1647results about How to "Guaranteed robustness" patented technology

The present invention discloses a target tracking method. The method is implemented in a mobile device having the photographing function. The method comprises the steps of according to a user input, determining a target position within an initial frame, wherein the target position represents a target frame around the center of a target; based on the target position within the initial frame, training and generating a tracker and a detector, wherein the tracker is adapted to track the target in a photographed video in the frame-by-frame manner, and the detector is adapted to conduct the frame-by-frame detection for the target in the photographed video; for each subsequent image frame of the photographed video, tracking by the tracker to obtain the target position of the image frame and outputting a tracking response value; judging whether the tracking response value is greater than or equal to a threshold or not; if yes, continuing the target tracking for the next image frame; if not, starting the detector and outputting the target position of the corresponding image frame by the detector; keeping the detector to run continuously for a predetermined number of frames; and switching to the a tracker for continuously conducting the target tracking. The invention also discloses a corresponding mobile device.

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

The invention discloses a phase-locked loop and an automatic frequency calibration circuit thereof. The phase-locked loop comprises a phase/frequency detector, a charge pump, a filter, a voltage-controlled oscillator (VCO) and a first frequency divider which are connected in sequence, wherein the phase-locked loop further comprises the automatic frequency calibration circuit; the automatic frequency calibration circuit reduces the oscillation frequency CKV of the VCO when the oscillation frequency CKV of the VCO after undergoing frequency division by the first frequency divider is higher than the reference frequency CKR, and increases the oscillation frequency CKV of the VCO when the oscillation frequency CKV of the VCO is lower than the reference frequency CKR; and a precharging circuit A0 is connected at the input end of the filter and carries out precharging when AFC carries out searching. The phase-locked loop has the rapid self-tuning locking function and ensures the VCO to carry out coarse tuning automatically to approach the final tuning coil, thus reducing the locking time of the phase-locked loop.

The embodiment of the invention discloses a video clip detecting method and device, and belongs to the field of image processing. The video clip detecting method comprises the steps that a currently-input video file or real-time streaming video is used as an object to be detected, whether video in a video library appears in the current video stream or not is detected and recognized through the video analysis and retrieval method, the accurate position, in the stream to be detected, of a video clip is located and a detection result is output. Image features extracted through the video clip detecting method and device integrate image global information and image local information, the matching error rate is reduced while the high recall rate is guaranteed, robustness is kept for image content changes, therefore, accurate locating is conducted on video clips in real-time or off-line television programs or video programs and accurate detection and recognition of the video clips are kept on the conditions that frames of video streams are lost, mosaic blocks appear in the video streams, video resolution ratios and video frame rates are different and video contents change.

The invention relates to a method for controlling a rigid spacecraft for target attitude tracking, and belongs to the technical field of the high-precision and high-stability attitude tracking control of spacecrafts. The method solves the problem that when the attitude tracking spacecraft runs in a low orbit in outer space, the conventional control method cannot eliminate the inherent flutter of a sliding mode variable structure. The method comprises the following steps: 1, establishing a kinetic model and a kinematic model of the rigid spacecraft; 2, setting an attitude tracking error and anexpected attitude parameter of the rigid spacecraft, and combining the attitude tracking error and the expectation attitude parameter with the kinetic model and the kinematic model to establish a mathematical model for the attitude tracking; 3, adopting a control algorithm of a sliding mode variable structure controller to adjust a control law of the mathematical model which is established in thestep 2 and is used for the attitude tracking, and simultaneously combining an observation result of a disturbance observer to modify the control law; and 4, controlling the rigid spacecraft by using the modified control law obtained in the step 3 to realize the attitude tracking. The method is suitable for the attitude tracking of targets running in the outer space.

