Local invariant algorithm applied in downward-looking image registration,usually computes the camera＇s pose relative to visual landmarks.Generally,there are three requirements in the process of image registration whe...Local invariant algorithm applied in downward-looking image registration,usually computes the camera＇s pose relative to visual landmarks.Generally,there are three requirements in the process of image registration when using these approaches.First,the algorithm is apt to be influenced by illumination.Second,algorithm should have less computational complexity.Third,the depth information of images needs to be estimated without other sensors.This paper investigates a famous local invariant feature named speeded up robust feature（SURF）,and proposes a highspeed and robust image registration and localization algorithm based on it.With supports from feature tracking and pose estimation methods,the proposed algorithm can compute camera poses under different conditions of scale,viewpoint and rotation so as to precisely localize object＇s position.At last,the study makes registration experiment by scale invariant feature transform（SIFT）,SURF and the proposed algorithm,and designs a method to evaluate their performances.Furthermore,this study makes object retrieval test on remote sensing video.For there is big deformation on remote sensing frames,the registration algorithm absorbs the Kanade-Lucas-Tomasi（KLT） 3-D coplanar calibration feature tracker methods,which can localize interesting targets precisely and efficiently.The experimental results prove that the proposed method has a higher localization speed and lower localization error rate than traditional visual simultaneous localization and mapping（vSLAM） in a period of time.展开更多
A novel approach for constructing robust Mamdani fuzzy system was proposed, which consisted of an efficiency robust estimator(partial robust M-regression, PRM) in the parameter learning phase of the initial fuzzy syst...A novel approach for constructing robust Mamdani fuzzy system was proposed, which consisted of an efficiency robust estimator(partial robust M-regression, PRM) in the parameter learning phase of the initial fuzzy system, and an improved subtractive clustering algorithm in the fuzzy-rule-selecting phase. The weights obtained in PRM, which gives protection against noise and outliers, were incorporated into the potential measure of the subtractive cluster algorithm to enhance the robustness of the fuzzy rule cluster process, and a compact Mamdani-type fuzzy system was established after the parameters in the consequent parts of rules were re-estimated by partial least squares(PLS). The main characteristics of the new approach were its simplicity and ability to construct fuzzy system fast and robustly. Simulation and experiment results show that the proposed approach can achieve satisfactory results in various kinds of data domains with noise and outliers. Compared with D-SVD and ARRBFN, the proposed approach yields much fewer rules and less RMSE values.展开更多
To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target ...To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.展开更多
为更精确地预测航班过站时间,将全国机场按照规模差异及不同地理位置所导致的客流量差异和天气差异对航班过站时间造成的不同影响进行分类,基于各类机场航班数据,构建混合轻量级梯度提升机算法(LightGBM)模型对航班过站时间分类预测。...为更精确地预测航班过站时间,将全国机场按照规模差异及不同地理位置所导致的客流量差异和天气差异对航班过站时间造成的不同影响进行分类,基于各类机场航班数据,构建混合轻量级梯度提升机算法(LightGBM)模型对航班过站时间分类预测。引入自适应鲁棒损失函数(adaptive robust loss function,ARLF)改进LightGBM模型损失函数,降低航班数据中存在离群值的影响;通过改进的麻雀搜索算法对改进后的LightGBM模型进行参数寻优,形成混合LightGBM模型。采用全国2019年全年航班数据进行验证,实验结果验证了方法的可行性。展开更多
针对新能源电力系统中源荷不确定性导致的系统调度灵活性严重不足问题,文中提出了一种考虑源荷不确定性的电力系统两阶段鲁棒优化模型。根据源荷不确定性特征,结合K-means法和鲁棒优化理论,在多时间尺度对电力系统灵活性需求进行量化。...针对新能源电力系统中源荷不确定性导致的系统调度灵活性严重不足问题,文中提出了一种考虑源荷不确定性的电力系统两阶段鲁棒优化模型。根据源荷不确定性特征,结合K-means法和鲁棒优化理论,在多时间尺度对电力系统灵活性需求进行量化。首先,建立日前鲁棒调度模型,充分挖掘火电机组、抽水蓄能等资源的灵活调节潜力,将火电灵活改造及抽水蓄能抽发状态作为模型的第一阶段决策变量,各灵活资源的出力作为第二阶段决策变量,并以灵活改造成本、碳排放成本及运行成本最小为优化目标。其次,在模型求解中,将所建立的两阶段鲁棒模型转化为相对独立的主问题和子问题,并采用列与约束生成(column and constraint generation,C&CG)算法和强对偶理论反复迭代,以逼近最优解。最后,通过算例验证,所提出的优化调度策略在满足灵活性需求的基础上,统筹各类资源,实现了系统中经济性、环保性、灵活性的均衡,并增强了对源荷不确定性风险的抵御能力。展开更多
