137results about How to "Improve tracking speed" patented technology

The invention discloses a method for tracing the track of a wheeled mobile robot based on a quantum-behaved particle swarm algorithm. The method sets a coordinate system within a motion range first, establishes a kinematic model of the wheeled robot, utilizes an inversion design method to decompose the kinematic model, obtains an error propagation equation of a reference pose and an actual pose through the track generated by path planning, takes the equation as a target function, utilizes the quantum-behaved particle swarm optimization algorithm to obtain parameters of a controller with quick speed and strong global solving capacity, designs the controller through the group of parameters, and further guarantees that the robot can be stably and quickly converged on the target track, namely the target function value is close to or less than an allowable value within a limited time period. The method solves the problems of high nonlinearity and non-integrity of track tracing of the wheeled mobile robot, and can quickly realize track tacing of the wheeled mobile robot and improve the tracing control effect of the mobile robot.

The invention discloses a movement capturing method based on multiple binocular stereo vision. A movement video collecting device is constructed, and human movement video sequences from different orientations are collected by the movement video collecting device. Multiocular movement video sequences shot by a plurality of cameras are calibrated. Marked points matching and tracking of each binocular tracker is finished. Data fusion of three-dimensional tracking result of multiple binocular trackers is completed. The three-dimensional movement information of the marked points acquired by a multiocular fusion device is fed back to the binocular tracker to consummate binocular tracking. On the basis of binocular three-dimensional tracking realized by binocular vision, the invention fuses multiple groups of binocular three-dimensional movement data, resolves parameter acquiring problem of three-dimensional position, tracking, track fusion and the like for a plurality of marked points, increases number of traceable market points and enables the tracking effect to be comparable with three-dimensional movement acquiring device employing multi-infrared cameras for collecting.

The invention provides a fuzzy sliding mode trajectory tracking control method for an SCARA robot with modified sliding mode surface and reaching law. The method has the advantages that no precision dynamical model is required, and robustness is high; a fast terminal sliding mode surface which is modified is adopted, so that convergence rate of a system is increased, and singularity of the traditional terminal sliding mode surface is eliminated; the fast reaching law is adopted, the exponential approach law features fast reaching when leaving the sliding mode surface, power reaching law features smooth reaching when reaching the sliding mode surface, and tracking speed is increased, and meanwhile trajectory tracking precision is guaranteed; a sign function is replaced with a hyperbolic tangent function, and accordingly, high frequency chattering of the system is eliminated effectively; exponential term coefficient of the reaching law is corrected with a fuzzy adaptive controller, and the problem of moment shock caused by large system initial error is improved.

The present invention relates to Voltage balancing control method for modular multilevel converter is characterized that, it includes some steps as follows:1) Determine the leg current direction is positive or negative;2) Find out the highest sub module on output state whose capacitor voltage amplitude is the maximum, and find out that on bypass state whose capacitor voltage amplitude is the minimum;3) Determine whether the sub module inputs or bypass operation; this method avoided switching arbitrariness of the sub module, and decreased the switching frequency of the sub module. The capacitor voltage balancing control of the sub module proposed by the method is more suitable to be applied in the field of high voltage and large capacity converter that has large numbers of sub modules.

The invention discloses a heliostat tracking control device, which comprises a main controller and a closed-loop tracking sensor. The main controller comprises a DSP control circuit, a RTC real-time clock, digital signal input and output units, an analog signal input unit, a signal amplifying circuit, a human-computer interface device, a display device, a watchdog circuit, an asynchronous motor, a line of serial port communication interface which carries out the communication with a monitoring computer, and a line of serial port communication interface which carries out the communication with an azimuth angle and altitude angle encoder. The invention further discloses a heliostat tracking control method, the method adopts the open-loop and the closed-loop combined control, the open-loop roughly calculates and adjusts the position of a heliostat and the closed-loop corrects and eliminates the accumulated error till the precise tracking. The heliostat tracking control device has the advantages that the heliostat tracking control device can not have the accumulated error or the failure of the tracking system due to the rainy and cloudy weather. The system adopts the combined control algorithm within the control period, thus achieving the precise tracking of the heliostat. The tracking reaction speed, the power consumption and the cost are low, thus forming a modular structure.

