2results about How to "High precision tracking" patented technology

An imaging device achieves high-precision subject tracking when shooting at a normal frame rate and continues autofocus (AF) processing while suppressing power consumption when shooting at a higher frame rate than normal. The imaging device includes: an imaging element having a plurality of pixels arranged in two dimensions, each pixel including a first photoelectric conversion unit and a second photoelectric conversion unit, the first photoelectric conversion unit receiving a light beam passing through a first portion region of an imaging optical system, and the second photoelectric conversion unit receiving a light beam passing through a second portion region different from the first portion region; and a readout control unit that performs first readout control when a first mode is selected and second readout control when a second mode set to a high frame rate is selected. The first readout control causes the respective charges of the first and second photoelectric conversion units to undergo individual analog-to-digital (AD) conversion to generate pixel signals. The second readout control, in discretely set first pixels, causes the respective charges of the first and second photoelectric conversion units to undergo individual AD conversion to generate first pixel signals, and in second pixels that are not the first pixels, adds the charges of the first and second photoelectric conversion units and then performs AD conversion to generate second pixel signals.

The application discloses a rope driving mechanical tracking control method based on TDE and recursive non-singular terminal sliding mode, and relates to the technical field of mechanical hand control. The application comprises the following steps: through mechanical dynamics analysis, the dynamics standard equation of the mechanical hand is determined and is converted into a TDE simplified equation, and a tracking error is defined; an FNTSM function containing a proportional control parameter is constructed, a recursive non-singular terminal sliding mode variable is formed in combination with a recursive integral term; an interference adaptive law is designed to dynamically adjust the proportional control parameter, the convergence speed and the chattering characteristics of the tracking error are analyzed, and a composite reaching law is generated; based on the composite reaching law and the updated TDE simplified equation, a generalized output vector of a joint controller containing a fluctuation parameter is extracted, a complete control law is formed, the generalized vector is output in real time through the control law, the motion trajectory of the mechanical hand is simulated, and high-precision tracking control is realized.