This article proposes a monocular trajectory intersection method,a videometrics measurement with a mature theoretical system to solve the 3D motion parameters of a point target.It determines the target’s motion param...This article proposes a monocular trajectory intersection method,a videometrics measurement with a mature theoretical system to solve the 3D motion parameters of a point target.It determines the target’s motion parameters including its 3D trajectory and velocity by intersecting the parametric trajectory of a motion target and series of sight-rays by which a motion camera observes the target,in contrast with the regular intersection method for 3D measurement by which the sight-rays intersect at one point.The method offers an approach to overcome the technical failure of traditional monocular measurements for the 3D motion of a point target and thus extends the application fields of photogrammetry and computer vision.Wide application is expected in passive observations of motion targets on various mobile beds.展开更多
To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an und...To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.展开更多
Compared with the one-dimensional trajectory correction technology which adjusts longitudinal range, not only does the two-dimensional trajectory correction technology adjust the force in velocity direction, but also ...Compared with the one-dimensional trajectory correction technology which adjusts longitudinal range, not only does the two-dimensional trajectory correction technology adjust the force in velocity direction, but also need to modulate the lateral force or trajectory (perpendicular to the vertical plane of fire direction). Therefore, the structure of control cabin of two-dimensional trajectory correction projectile (TDTCP) is more complicated than that of one-dimensional trajectory correction projectile (ODTCP). To simplify the structure of control cabin of TDTCP and reduce the cost, a scheme of adding a damping disk to the control cabin of ODTCP has been developed recently. The damping disk is unfolded at the right moment during its flight to change the ballistic drift of spin stabilized projectile. For this technical scheme of TDTCP, a fast and accurate impact point prediction method based on extended Kalman filter is presented. An approximate formula for predicting the ballistic drift and trajectory correction quantity is deduced. And the lateral correction capability for different fire angles and its influencing factors are analyzed. All the work is valuable for further research.展开更多
A bioinspired trajectory generation approach for Unmanned Aerial System （UAS） rapid Point-to-Point （PTP） movement was presented. The approach was based on general tau theory developed by biologists from observing ...A bioinspired trajectory generation approach for Unmanned Aerial System （UAS） rapid Point-to-Point （PTP） movement was presented. The approach was based on general tau theory developed by biologists from observing and studying the behavior of birds and some other animals. We applied the bioinspired approach to the rapid PTP movement problem of a rotary UAS and derived two different trajectory planning strategies, namely, the tau coupling strategy and the intrinsic tau gravity guidance strategy. Based on general tau theory, according to the dynamic model of UAS, we presented a new strategy named intrinsic tau jerk guidance which can fit the movement that the initial acceleration of the UAS is zero. With new strategies, flight trajectory generation examples with a UAS were presented. The kinematics and dynamics analyses of the UAS for rapid PTP movement were presented with simulation results which show that the generated trajectories were feasible.展开更多
Under single-satellite observation,the parameter estimation of the boost phase of high-precision space noncooperative targets requires prior information.To improve the accuracy without prior information,we propose a p...Under single-satellite observation,the parameter estimation of the boost phase of high-precision space noncooperative targets requires prior information.To improve the accuracy without prior information,we propose a parameter estimation model of the boost phase based on trajectory plane parametric cutting.The use of the plane passing through the geo-center and the cutting sequence line of sight(LOS)generates the trajectory-cutting plane.With the coefficient of the trajectory cutting plane directly used as the parameter to be estimated,a motion parameter estimation model in space non-cooperative targets is established,and the Gauss-Newton iteration method is used to solve the flight parameters.The experimental results show that the estimation algorithm proposed in this paper weakly relies on prior information and has higher estimation accuracy,providing a practical new idea and method for the parameter estimation of space non-cooperative targets under single-satellite warning.展开更多
Trajectory provides the most robust feature for activity recognition in far-field surveillance videos,in which increasing attentions have been given to the use of qualitative methods with symbolic rather than real-val...Trajectory provides the most robust feature for activity recognition in far-field surveillance videos,in which increasing attentions have been given to the use of qualitative methods with symbolic rather than real-value features.Qualitative trajectory calculus(QTC)showed a good performance in pair-activity from video.However,QTC and similar works are not good at dealing with noise,since they are all considering short-term features.To deal with the problems mentioned above,two types of long-term features,including sub-trajectory feature and point-trajectory feature,are designed.The sub-trajectory feature is a long-term feature in a coarse granularity,while the point-trajectory feature is a long-term feature in a relatively fine granularity.Using the sub-trajectory feature,a couple of trajectories are segmented into sub-trajectories and enveloping boxes are used to substitute the original sub-trajectory for capturing the major attributes.The point-trajectory feature describes the relationship between a single point in one trajectory and all parts of the other trajectory.The experiments on the human activity classification data demonstrated that our proposed methods are better than the original QTC and previous short-term features.展开更多
It is proven that an autonomous system verifying some conditions has at least one stable stationary trajectory and it is also given a lower bound to the number of unstable stationary trajectorlies.