The invention discloses a wavelet transform and variable-step-size LMS (least mean square) adaptive filtering based signal denoising method which comprises the following steps that: 1, signal receiving and synchronous storage: a data processor synchronously stores received signals into a data memory so as to obtain a sampling sequence X (k) which is a one-dimensional signal; 2, high-frequency signal extraction: the data processor carries out wavelet transform on the currently received one-dimensional signal X (k) and extracts high-frequency signals; and 3, LMS adaptive filtering: the data processor invokes the high-frequency signals extracted by an LMS adaptive filter to carry out LMS error calculation so as to obtain output signals subjected to filtering, and carries out adjustment on the parameters of the filter according to error signals, so that the output signals tend to interference signals. The method disclosed by the invention is simple in steps, reasonable in design, convenient to realize, and good in denoising effect; and the denoising process is performed through the combination of wavelet transform and variable-step-size LMS adaptive filtering, so that the filtering effect and the tracking speed are effectively increased.

The invention provides a multi-angle multi-target fast human face tracking method used in a video sequence, which belongs to the technical field of video processing. Through multi-angle human face fast detection and color histogram establishment in a human face region, a color probability graph of an image to be detected is calculated, Camshift arithmetic iterating results are used for updating the human face region position and simultaneously upgrading a human face moving model established by a Kalman filter, and at the same time, the human face prediction is carried out when a target is shielded: when the human face is shielded, the human region position is predicted by the Kalman filter, and then, the human face moving model is updated. The invention can fast eliminate the non-human face region so that the real-time multi-angle multi human face target tacking becomes possible. At the same time, through the introduction of the Kalman filter, the invention can use the prediction results of the Kalman filter for updating the position of the shielded target when the target shielding occurs in the video sequence, and the tracking difficulty caused by shielding can be perfectly overcome.

A narrowband signal detector has an adaptable filter and controller for controlling the centre frequency and the bandwidth of the filter, to track the narrowband signal. Better control of the filter can be achieved by basing the filter control on a comparison of output and input to the filter. The comparison gives a more direct measure of how well the filter is tracking the narrowband signal. In the case of a notch filter, if there is poor tracking. The control should be biased rapidly towards improved tracking speed. Otherwise, for good tracking, the control should be biased towards accuracy of tracking. This enables speed and accuracy of detection requirements to be met with less computational load. Applications include telecommunications signalling or data tone detection. Multiple narrowband signals can be detected by a cascade of filters.

A first imager has a relatively high resolution and a relatively narrow first field-of-view. Information about objects in an environment is detected or captured, and used to steer the first field-of-view of the first imager. The sensor(s) may take the form of a second imager with a relatively lower resolution and relatively wider second field-of-view. Alternatively, other types of sensors, for instance presence / absence sensors may be employed. The first field-of-view may be directed toward an object that satisfies one or more conditions, for instance matching a particular SKU. The first field-of-view may track a moving object, for instance via a tracking mirror and actuator. This approach may be employed in retail locations, for example in grocery or convenience stores, for instance to reduce various forms of theft or in industrial environments.

The invention discloses a preset performance control method for an uncertain under-actuated unmanned surface vehicle (USV) system. The preset performance control method specifically comprises the steps of establishing a USV dynamic model, including kinematics and dynamics models; processing tracking error constraints by proposing a preset performance control method; processing a virtual controllerby applying the dynamic surface control technology; learning the uncertain dynamics of the system online by using the neural network technology; and designing a tracking controller that meets the requirements by applying the Lyapunov stability theory. The preset performance control method of the invention can avoid the singular problem of controller design and can satisfy the pre-specified tracking error transient and steady state performance. The uncertain dynamics of the system are learned online by applying the adaptive neural network control technology and the controller is designed to complete the trajectory tracking control objective and the practicality of the control method is improved.

The invention provides a photovoltaic power generation system maximum power point tracing system and a method and belongs to the technical field of photovoltaic power generation. The photovoltaic power generation system maximum power point tracing system uses monitoring devices of a photovoltaic power generation site to obtain video image information in real time and uses an image processing technology to confirm parameters such as the location, size of a shadow area, and temperature and illumination of a shielded portion of a photovoltaic cell. The method includes: building a photovoltaic cell mould under uneven lighting, using the parameters as input parameters of expansion memory particle swarm optimization, caculating ideal working voltage of each battery cell and the whole photovoltaic power generation system, finally using differential value of the ideal working voltage and the actual output voltage as input of a two-way C`uk converter and a terminal Boost converter control circuit, generating pulse width modulation (PWM) signals, enabling the maximum power point and output of the whole system during working of each photovoltaic cell to the most, and ensuring the shielded photovoltaic cells not to be load and consume system energy until being burnt.