The invention discloses a non-cooperative spacecraft attitude estimation method based on virtual sliding mode control, and belongs to the technical field of non-cooperative spacecraft navigation. The non-cooperative spacecraft attitude estimation method comprises the following steps: utilizing a virtual control sliding mode controller based on the Lyapunov principle; using target satellite absolute attitude obtained by a stereoscopic vision system as a control objective; according to motion characteristics of the target satellite, establishing a virtual satellite motion model of the target satellite; using a kinetic model of the virtual satellite as a controlled member to obtain attitude parameters of the virtual satellite; using attitude parameters estimated by the virtual satellite and the target satellite absolute attitude obtained by the stereoscopic vision system as controlled input, and calculating the virtual revolving moment on the motion model of the virtual satellite through the virtual sliding mode controller, so as to realize the estimation of the target satellite attitude parameters by the virtual control sliding mode controller. The non-cooperative spacecraft attitude estimation method disclosed by the invention is low in calculated amount, and can still achieve higher convergence rate and higher precision when the initial error of the state variables is high or the system error emerges, so as to meet the requirements of the high performance navigation system.

The invention provides trade financing methods and systems on a distributed ledger. The methods and systems are based on block-chain technology. One of the methods includes: generating a right and interest voucher by a core enterprise; and splitting and transferring the right and interest voucher level by level among multi-level suppliers. Specifically, the core enterprise and the multi-level suppliers create distributed-ledger account numbers, and select certificates for login, and certificate signature verification is carried out by a service end of the distributed ledger; the core enterprise generates the right and interest voucher; the right and interest certificate is split and transferred level by level among the multi-level suppliers; trade financing is carried out on the basis of the right and interest voucher, and trade financing records are generated; and the core enterprise carries out asset transferring and encashment of the payer and the receivers according to contract contents in the right and interest voucher. According to the methods and systems, the financial trade system collapse problem is avoided, and trade processes are safer; financial trade process executionefficiency is improved, trade time delays are reduced, and processing costs are also reduced; risk control risks are effectively reduced; and robustness of a trade system is guaranteed.

The invention relates to an aircraft positioning method based on a positioning and sensing device. The method comprises the following steps: acquiring aircraft attitude information by virtue of an inertial sensor unit, collecting relative altitude information by utilizing an ultrasonic sensor, and acquiring real-time ground image information by utilizing a camera; acquiring relative displacement information of the aircraft by utilizing an improved optical flow method, and acquiring global position and attitude information of the aircraft by utilizing grid information; and realizing an accurate and robust aircraft positioning method by virtue of multi-sensor information fusion and acquisition by utilizing a filtering algorithm. Long-term accurate positioning of the aircraft can be realized in case of absence of GPS signals and any other external aided navigation, the robustness is high, and an accumulative error is avoided.

The invention relates to an iterative incremental dialogue intention category identification method based on small samples. The method is based on a small sample data set. Training starts from a preliminary classification model, and along with the use of a model, the number of the preliminary models is continuously increased. Model accuracy is also gradually improved, and a training mode that a large number of samples are needed by a previous deep learning model is abandoned. According to the method, in the iterative training process, only a small number of samples are needed to train a new preliminary classification model each time. The weights of other existing historical preliminary classification models are not changed. Results of all the preliminary classification models are input into the secondary classification model for training, the calculation speed of the model cannot decrease along with increase of the number of samples, the similarity screening model can screen and removethe existing preliminary classification model, the performance is maintained under the condition that the accuracy is guaranteed. Compared with the prior art, the method is advantaged in that the number of training samples is small, the calculation performance is stable, and the model is easy to update and expand.

The invention discloses a dual-aperture photoelectric imaging system-based unmanned aerial vehicle detection and recognition system. According to the dual-aperture photoelectric imaging system-based unmanned aerial vehicle detection and recognition system, a wide-angle camera and a long-focus camera are adopted as an unmanned aerial vehicle detection device and recognition device respectively for performing monitoring; and a monitoring image sequence is acquired, a target detection algorithm is adopted to detect an unmanned aerial vehicle suspected target, a pattern recognition algorithm is adopted to recognize the suspected target, and after the target is confirmed, the track is tracked, interfered and controlled. Photoelectric sensors are adopted as the unmanned aerial vehicle detection device and recognition device, and therefore, the dual-aperture photoelectric imaging system-based unmanned aerial vehicle detection and recognition system has the advantages of high reliability, low cost and the like; the suspected target is searched in a large space region by means of a wide-angle imaging system, and the target is confirmed and tracked by means of a long-focus imaging system which is a two-axis turntable, and therefore, requirements for high detection rate and high accuracy can be satisfied, the reliability of the system can be greatly improved, and therefore, the system can bring outstanding economic benefits and has high practical value.

