Fragment-based real-time object tracking: a sparse representation approach

Real-time object tracking is a critical task in many computer vision applications. Achieving rapid and robust tracking while handling changes in object pose and size, varying illumination and partial occlusion, is a challenging task given the limited amount of computational resources. In this paper we propose a real-time object tracker in l(1) framework addressing these issues. In the proposed approach, dictionaries containing templates of overlapping object fragments are created. The candidate fragments are sparsely represented in the dictionary fragment space by solving the l(1) regularized least squares problem. The non zero coefficients indicate the relative motion between the target and candidate fragments along with a fidelity measure. The final object motion is obtained by fusing the reliable motion information. The dictionary is updated based on the object likelihood map. The proposed tracking algorithm is tested on various challenging videos and found to outperform earlier approach.

Transitory second-order reciprocal connection for two surfaces in point contact

This paper investigates the instantaneous spatial higher pair to lower pair substitute-connection which is kinematically equivalent up to acceleration analysis for two smooth surfaces in point contact. The existing first-order equivalent substitute-connection consisting of a Hooke's joint (U-joint) and a spherical joint (S-joint) connected by an additional link is extended up to second-order. A two step procedure is chalked out for achieving this equivalence. First, the existing method is employed for velocity equivalence. In the second step, the two centers of substitution are obtained as a conjugate relationship involving the principal normal curvatures of the surfaces at the contact point and the screw coordinates of the instantaneous screw axis (ISA) of the first-order relative motion. Unlike the classical planar replacement, this particular substitution cannot be done by merely examining the profiles of the contacting surfaces. An illustrative example of a three-link direct-contact mechanism is presented. (C) 2014 Elsevier Ltd. All rights reserved.

Basic equations for suspension flows with interphase mass-transfer

In the case of suspension flows, the rate of interphase momentum transfer M(k) and that of interphase energy transfer E(k), which were expressed as a sum of infinite discontinuities by Ishii, have been reduced to the sum of several terms which have concise physical significance. M(k) is composed of the following terms: (i) the momentum carried by the interphase mass transfer; (ii) the interphase drag force due to the relative motion between phases; (iii) the interphase force produced by the concentration gradient of the dispersed phase in a pressure field. And E(k) is composed of the following four terms, that is, the energy carried by the interphase mass transfer, the work produced by the interphase forces of the second and third parts above, and the heat transfer between phases. It is concluded from the results that (i) the term, (-alpha-k-nabla-p), which is related to the pressure gradient in the momentum equation, can be derived from the basic conservation laws without introducing the "shared-pressure presumption"; (ii) the mean velocity of the action point of the interphase drag is the mean velocity of the interface displacement, upsilonBAR-i. It is approximately equal to the mean velocity of the dispersed phase, upsilonBAR-d. Hence the work terms produced by the drag forces are f(dc) . upsilonBAR-d, and f(cd) . upsilonBAR-d, respectively, with upsilonBAR-i not being replaced by the mean velocity of the continuous phase, upsilonBAR-c; (iii) by analogy, the terms of the momentum transfer due to phase change are upsilonBAR-d-GAMMA-c, and upsilonBAR-d-GAMMA-d, respectively; (iv) since the transformation between explicit heat and latent heat occurs in the process of phase change, the algebraic sum of the heat transfer between phases is not equal to zero. Q(ic) and Q(id) are composed of the explicit heat and latent heat, so that the sum Q(ic) + Q(id)) is equal to zero.

航天器相对运动与Hill解的适用性分析

研究了空间飞行器编队中最具基础性的问题之一，即相对运动的解析表达及Hill方程的适用条件。通过建立相对运动的通解公式，针对不同性质的初值深入地分析了其相对运动轨迹的本质特征，并给出了Hill方程的适用条件。此外，文中还给出了一个新的编队设计简化公式。

Flow-induced vibrations of long circular cylinders modeled by coupled nonlinear oscillators

The dynamics of long slender cylinders undergoing vortex-induced vibrations (VIV) is studied in this work. Long slender cylinders such as risers or tension legs are widely used in the field of ocean engineering. When the sea current flows past a cylinder, it will be excited due to vortex shedding. A three-dimensional time domain model is formulated to describe the response of the cylinder, in which the in-line (IL) and cross-flow (CF) deflections are coupled. The wake dynamics, including in-line and cross-flow vibrations, is represented using a pair of non-linear oscillators distributed along the cylinder. The wake oscillators are coupled to the dynamics of the long cylinder with the acceleration coupling term. A non-linear fluid force model is accounted for to reflect the relative motion of cylinder to current. The model is validated against the published data from a tank experiment with the free span riser. The comparisons show that some aspects due to VIV of long flexible cylinders can be reproduced by the proposed model, such as vibrating frequency, dominant mode number, occurrence and transition of the standing or traveling waves. In the case study, the simulations show that the IL curvature is not smaller than CF curvature, which indicates that both IL and CF vibrations are important for the structural fatigue damage.

