跟踪

The principle and trajectory feature of the upper limit control are analyzed,and the rule of upper limit control is presented.Moreover,the depth trajectories for torpedo to enter into the upper limit depth by three control modes during pursuing target are calculated and simulated.

本文分析了上限控制的原理和弹道特点，给出了上限控制基本规律，对鱼雷以跟踪目标进入上限、跟踪保持结束进入上限以及在上限上方跟踪保持结束等3种不同控制方式进入上限的深度弹道进行了数学仿真计算。

The critical design for the control system of shipborne electrooptical equipment is how to isolate external disturbance and reduce the dynamic lag error. Several kinds of gyroscope inertial stabilization technology are described and their comparison is made.

在舰船摇摆条件下提高光电跟踪系统对目标动态跟踪精度，其控制系统设计的关键技术是隔离扰动和减小高速跟踪时的动态滞后误差。

Compared with methods appeared in literatures, our algorithm, with high accuracy, sensitivity and correctness, complete adaptively the correct distinction between interferential fringes and backgrounds. In chapter four, methods for the computer operatable description of line and region features are discussed, which contains: Computation curve's curvature in quantity, Fringes' separation distance , Contour's smoothness of region, Similarity of varied curves.

在第三章中，本文研究的是以线条为直接目标的图象分割方法——条纹抽取，在研究分析了许多条纹抽取方法以后，针对激光全息焊点缺陷检测这一课题中的复杂数字光学图象LHII条纹抽取进行了多方面的研究，主要有：分别从点对应、邻域特性对应推导并提出了几个信息分离算法；结合光学图象形成方面的知识，提出了变周期余弦分割二值化方法；结合当前条纹走向、毗邻条纹走向及可靠条纹点约束条纹跟踪，在许多方面，改进并发展了常规的条纹跟踪算法，实现了无人-机交互的全自动条纹跟踪抽取。

A frame image of a video frequency sequence is read into a postpositional memory zone, and staring position and size information of a tracked object is obtained in the frame, then distribution statistical information of a target signature is extracted to build a gauss mixed model as an object template, a mean vector and a covariance matrix in gauss mixed distribution are used to describe the position and the size of the object, then the next frame image of the video frequency sequence is read into the postpositional memory zone. In a new frame video frequency image, a parameter estimation method is used to obtain object gauss mized model parameters in the current frame in iterative computation and find candidate template similar to the object template, and the final model parameters obtained in iteration are used to update the tracking window for realizing self-adaption of the tracked window.

将视频序列的一帧图像读入缓存区，获得该帧中被跟踪目标的初始位置和尺寸信息，然后提取目标特征的分布统计信息建立高斯混合模型作为目标模板，用高斯混合分布的均值向量和协方差矩阵描述目标的位置和尺寸，再将视频序列下一帧图像读入缓存区，在新一帧视频图像中利用参数估计方法迭代计算当前帧中目标高斯混合模型参数找到与目标模板最相似的候选模板，利用迭代得到的最终模型参数更新跟踪窗口实现跟踪窗宽的自适应。

With the state-of -date computer-aided control technology,in which the coordinate transformation and retransformation,the digital calculation and filtering/regenerative compensating calculation are carried out,the compound control-tracking system with regenerative feedback is built up and the high-precision tracking to high-speed moving objects is finally realized.

为提高伺服系统跟踪精度，利用现代计算机辅助控制技术，用软件进行坐标变换与反变换、数字计算与滤波和再生补偿量的计算，构成具有再生反馈的复合控制跟踪系统，最终实现对高速运动目标的高精度跟踪。

Furthermore, through the linearization model, the control laws of the aped tracking and feedback is designed and so the observer is designed and it can improve the velocity and accuracy of the speed-tracking under the condition which guaranteed the stability of the whole closed loop system.