文摘This article proposes a monocular trajectory intersection method,a videometrics measurement with a mature theoretical system to solve the 3D motion parameters of a point target.It determines the target’s motion parameters including its 3D trajectory and velocity by intersecting the parametric trajectory of a motion target and series of sight-rays by which a motion camera observes the target,in contrast with the regular intersection method for 3D measurement by which the sight-rays intersect at one point.The method offers an approach to overcome the technical failure of traditional monocular measurements for the 3D motion of a point target and thus extends the application fields of photogrammetry and computer vision.Wide application is expected in passive observations of motion targets on various mobile beds.
基金National Natural Science Foundation of China(Grant Nos.51925502,51575150).
文摘To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.
文摘Compared with the one-dimensional trajectory correction technology which adjusts longitudinal range, not only does the two-dimensional trajectory correction technology adjust the force in velocity direction, but also need to modulate the lateral force or trajectory (perpendicular to the vertical plane of fire direction). Therefore, the structure of control cabin of two-dimensional trajectory correction projectile (TDTCP) is more complicated than that of one-dimensional trajectory correction projectile (ODTCP). To simplify the structure of control cabin of TDTCP and reduce the cost, a scheme of adding a damping disk to the control cabin of ODTCP has been developed recently. The damping disk is unfolded at the right moment during its flight to change the ballistic drift of spin stabilized projectile. For this technical scheme of TDTCP, a fast and accurate impact point prediction method based on extended Kalman filter is presented. An approximate formula for predicting the ballistic drift and trajectory correction quantity is deduced. And the lateral correction capability for different fire angles and its influencing factors are analyzed. All the work is valuable for further research.
基金Meanwhile,the project is jointly supported by the National Natural Science Foundation of China，Innovation Group Project from Shanghai Education Commission
文摘A bioinspired trajectory generation approach for Unmanned Aerial System （UAS） rapid Point-to-Point （PTP） movement was presented. The approach was based on general tau theory developed by biologists from observing and studying the behavior of birds and some other animals. We applied the bioinspired approach to the rapid PTP movement problem of a rotary UAS and derived two different trajectory planning strategies, namely, the tau coupling strategy and the intrinsic tau gravity guidance strategy. Based on general tau theory, according to the dynamic model of UAS, we presented a new strategy named intrinsic tau jerk guidance which can fit the movement that the initial acceleration of the UAS is zero. With new strategies, flight trajectory generation examples with a UAS were presented. The kinematics and dynamics analyses of the UAS for rapid PTP movement were presented with simulation results which show that the generated trajectories were feasible.
基金supported in part by the National Natural Science Foundation of China(Nos.42271448,41701531)the Key Laboratory of Land Satellite Remote Sensing Application,Ministry of Natural Resources of the People’s Republic of China(No.KLSMNRG202317)。
文摘Under single-satellite observation,the parameter estimation of the boost phase of high-precision space noncooperative targets requires prior information.To improve the accuracy without prior information,we propose a parameter estimation model of the boost phase based on trajectory plane parametric cutting.The use of the plane passing through the geo-center and the cutting sequence line of sight(LOS)generates the trajectory-cutting plane.With the coefficient of the trajectory cutting plane directly used as the parameter to be estimated,a motion parameter estimation model in space non-cooperative targets is established,and the Gauss-Newton iteration method is used to solve the flight parameters.The experimental results show that the estimation algorithm proposed in this paper weakly relies on prior information and has higher estimation accuracy,providing a practical new idea and method for the parameter estimation of space non-cooperative targets under single-satellite warning.
基金Supported by the National Natural Science Foundation of China(61502198)
文摘Trajectory provides the most robust feature for activity recognition in far-field surveillance videos,in which increasing attentions have been given to the use of qualitative methods with symbolic rather than real-value features.Qualitative trajectory calculus(QTC)showed a good performance in pair-activity from video.However,QTC and similar works are not good at dealing with noise,since they are all considering short-term features.To deal with the problems mentioned above,two types of long-term features,including sub-trajectory feature and point-trajectory feature,are designed.The sub-trajectory feature is a long-term feature in a coarse granularity,while the point-trajectory feature is a long-term feature in a relatively fine granularity.Using the sub-trajectory feature,a couple of trajectories are segmented into sub-trajectories and enveloping boxes are used to substitute the original sub-trajectory for capturing the major attributes.The point-trajectory feature describes the relationship between a single point in one trajectory and all parts of the other trajectory.The experiments on the human activity classification data demonstrated that our proposed methods are better than the original QTC and previous short-term features.
基金This work is partially supported by D.G.Y.C.T.PB 96-1338-CO 2-01 and the Junta de Andalucía.
文摘It is proven that an autonomous system verifying some conditions has at least one stable stationary trajectory and it is also given a lower bound to the number of unstable stationary trajectorlies.
