This paper presents a novel active drift correction template tracking algorithm. Compared to Matthews' algorithm in [8], the proposed algorithm achieves synchronously object tracking and drift correction, and save...
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This paper presents a novel active drift correction template tracking algorithm. Compared to Matthews' algorithm in [8], the proposed algorithm achieves synchronously object tracking and drift correction, and save half running time. For the template drift problem during long sequential object tracking, we introduce the active drift correction term into inverse compositional affine image alignment algorithm. This operation can avoid the template drift before it occurs, or reduce the drift after it happens. The total energy function consists of two terms: the tracking term and the active drift correction term. By minimizing the total energy function with the steepest descent algorithm, the proposed algorithm can decrease the accumulative tracking error, and prevent the drift during the tracking process effectively. Various object tracking experiments show that our method has super performance than the passive drift correction algorithm in [8].
In order to realize nano-component manipulation, the contacting mechanism and operating methods during ZnO nanowire manipulation process are researched both in theory and experiments in scanning electron microscope (S...
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A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the t...
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A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the two ballast masses are placed symmnetrically on the major *** with the traditional ballast mass principle,the robot has featured high speed,the abil-ity of slope climbing and obstacle overcoming in linear *** robot has two inputs and three DOF,which is a nonholonomic and underactuated *** dynamic model of the robot is con-structed,and the linear motion performance of robot in theory is proved by Adams *** control system is briefly introduced,and the performance of the prototype is tested by experiments at last.
In this paper the task assignment for multi-target pursuit (MTP) problem with non-equal number of vehicle and target is studied.A mixed-inter programming (MILP) based minimax assignment criterion is formed, and a solu...
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ISBN:
(纸本)9781467315241
In this paper the task assignment for multi-target pursuit (MTP) problem with non-equal number of vehicle and target is studied.A mixed-inter programming (MILP) based minimax assignment criterion is formed, and a solution method called the Selection Algorithm of Precedence Rows (SAPR) originated from Operation on Matrix is *** simulations with less number and more number of targets being pursued are designed respectively to testify the efficiency of the proposed method.
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic e...
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.
In order to meet the requirement of low voltage and light weight in the space envirement, a micro-displacement worktable based on the compliant mechanism of motion reduction is designed. It's driven by ultrasonic ...
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This paper analyzes the demand of unmanned helicopter power line inspection system, and the detection range of camera is researched in detail. Johnson calculation criteria is used to calculate the suitable CMOS pixel ...
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To estimate a signal from colored noises is a challenging problem because of the frequency overlap as well as the low signal-to-noise (SNR). In this paper, a novel adaptive wavelet method based on pre-whitening of col...
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A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the r...
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To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model （IAPFM） was established, then a new path planning method ...
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To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model （IAPFM） was established, then a new path planning method combining the IAPFM with optimization algorithm （trust region algorithm） is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points ; on this basis, the effect of dynamic obstacles velocity and the robot＇s velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field inten- sities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment.
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