An End-Point Prediction scheme is described for voltage-mode buck regulators to generate adaptive output voltage to integrated-circuit systems. Internal nodal voltages of the regulator controller are predicted and set automatically by the proposed algorithms and circuits. The settling time of the regulator can therefore be significantly reduced for faster dynamic responses, even with dominant-pole compensation.

The embodiment of the invention relates to a power-supply apparatus and control method, a power amplifying device. The device includes a includes linear branch and a first switch power supply group, the first switch power supply group includes a first current detector and at least two switch power supply branches, the switch power supply branch includes a hysteresis controller and a switch power supply drive and power circuit, the input end of the first electrical current detector is connected with the output end of the linear power supply branch, the input end of the hysteresis controller is connected with the output end of the first electrical current detector, the input end of the switch power supply drive and power circuit is connected with the output end of the hysteresis controller, the output end thereof is in parallel connection with the output end of the linear power supply branch. The embodiment of the invention can improve the band width and the tracking accuracy of the switch power supply, further improve the integral efficiency of the ET power amplifier.

The present invention provides a maximum power point tracking method and device and a photovoltaic power generation system. The maximum power point tracking method comprises: sampling present voltage and present current of a photovoltaic array; obtaining present power based on the present voltage and the present current; using difference between the present power and power for previous sampling time as present perturbation power, and based on ratio of the present perturbation power to perturbation power for previous sampling time, obtaining gradient perturbation voltage step ratio; obtaining perturbation voltage step based on the gradient perturbation voltage step ratio and voltage difference between the present voltage and the voltage for previous sampling time; and controlling output voltage based on the perturbation voltage step.

A bone strength diagnostic device comprises oscillators, a determination index calculator, a tracking start point setting component, and a tracking execution component. A plurality of the oscillators are disposed in a line to acquire echo signals of a transmitted ultrasound beam. The determination index calculator calculates a determination index expressing a probability that the echo signal is a reflected wave from the surface of a cortical bone. The tracking start point setting component sets a tracking start point at a signal waveform timing corresponding to the echo signal for which the determination index satisfies a specific condition and that is received by one of the plurality of oscillators. The tracking execution component successively sets tracking points for the echo signals acquired from other oscillators using the tracking start point as an origin.

The invention relates to a passive integral sliding mode control method for a double-fed wind power system. The method comprises the following steps: (a) creating a Euler-Lagrange mathematical model of a double-fed wind power generator and strictly and passively analyzing the model; (b) designing a current feedback passive controller by a damp injecting method on the basis of the step (a), starting with an energy balance relationship; (c) giving an improved integral sliding mode control method, designing an integral sliding mode surface to completely eliminate the arrival phase of a general sliding mode, and taking the process as an outer ring rotating speed control strategy. The method has the advantages that the system is guaranteed to be globally stable, the control structure is simplified, and the asymptotic tracking of electromagnetic torque and magnetic flux linkage is realized; the arrival phase of the general sliding mode is eliminated, the tracking speed of the rotating speed of a double-fed motor is increased, and the robustness of the rotating speed of the double-fed motor is improved; the wind power system can be ensured to safely and stably run and a valuable reference scheme is provided for improving the working efficiency of the wind power system.

The invention discloses an anti-blocking target tracking method based on partitioning. In combination of the quick tracking speed and the good tracking effects of a kernel correlation filter (KCF) tracking algorithm, the real-time performance of a partitioning method is ensured. The method uses a high-confidence model updating strategy, a model drift problem of the KCF in the case of blocking can be solved, the tracking speed and the tracking precision are quickened, and besides, when the partitioning method is used, after a part is blocked during the target tracking process, the position information and the reliability of the unblocked part are used reasonably, the position information after the target is blocked is determined accurately, and the robustness of tracking towards blocking is thus improved. As the method can meet the real-time performance, the method can be applied to a real scene.

A system for extracting one or more acoustic signals from a plurality of source signals emitted by a plurality of sources, respectively, in an environment, the system comprising an array of microphone receivers for receiving the one or more acoustic signals from the environment and transmitting the signal to a signal processor, wherein the signal processor is arranged to estimate the plurality of source signals using the data received by array of receivers, the signal processor is further arranged to perform an operation on the data received by the array of receivers with the estimated source signals to provide an estimate of the impulse response of the environment, wherein the data received by the array of receivers is input to the estimate of the impulse response of the environment to provide an output comprising a plurality of channels, wherein one or more of the channels correspond to the one or more acoustic signals from one of the plurality of sources, respectively.