The influence of boundary conditions on tip leakage flow

Most of the current understanding of tip leakage flows has been derived from detailed cascade experiments. However, the cascade model is inherently approximate since it is difficult to simulate the boundary conditions present in a real machine, particularly the secondary flows convecting from the upstream stator row and the relative motion of the casing and blade. This problem is further complicated when considering the high pressure turbine rotors of aero engines, where the high Mach numbers must also be matched in order to correctly model the aerodynamics and heat transfer. More realistic tests can be performed on high-speed turbines, but the experimental fidelity and resolution achievable in such set-ups is limited. In order to examine the differences between cascade models and real-engine behavior, the influence of boundary conditions on the tip leakage flow in an unshrouded high pressure turbine rotor is investigated using RANS calculations. This study examines the influence of the rotor inlet condition and relative casing motion. A baseline calculation with a simplified inlet condition and no relative endwall motion exhibits similar behavior to cascade studies. Only minor changes to the leakage flow are induced by introducing either a more realistic inlet condition or relative casing motion. However when both of these conditions are applied simultaneously the pattern of leakage flow is very different, with ingestion of flow over much of the early suction surface. The paper explores the physical processes driving this change and the impact on leakage losses and modeling requirements. Copyright © 2013 by ASME.

Production mechanism of superheavy nuclei in massive fusion reactions

Within the concept of the dinuclear system (DNS), a dynamical model is proposed for describing the formation of superheavy nuclei in complete fusion reactions by incorporating the coupling of the relative motion to the nucleon transfer process. The capture of two heavy colliding nuclei, the formation of the compound nucleus and the de-excitation process are calculated by using an empirical coupled channel model, solving a set of microscopically derived master equations numerically and applying statistical theory, respectively.Fusion-fission reactions and evaporation residue excitation functions of synthesizing superheavy nuclei (SHN)are investigated systematically and compared them with available experimental data. The possible factors that affecting the production cross sections of SHN are discussed in this workshop.

Formation of superheavy nuclei in cold fusion reactions

Within the concept of the dinuclear system (DNS), a dynamical model is proposed for describing the formation of superheavy nuclei in complete fusion reactions by incorporating the coupling of the relative motion to the nucleon transfer process. The capture of two heavy colliding nuclei, the formation of the compound nucleus, and the de-excitation process are calculated by using an empirical coupled channel model, solving a master equation numerically and applying statistical theory, respectively. Evaporation residue excitation functions in cold fusion reactions are investigated systematically and compared with available experimental data. Maximal production cross sections of superheavy nuclei in cold fusion reactions with stable neutron-rich projectiles are obtained. Isotopic trends in the production of the superheavy elements Z=110, 112, 114, 116, 118, and 120 are analyzed systematically. Optimal combinations and the corresponding excitation energies are proposed.

Particle transfer and fusion cross-section for super-heavy nuclei in dinuclear system

Within the dinuclear system (DNS) conception, instead of solving the Fokker-Planck equation (FPE) analytically, the master equation is solved numerically to calculate the fusion probability of super-heavy nuclei, so that the harmonic oscillator approximation to the potential energy of the DNS is avoided. The relative motion concerning the energy, the angular momentum and the fragment deformation relaxations is explicitly treated to couple with the diffusion process. The nucleon transition probabilities, which are derived microscopically, are related with the energy dissipation of the relative motion. Thus they are time dependent. Comparing with the analytical solution of FPE at the equilibrium, our time-dependent results preserve more dynamical effects. The calculated evaporation residue cross-sections for one-neutron emission channel of Pb-based reactions are basically in agreement with the known experimental data within one order of magnitude.

