Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to...Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.展开更多
A novel efficient track initiation method is proposed for the harsh underwater target tracking environment(heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method(TSEPM). T...A novel efficient track initiation method is proposed for the harsh underwater target tracking environment(heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method(TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly.Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target:(a) they cannot eliminate the turbulences of clutter effectively;(b) there may be a high false alarm probability and low detection probability of a track;(c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track,track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target’s existence and estimate its initial state with the least squares method. What’s more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment.展开更多
The eddy tracking approach is developed using the global nearest neighbor filter（GNNF） to investigate the evolution processes and behaviors of mesoscale eddies in the South China Sea（SCS）. Combining the Kalman fil...The eddy tracking approach is developed using the global nearest neighbor filter（GNNF） to investigate the evolution processes and behaviors of mesoscale eddies in the South China Sea（SCS）. Combining the Kalman filter and optimal data association technologies, the GNNF algorithm is able to reduce pairing errors to 0.2% in tracking synthetic eddy tracks, outperforming other existing methods. A total of 4 913 eddy tracks that last more than a week are obtained by the GNNF during 1993–2012. The analysis of a growth and a decay based on 3 445 simple eddy tracks show that eddy radius, amplitude, and vorticity smoothly increase during the first half of lifetime and decline during the second half following a parabola opening downwards. The genesis of eddies mainly clusters northwest and southwest of Luzon Island whereas the dissipations concentrate the Xisha Islands where the underwater bay traps and terminates eddies. West of the Luzon Strait, northwest of Luzon Island, and southeast of Vietnam are regions where eddy splits and mergers are frequently observed. Short disappearances mainly distribute in the first two regions. Moreover, eddy splits generally result in a decrease of the radius and the amplitude whereas eddy mergers induce growing up. Eddy intensity and vorticity, on the contrary, are strengthened in the eddy splits and diminished in mergers.展开更多
基金Postdoctoral Fund of Settling Down in Heilongjiang Province(LBH-Q06094)
文摘Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.
基金financially supported by the Key Research Program of the Chinese Academy of Sciences(Grant No.KGFZD-125-014)the National Natural Science Foundation of China(Grant No.61273334)State Key Laboratory of Robotics Foundation(Grant No.2017-Z05)
文摘A novel efficient track initiation method is proposed for the harsh underwater target tracking environment(heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method(TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly.Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target:(a) they cannot eliminate the turbulences of clutter effectively;(b) there may be a high false alarm probability and low detection probability of a track;(c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track,track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target’s existence and estimate its initial state with the least squares method. What’s more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment.
基金The National Natural Science Foundation of China under contract Nos 41421001 and 41371378
文摘The eddy tracking approach is developed using the global nearest neighbor filter（GNNF） to investigate the evolution processes and behaviors of mesoscale eddies in the South China Sea（SCS）. Combining the Kalman filter and optimal data association technologies, the GNNF algorithm is able to reduce pairing errors to 0.2% in tracking synthetic eddy tracks, outperforming other existing methods. A total of 4 913 eddy tracks that last more than a week are obtained by the GNNF during 1993–2012. The analysis of a growth and a decay based on 3 445 simple eddy tracks show that eddy radius, amplitude, and vorticity smoothly increase during the first half of lifetime and decline during the second half following a parabola opening downwards. The genesis of eddies mainly clusters northwest and southwest of Luzon Island whereas the dissipations concentrate the Xisha Islands where the underwater bay traps and terminates eddies. West of the Luzon Strait, northwest of Luzon Island, and southeast of Vietnam are regions where eddy splits and mergers are frequently observed. Short disappearances mainly distribute in the first two regions. Moreover, eddy splits generally result in a decrease of the radius and the amplitude whereas eddy mergers induce growing up. Eddy intensity and vorticity, on the contrary, are strengthened in the eddy splits and diminished in mergers.
