In order to solve the problems of local maximum modulus extraction and threshold selection in the edge detection of finite resolution digital images, a new wavelet transform based adaptive dual threshold edge detec...In order to solve the problems of local maximum modulus extraction and threshold selection in the edge detection of finite resolution digital images, a new wavelet transform based adaptive dual threshold edge detection algorithm is proposed. The local maximum modulus is extracted by linear interpolation in wavelet domain. With the analysis on histogram, the image is filtered with an adaptive dual threshold method, which effectively detects the contours of small structures as well as the boundaries of large objects. A wavelet domain's propagation function is used to further select weak edges. Experimental results have shown the self adaptivity of the threshold to images having the same kind of histogram, and the efficiency even in noise tampered images.展开更多
This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters wh...This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.展开更多
文摘In order to solve the problems of local maximum modulus extraction and threshold selection in the edge detection of finite resolution digital images, a new wavelet transform based adaptive dual threshold edge detection algorithm is proposed. The local maximum modulus is extracted by linear interpolation in wavelet domain. With the analysis on histogram, the image is filtered with an adaptive dual threshold method, which effectively detects the contours of small structures as well as the boundaries of large objects. A wavelet domain's propagation function is used to further select weak edges. Experimental results have shown the self adaptivity of the threshold to images having the same kind of histogram, and the efficiency even in noise tampered images.
文摘This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.