A multi-leaf collimator for a radiotherapy apparatus comprises a plurality of elongate leaves mounted in a carriage, the carriage being mounted on a substrate, wherein the leaves are independently moveable relative to the carriage in a longitudinal direction, and the carriage is moveable in that direction relative to the substrate, and a control apparatus arranged to receive a signal representing leaf positions relative to the substrate and being arranged to control the leaf positions relative to the carriage and the carriage positions relative to the substrate so as to achieve those leaf positions relative to the substrate. By allowing the carriage to be driven concurrently with the leaves, the speed of movement of the carriage can be added to that of the leaves. In this way, where leaves are required to make a long traverse they can do so more quickly. Most MLCs have a means for sensing the current positions of the leaves relative to the substrate, such as an optical or mechanical positional feedback system. The control apparatus can therefore compare the current leaf positions to the signalled leaf positions, and move the leaves and the carriage accordingly. Each leaf can be moved according to a difference between the current leaf position and the signalled leaf position, and the carriage can be moved according to an average difference between the current leaf positions and the signalled leaf positions. A corresponding method is also disclosed.

The invention discloses a method for realizing multi-target tracking by using video segmentation and particle filter. The method comprises the steps of establishment of a system model, establishment of a target motion model and a color model, video segmentation and the like. The method realizes the multi-target tracking and greatly increases the tracking speed and precision by combining the respective advantages of the video segmentation and the particle filter and realizes the multi-target motion tracking under a shielding condition by fully utilizing the correlation degree between the measurement and the target.

The invention relates to a optimization self-searching maximal power point tracing device and a method, especially relates to a control device and method for solar energy photovoltaic industry electric generating system. The device is made of solar battery square array, control device, multiplier and comparator, the output end of the multiplier is connected with the input end of the current power model, the output end of the current power model is connected with the input end of the comparator, the output end of the comparator is connected to the input end of pulse modifying PWM output controller, the memory power model output end is connected to the input end of the comparator in parallel. The merits of the invention is: it can realize the tracing to the maximal output power point of the solar battery, the working point of the battery can point to the maximal power point always; it uses special maximal power dynamic comparing technology, it also uses special technology in aspect of power calculation, noise filtering. Thus the tracing speed and the accuracy are upgraded greatly.

The invention discloses a system and a method for controlling a doubly-fed wind power generation grid-side converter. The system comprises a model predictive control module and a space vector modulation module. The model predictive control module controls a voltage transfer function according to dq-axis current and the dq axis of the grid-side converter, acquires a first-order difference equation of a PWM-VSR (pulse width modulation voltage source rectifier) after discretization to serve as a predictive control model and calculates control voltage of the grid-side converter in a real-time online manner by feedback correction and rolling optimization. The space vector modulation module generates a switching signal for operation of the grid-side converter according to the control voltage and controls the grid-side converter in grid-connected operation. By the aid of the system and the method, the influence of lagging of the control voltage caused by sampling delay of voltage and current of the grid-side converter can be eliminated, grid-side dq-axis current is completely decoupled, the negative influence of grid-side inductance parameters on stability and dynamic response of the system can be overcome, three-phase input current effectively tracks input power grid voltage phase, and the grid-side converter is ensured to be operated in a high power factor state.

The invention provides a 16 quadrature amplitude modulation (QAM) demodulation synchronization method. The method comprises a first step of adding a power detection technology on a traditional costas loop of quadrature phase shift keying (QPSK) so as to finish carrier recovery; a second step of performing matched filtering on each same-phase orthogonal component signal, so as to reduce noise effect and prepare for bit synchronization; a third step of performing bit timing recovery on same-phase orthogonal signals through an "early-late gate"; a fourth step of setting a threshold, and performing sampling judgment and 4-2 level conversion on each of two paths of signal to obtain parallel signals; and a fifth step of performing differential decoding and parallel-serial conversion on the parallel signals, then recovering and obtaining original signals. According to the introduced novel carrier synchronization technology, the carrier recovery is finished by using a phase-locked loop; on the basis of the traditional costas loop, the power detection technology is added, so that the linear output of a phase discriminator is guaranteed, the tracking precision and speed are improved, and the novel carrier synchronization technology passes field programmable gate array (FPGA) hardware verification.