The invention relates to an optical integral sliding-mode attitude control method of a reentry vehicle and a controller, and belongs to the technical field of vehicle control. The optical-integral sliding-mode attitude control method comprises the following steps of: firstly designing an SDRE (State-dependent Riccati Equation) nominal attitude control law according to a nominal model of the vehicle, and enabling the performance of a nominal system to meet the proposed optimal indexes; then considering the uncertainty of the system, designing an integral sliding-mode control law on the basis of the SDRE nominal attitude control law, enabling the system to have robustness while meeting the performance index requirement; and in order to weaken the buffeting, introducing a design idea of a second-order sliding mode and enabling the output of the controller to be smoother. The attitude controller designed by the invention not only can guarantee the expected indexes, but also has better robustness.

The invention discloses a diagnosis method for an open-circuit fault of an inverter power tube. The diagnosis method comprises the following steps: S1, acquiring a measured value of linear voltage between any two bridge arms of an inverter, taking the measured value as a measured voltage Vijm, estimating the linear voltage between the any two bridge arms according to a preset linear voltage estimation model, taking the linear voltage as an estimated voltage Vije, and performing one-to-one correspondence between the measured voltage Vijm and the estimated voltage Vije, wherein the i and the j represent orders of the two bridge arms respectively, i belongs to {0, 1}, j belongs to {0, 1}, and i is not equal to the j; S2, calculating an error voltage deltaij between the corresponding measured voltage Vijm and the estimated voltage Vije, and judging whether a power tube on one bridge arm generates the open-circuit fault according to an amplitude of the error voltage delta ij and a pulse width; S3, when the power tube generates the open-circuit fault, positioning a fault bridge arm and a fault power tube according to positive polarity and negative polarity of the error voltage delta ij. The invention provides the diagnosis method for the open-circuit fault of the inverter power tube, which can effectively improve the fault diagnosis for safety and reliability of the inverter.

The invention discloses a mimic SDN controller construction method. The method comprises a control plane, a dispatching plane and a data plane. The control plane is used for realizing tasks of network control and management and providing multiple heterogeneous redundant controller executing parts. The data plane is used for finishing a data forwarding function in a network and comprises hardware facilities such as a switch and a router. The control plane communicates with the data plane through the dispatching plane. The dispatching plane comprises a forwarder, a sensor, a decider and a dispatcher. The mimic SDN controller construction method comprises following specific steps of step 1, collecting network state information and forwarding the information to the controller executives; step 2, carrying out sensing detection on network operation states in real time; and step 3, dispatching the controllers of the control plane dynamically, and carrying out voting output on the sent information by utilizing a majority judgment mechanism. The device has a management mechanism capable of sensing and dynamically dispatching the controllers; abnormal network operation resulting from a failure of a single controller is avoided; exterior attacks are difficult to capture the executing parts responsible for network management; and moreover, the security of the SDN is further improved through adoption of the majority judgment decision-making mechanism.

The invention discloses an underwater anti-shaking alignment method for SINS (strapdown inertial navigation systems)/DVL (Doppler velocimeters) of deep-sea underwater vehicles. The underwater anti-shaking alignment method includes dividing underwater alignment procedures of the deep-sea underwater vehicles into SINS anti-shaking double-vector fixed-attitude self-alignment for the SINS and SVD (singular value decomposition)-based fuzzy adaptive robust CKF (capacity Kalman filtering) filter alignment for the SINS/DVL by large-misalignment-angle nonlinear error models and fine alignment filteringequations which are built according to underwater complicated environments and characteristics of strapdown inertial navigation and four-beam underwater Doppler navigation systems. The underwater anti-shaking alignment method has the advantages that attitude misalignment angles further can be diminished on the basis that the robustness is guaranteed, accordingly, attitude matrixes C<n> are accurate, and attitude of the deep-sea underwater vehicles can be accurately fixed; the problems that the attitude fixing speeds and the precision are deteriorated and even underwater vehicles cannot normally work due to the traditional inertial navigation alignment algorithms when the existing deep-sea underwater vehicles are initially aligned under the conditions of shaking bases and large misalignment angles can be solved by the aid of the underwater anti-shaking alignment method; the deep-sea underwater vehicles can ultimately work for long endurance.