Production of Superheavy Nuclei in Massive fusion reactions

A master equation is constructed to treat the nucleon transfer process in heavy ion fusion reactions to form superheavy nucleus. The relative motion concerning the energy, the angular momentum and the fragment deformation relaxations is explicitly treated to couple with the diffusion process. The nucleon transition probabilities, which are derived microscopically, are thus time dependent. The calculated evaporation residue cross-sections for both cold and hot fusion are in good agreement with the known experimental data.

基于双目重建不确定性的动态特征滤除

提出了一种基于双目视觉三维重建不确定性的环境动态特征滤除方法。针对利用立体视觉系统对机器人进行运动估计时,环境中的动态目标和环境静态背景与机器人的空间相对运动具有不一致性,将严重影响系统的精度的问题。根据动态目标与环境背景的空间运动不一致性,分析立体视觉三维重建的不确定性,利用重建的不确定性估计机器人与环境间的相对运动,通过随机一致性方法(RANSAC)滤除图像中的环境动态特征。仿真实验结果表明了本方法的可行性和有效性。

水下滑翔机器人水动力研究与运动分析

水下滑翔机器人是一种无外挂推进系统,仅依靠内置执行机构调整重心位置和净浮力来控制其自身运动的新型水下机器人,主要用于长时间、大范围的海洋环境监测,因此要求其具有低阻性和高稳定性.文章主要从水动力特性出发对水下滑翔机器人进行优化设计,包括主载体线型、升降翼和稳定翼的优化等,并对水动力优化设计的结构进行了定常滑翔运动和空间螺旋回转运动分析,这将为后期的控制系统设计提供参考.

全方位六足步行机器人运动规划的相对运动算法

本文提出了步行机器人运动控制算法。该方法以相对运动学原理为基础,把机体的运动规划问题转化为腿的足端轨迹规划问题,从而使步行机器人运动控制问题得到大大简化.并应用该方法对全方位三角步态算法及稳定性进行分析求解.

Visual Tracking

A typical robot vision scenario might involve a vehicle moving with an unknown 3D motion (translation and rotation) while taking intensity images of an arbitrary environment. This paper describes the theory and implementation issues of tracking any desired point in the environment. This method is performed completely in software without any need to mechanically move the camera relative to the vehicle. This tracking technique is simple an inexpensive. Furthermore, it does not use either optical flow or feature correspondence. Instead, the spatio-temporal gradients of the input intensity images are used directly. The experimental results presented support the idea of tracking in software. The final result is a sequence of tracked images where the desired point is kept stationary in the images independent of the nature of the relative motion. Finally, the quality of these tracked images are examined using spatio-temporal gradient maps.

An Analog VLSI Chip for Estimating the Focus of Expansion

For applications involving the control of moving vehicles, the recovery of relative motion between a camera and its environment is of high utility. This thesis describes the design and testing of a real-time analog VLSI chip which estimates the focus of expansion (FOE) from measured time-varying images. Our approach assumes a camera moving through a fixed world with translational velocity; the FOE is the projection of the translation vector onto the image plane. This location is the point towards which the camera is moving, and other points appear to be expanding outward from. By way of the camera imaging parameters, the location of the FOE gives the direction of 3-D translation. The algorithm we use for estimating the FOE minimizes the sum of squares of the differences at every pixel between the observed time variation of brightness and the predicted variation given the assumed position of the FOE. This minimization is not straightforward, because the relationship between the brightness derivatives depends on the unknown distance to the surface being imaged. However, image points where brightness is instantaneously constant play a critical role. Ideally, the FOE would be at the intersection of the tangents to the iso-brightness contours at these "stationary" points. In practice, brightness derivatives are hard to estimate accurately given that the image is quite noisy. Reliable results can nevertheless be obtained if the image contains many stationary points and the point is found that minimizes the sum of squares of the perpendicular distances from the tangents at the stationary points. The FOE chip calculates the gradient of this least-squares minimization sum, and the estimation is performed by closing a feedback loop around it. The chip has been implemented using an embedded CCD imager for image acquisition and a row-parallel processing scheme. A 64 x 64 version was fabricated in a 2um CCD/ BiCMOS process through MOSIS with a design goal of 200 mW of on-chip power, a top frame rate of 1000 frames/second, and a basic accuracy of 5%. A complete experimental system which estimates the FOE in real time using real motion and image scenes is demonstrated.