跟踪

Regarding to submerged arc weld multi-pass weld track and height of weld gun,two-dimension track system is designed.

针对埋弧焊多道焊的焊缝跟踪以及焊枪高度跟踪问题，设计了一种二维跟踪系统。

In order to realize the stably tracking of multi-objectives under complex background in driver assistant system, a multimode vehicle tracking algorithm was put forward based on the match of gradation image template.

动态目标识别与跟踪是计算机视觉研究的热点问题，为实现汽车辅助驾驶系统中复杂背景下多目标的稳定跟踪，提出了一种基于灰度图像模板匹配的多模式车辆跟踪算法。

For reconstruction from contours, this dissertation uses Active Contour Model to check the boundary contours. The algorithm can generate single, continuous and close contours quickly. For reconstruction from voxel, this dissertation presents an algorithm to trace the boundary contours from segmented regions based on Active Contour Model. The algorithm can trace the contours of inter and outer connected multi-regions correctly and accurately, and can prevent tracing from jumping out to the neighbor region, also can define the contour precision and contour key points actively as snake is growing up.

对于基于轮廓线的表面重建，利用主动轮廓模型（Active Model，又称Snake Model）来完成断层图象上目标轮廓的提取，可以获得单象素连通的封闭的目标边界轮廓；针对基于体素的表面重建中实施了分割后的体数据，提出了一种基于主动轮廓模型完成二值图象中轮廓跟踪记录的方法，可以对同属于重建目标的内外邻接多区域进行正确和准确的边界轮廓跟踪，使得在跟踪当前轮廓时不会跨越到相邻轮廓，且主动轮廓的精度可以根据参数交互决定，尤其是能够在主动轮廓成长的同时主动定义轮廓关键点。

At the same time,the coil diameter tracking is the core of transfer bar tracking in coilbox.

热卷箱对中间卷的卷径跟踪计算是很重要的工作之一，同时卷径跟踪也是中间坯在热卷箱区跟踪的核心。

For software,it takes use of the swing torch and integral contrast method to realize the seam auto tracking according to the characteristics of lap joint TIG welding;It points out the method of weighted handling to proceed a.

软件处理方面，针对搭接TIG焊的特点，采用摆动焊接方法，利用积分比较法，实现了焊缝的自动跟踪；提出加权处理的方法，对积分比较法进行修正，进一步保证了跟踪的实现，提高了跟踪精度。

For software, it takes use of the swing torch and integral contrast method to realize the seam auto tracking according to the characteristics of lap joint TIG welding; It points out the method of weighted handling to proceed a revising to the integral contrast, which ensures the tracking properly and improves the tracking accuracy.

软件处理方面，针对搭接TIG焊的特点，采用摆动焊接方法，利用积分比较法，实现了焊缝的自动跟踪；提出加权处理的方法，对积分比较法进行修正，进一步保证了跟踪的实现，提高了跟踪精度。

The approach comprises following steps: grouping available measurements in various possible subsets, solving target position in Cartesian co-ordinate corresponding to each measurement subset, selecting several subsets with higher accuracy of position location, fusing the data of target-position corresponding to subsets selected by step .

本文围绕双／多基地系统的配置，利用各站可能获得的观测量怎样实现对目标的精确定位与跟踪这个问题来展开研究的，并以探索双／多基地系统的定位与跟踪性能为目的，对双／多基地系统的定位方法和定位精度、定位跟踪算法及其性能等方面进行了深入的分析和研究。

According to the function of distributed emulator, optical information processing and image multi-object tracking system, the following three aspects were emphasized in this dissertation. Firstly, a vast virtual terrain, ground radar models and canyons were created for the distributed emulator with modeling software Creator. The radars were driven to scan during emulating and the real time terrain code was sent to Radar module. Secondly, an optics channel simulating the optics camera of a virtual aircraft was implemented with simulating software Vega. The 2-D information got from the channel was translated and sent to multi-sensor information fusion system as an optics information source. Thirdly, the dissertation studied some motion estimation methods and analyzed the factors which influence the speed and the precision of the block matching algorithms. Then an improved block matching method was proposed for image multi-object tracking system and applied in the system combined with frame difference method.

论文根据多传感信息融合实验系统中的分布式飞行仿真系统、光学信号处理器和图像多目标跟踪系统三个子系统的功能要求，具体完成了以下三方面的工作：首先利用建模软件Creator创建分布式飞行仿真系统中的大面积地形、场景中的地面雷达模型和峡谷地形，并在仿真过程中实时驱动雷达模型的扫描，同时为后续雷达仿真模块提供实时地形编码；其次利用仿真软件Vega，在分布式仿真系统中为光学信号处理器设计实现了光学通道，模拟飞行器的光学摄像机的功能，并且对由此通道获得的目标二维光学信息进行转化处理，作为光学信息源发送给后续的多传感信息融合器；最后针对图像多目标跟踪系统，在研究图像分割运动估计算法的基础上，通过分析影响块匹配算法速度和精度的因素，改进了块匹配运动估计算法，结合差分法可应用到目标跟踪系统中。

Firstly, based on the sliding mode control and backstepping technique, a new attitude tracking controller is derived to control the attitude motion of spacecraft, the stability of the system is analyzed via Lyapunov method and the reaction wheel dynamics is also considered from the real applications point of view. The whole design process is divided into two steps: the first step is to use sliding control technique to design suppositional adaptive variable structure controller; and the second step is to design attitude tracking controller based on SMC and backstepping technique. Numerical simulations are performed to show that both tracking maneuver and vibration suppression can be accomplished effectively.

首先，采用自适应后步法结合主动振动控制技术设计了姿态跟踪鲁棒控制器，基于Lyapunov方法分析了系统的渐近稳定性；在此基础上，显性地考虑了执行机构动态特性问题，将整个设计过程分为两个步骤：第一步采用滑模控制技术设计了变结构虚拟控制器，给出自适应控制律的设计方法；第二步，将后步法与滑模控制技术相结合，设计了姿态跟踪鲁棒控制器，给出飞轮电压的输入算法及稳定性分析；最后，将提出的控制方法应用于挠性航天器的姿态跟踪控制，通过数值仿真对所提方法的可行性与有效性进行分析和验证。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

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