The invention provides a target tracking method and a device based on a thermodynamic diagram. The method comprises the following steps: obtaining a current frame image; inputting the current frame image to a retrained residual network model, and outputting a thermodynamic map of the current frame image, wherein the thermodynamic map displays a probability of a tracking target position in the image in a special highlight form; a position of a tracking target in the current frame image being determined according to a thermodynamic map of the current frame image. The invention provides a targettracking method and a device based on a thermodynamic diagram. By outputting a thermodynamic diagram form of a current frame image, the position of the tracking target is determined, the complexity ofa residual network is reduced, the tracking speed is improved under the premise of ensuring the accuracy of the target tracking, and the real-time performance of the target tracking is enhanced.

The invention discloses a maximum power point tracking method of a wind power generation system under the condition of a variable wind speed, and relates to the technical field of natural wind power generation automatic control. According to the method, when a draught fan is started or at the stage of a low wind speed, if output power of the draught fan is less than one half of rated power at the moment, a disturbance observation method is adopted; when the draught fan is at an operating stage and the wind speed becomes higher and rapidly changes, if the output power is higher than one half of the rated power and continues to rise at the moment, a particle swarm optimization algorithm is adopted; if the wind speed begins to reduce during operation, the output power of the draught fan is lower than one half of the rated power but still larger than a quarter of the rated power, the particle swarm optimization algorithm is still adopted until the output power is lower than a quarter of the rated power, and then the disturbance observation method is adopted. The method has the advantages that wind energy maximum power point tracking control can be well achieved, the tracking speed and the output power of the system are effectively improved, an output curve is relatively smooth, output vibration is reduced, and quality of electric energy is improved.

The invention discloses a guidance law design method for unmanned aerial vehicle path tracking control. The method includes the following steps that S1, the flying speed of an unmanned aerial vehicleis V, projection is conducted on a preset track from the initial position A of the unmanned aerial vehicle, a projection point is marked as O, and the distance between the flying path of the unmannedaerial vehicle and the preset track is marked as d; S2, a circle with the radius being r is obtained with the projection point as the circle center, the intersection point of the circle and the presettrack in front of the unmanned aerial vehicle speed direction is marked as B, the length of AB is marked as L1*, and a L1* guidance law is designed with the point B as a reference point; S3, a reference circle O1* with the radius being R* is selected, and an unmanned aerial vehicle lateral acceleration instruction as* is calculated by using centripetal acceleration and motion geometrical relationship. The method has the advantage that the problem that the tracking speed is too low in tracking control in the prior art can be solved.

The invention provides an image caching and tracking method capable of overcoming a wireless link delay characteristic. The method is implemented by an image caching and tracking system which comprises an information processing module, an FPGA (field programmable gate array) module, a caching module and an image tracking picture switching module. According to the method, the image caching module is used for caching image data in real time, and the cached data are extracted and processed according to wireless link delay values obtained through calculation during tracking, so that the problem that grabbing of tracking targets by a ground station is not consistent with grabbing of tracking targets by an airborne reconnaissance platform due to wireless link delay can be effectively solved, the target grabbing success rate and the tracking speed are increased, the fact that the remote wireless tracking target grabbing success rate is affected by the wireless link delay problem caused by factors such as image compression, the ground environment, peripheral electromagnetic interference and the like is effectively avoided, the target grabbing success rate is high, the grabbing difficulty is low, and the working efficiency of image tracking operators is substantially improved.

The invention discloses a motion tracking method based on a composite deep neutral network. The motion tracking method comprises the steps of performing offline training on a weight by means of a large number of samples; using a neural network of which the number of nodes reduce gradually; adding a logistic classifier at the top of the network which is obtained through offline training so that a target and a background can be distinguished, and setting the parameter of an adjusting network; adjusting an observation model in a tracking process; at the first frame, performing adaptive adjustment on the first frame, adjusting the network by means of the target and a background sample so that the network can identify the target; combining the observation model with a dynamic model in which a particle filtering algorithm is used; acquiring particles around the target of a previous frame in a new frame in particle filtering, transmitting the acquired particles to the observation model, determining the confidence of the particles by the observation model, and determining the particle with highest confidence as the target.