本文正是为解决此类非线性限制问题而进行了深入的理论研究，在综合分析三相交流直线永磁同步伺服电动机非线性动态数学模型的基础上，采用反馈线性化控制理论，建立了三相交流直线永磁同步电动机速度跟踪闭环系统动态的输入—输出模型，进而通过该线性化模型设计反馈控制律、速度跟踪控制律和负载阻力扰动观测器，在保证整个闭环系统稳定的前提下，提高伺服跟踪的快速性和精确性。

Furthermore, through the linearization model, the control laws of the aped tracking and feedback is designed and so theobserver is designed and it can improve the velocity and accuracy of the speed-tracking under the condition which guaranteed the stability of the whole closed loop system.

本文正是为解决此类非线性限制问题而进行了深入的理论研究，在综合分析三相交流直线永磁同步伺服电动机非线性动态数学模型的基础上，采用反馈线性化控制理论，建立了三相交流直线永磁同步电动机速度跟踪闭环系统动态的输入—输出模型，进而通过该线性化模型设计反馈控制律、速度跟踪控制律和负载阻力扰动观测器，在保证整个闭环系统稳定的前提下，提高伺服跟踪的快速性和精确性。

The main results in this paper as follows: First, a prototype of a shape-based image database retrieval system is completed, it can receive the query mode both by giving an example image and by sketching the desired object on the screen, Second, five shape-based image retrieval methods are realized; Third, an algorithm based on triangulation for shape-based image retrieval is brought forward. In this algorithm, firstly, the edge of the original image is followed and the candidate corners in the original image are detected. Then the counterpoints of the candidate corners in the result of edge follow are found, and the boundary corners whose counterpoints have been found are queued in the order of their counterpoints in edge follow. After these steps, the boundary corners are triangulated and triangles are obtained which can show the true shape of the original image. Finally, shape feature is obtained by calculating the angle histogram of the triangles.

同时本文中主要完成了以下三方面的工作：完成了一个基于形状特征的图象检索的原型系统，可实现例子图象或徒手绘草图两种查询方式；实现了五种利用形状特征进行图象检索的具体方法，并对其进行了分析比较；并且在继承将三角剖分引入形状检索的思想基础上提出了利用三角剖分进行形状检索的一种新算法：先对原图象进行边界跟踪和角点检测；然后寻找初始角点在边界跟踪中的对应点，并对找到对应点的角点按其对应点在边界跟踪中的顺序进行排序；再对排序后的角点进行德洛内三角剖分，得到能表示目标真实形状的三角形序列；最后计算三角形序列的角度直方图作为形状特征，并进行相似性匹配。

The main characteristics and contributions of the dissertation can be summarized as follows: Currently, all the background modeling algorithms classify foreground from background based on pixels but not the structure information of an object, which leads to fragmentized foreground or introduces too much redundant foreground.

在实际的应用中，如何定义目标物以及何时对目标物进行跟踪是两个重要的问题，本文通过形态学和连通性分析等操作把获取的前景区域分类成若个Blob，每个Blob对应一个目标物；本文还为每个Blob维护了一个跟踪列表来确保传递给系统跟踪模块的Blob是稳定的，可信的目标物。

Re-vectorization is performed on the basis of original vectorization by obtaining the initial parameters such as line types and slope. Inuring tricing it can adjustthe parameter adaptively. To decrease the influence of noise pixels, we designed a stop probe to detect tracing-stop conditions. Process of re-vectorization is performed recursively until quality of graph entity is satisfactory.Finally, some key technologies for 2D graphs reconstruction are studied. The issues concerned include the recognition and presentation of topologic relations among graphs entities and a directed and weighted graph model established to describe the relations and techniques on dimension driven.

在获得对图素识别质量的评价之后，质量较差的图素被输入到错误自动校正器进行错误校正处理，本文提出&二次矢量化&的错误校正思想，二次矢量化是在初步矢量化所获得知识的基础之上，取得初始参数，并在跟踪过程中动态校正参数，在跟踪结束时引入跟踪终止检测探针以消除光栅图像中黑白噪音的影响，使得算法具有较强的抗噪音干扰能力，校正后的图素仍需进行质量评价，未能通过评价的图素需递归执行二次矢量化算法。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了