computational overhead and keep up with the object robustly when the scale changed rapidly.
This article proposes a multi-objective decomposition stochastic particle swarm optimization (MDSPSO) algorithm. In MDSPSO, every particle has a weighted vector constantly. Then, an improved Tchebycheff decomposition ...
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This article proposes a multi-objective decomposition stochastic particle swarm optimization (MDSPSO) algorithm. In MDSPSO, every particle has a weighted vector constantly. Then, an improved Tchebycheff decomposition method is applied to decompose the multi-objective problem into some single-objective problems. The reference position of every particle is uniformly generated in the zone with the center which is the geometrical center of its current position, the best previous reference position as well as the swarm best reference position. The radius of this zone is the distance from the center to its current position. Then the particle is updated to the new position according to the reference position and its current velocity. The comparisons with the decomposition-based multi-objective particle swarm optimizer (dMOPSO), a multiobjective evolutionary algorithm based on decomposition (MOEA/D), and nondominated sorting genetic algorithm II (NSGA-II) show that the solutions of MDSPSO can be dominated at least with the best diversity. To reduce the computational time by finite element analysis for optimizing the structure parameters of linear motor, artificial neural network is used as the model to evaluate the performance. Finally, MDSPSO is applied to optimize four objectives simultaneously. The practical result is shown that the optimized linear motor has an increased thrust, improved efficiency, reduced fluctuation and manufacturing cost.
In the high-precision and high-speed measurement system, the distortion of CCD pixes will give a greater margin of error to measurement results. According to the characteristic of noise leading to the image distortion...
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In the high-precision and high-speed measurement system, the distortion of CCD pixes will give a greater margin of error to measurement results. According to the characteristic of noise leading to the image distortion, this article establishes the image transformation model. Data fitting based method is used for correcting image distortion. For the distortion caused by camera installation, the perspective transformation is used to correcting the image. And then the four points calibration method is adopted to calibrating the measurement system. Experiments adopt the high speed area array CCD to gather images with the circular facula in the target area launched by the laser, and calculate the real position of the facula in the target area, adopt the high accurate displacement sensor to give the true displacement of the target which is used to verify the real position of the facula in the target area. The results show that the algorithm can reduce the influence of image distortion, which advances the measurement accuracy efficiently.
Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure ...
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Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.
This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control ***...
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This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.
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