随着能源互联网战略的深入实施,可再生能源与微电网的参与度不断攀升,系统中不确定性因素显著增加,各参与主体间的合作与竞争关系变得愈发错综复杂。从垂直和水平两个层面建立了电网、服务商及多微电网混合博弈双层电能交易体系。在垂...随着能源互联网战略的深入实施,可再生能源与微电网的参与度不断攀升,系统中不确定性因素显著增加,各参与主体间的合作与竞争关系变得愈发错综复杂。从垂直和水平两个层面建立了电网、服务商及多微电网混合博弈双层电能交易体系。在垂直层面提出主从博弈的思想,以服务商为主导者、微电网为从属者。构建不确定性问题分阶段优化的分段鲁棒优化模型,实现不确定性的差异化调度,提高鲁棒优化的灵活性。利用布尔-列和约束生成(Bool-Column and constraint generation,B-C&CG)算法求解模型,并把整个模型分为主问题和子问题:主问题优化电价不确定性问题,子问题优化源荷不确定问题。在水平层面搭建纳什谈判模型,通过交替方向乘子(alternating direction method of multipliers,ADMM)算法求解水平层面微电网之间的电能交互模型。利用分布式求解方法得出交易价格策略,再结合拉格朗日乘子法,交替优化各分部并更新乘子,得出各微电网之间的最佳交易电价。仿真结果表明,所提方案兼顾了系统的鲁棒性、经济性及灵活性,缩减了各微电网的成本并充分保护了各微网的隐私。展开更多
基金supported by the National Natural Science Foundation of China (60802043)the National Basic Research Program of China(973 Program) (2010CB327900)
文摘Local invariant algorithm applied in downward-looking image registration,usually computes the camera＇s pose relative to visual landmarks.Generally,there are three requirements in the process of image registration when using these approaches.First,the algorithm is apt to be influenced by illumination.Second,algorithm should have less computational complexity.Third,the depth information of images needs to be estimated without other sensors.This paper investigates a famous local invariant feature named speeded up robust feature（SURF）,and proposes a highspeed and robust image registration and localization algorithm based on it.With supports from feature tracking and pose estimation methods,the proposed algorithm can compute camera poses under different conditions of scale,viewpoint and rotation so as to precisely localize object＇s position.At last,the study makes registration experiment by scale invariant feature transform（SIFT）,SURF and the proposed algorithm,and designs a method to evaluate their performances.Furthermore,this study makes object retrieval test on remote sensing video.For there is big deformation on remote sensing frames,the registration algorithm absorbs the Kanade-Lucas-Tomasi（KLT） 3-D coplanar calibration feature tracker methods,which can localize interesting targets precisely and efficiently.The experimental results prove that the proposed method has a higher localization speed and lower localization error rate than traditional visual simultaneous localization and mapping（vSLAM） in a period of time.
基金Project(61473298)supported by the National Natural Science Foundation of ChinaProject(2015QNA65)supported by Fundamental Research Funds for the Central Universities,China
文摘A novel approach for constructing robust Mamdani fuzzy system was proposed, which consisted of an efficiency robust estimator(partial robust M-regression, PRM) in the parameter learning phase of the initial fuzzy system, and an improved subtractive clustering algorithm in the fuzzy-rule-selecting phase. The weights obtained in PRM, which gives protection against noise and outliers, were incorporated into the potential measure of the subtractive cluster algorithm to enhance the robustness of the fuzzy rule cluster process, and a compact Mamdani-type fuzzy system was established after the parameters in the consequent parts of rules were re-estimated by partial least squares(PLS). The main characteristics of the new approach were its simplicity and ability to construct fuzzy system fast and robustly. Simulation and experiment results show that the proposed approach can achieve satisfactory results in various kinds of data domains with noise and outliers. Compared with D-SVD and ARRBFN, the proposed approach yields much fewer rules and less RMSE values.
基金supported by the National Natural Science Foundation of China(62373187)Forward-looking Layout Special Projects(ILA220591A22).
文摘To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.
文摘为更精确地预测航班过站时间,将全国机场按照规模差异及不同地理位置所导致的客流量差异和天气差异对航班过站时间造成的不同影响进行分类,基于各类机场航班数据,构建混合轻量级梯度提升机算法(LightGBM)模型对航班过站时间分类预测。引入自适应鲁棒损失函数(adaptive robust loss function,ARLF)改进LightGBM模型损失函数,降低航班数据中存在离群值的影响;通过改进的麻雀搜索算法对改进后的LightGBM模型进行参数寻优,形成混合LightGBM模型。采用全国2019年全年航班数据进行验证,实验结果验证了方法的可行性。
文摘针对新能源电力系统中源荷不确定性导致的系统调度灵活性严重不足问题,文中提出了一种考虑源荷不确定性的电力系统两阶段鲁棒优化模型。根据源荷不确定性特征,结合K-means法和鲁棒优化理论,在多时间尺度对电力系统灵活性需求进行量化。首先,建立日前鲁棒调度模型,充分挖掘火电机组、抽水蓄能等资源的灵活调节潜力,将火电灵活改造及抽水蓄能抽发状态作为模型的第一阶段决策变量,各灵活资源的出力作为第二阶段决策变量,并以灵活改造成本、碳排放成本及运行成本最小为优化目标。其次,在模型求解中,将所建立的两阶段鲁棒模型转化为相对独立的主问题和子问题,并采用列与约束生成(column and constraint generation,C&CG)算法和强对偶理论反复迭代,以逼近最优解。最后,通过算例验证,所提出的优化调度策略在满足灵活性需求的基础上,统筹各类资源,实现了系统中经济性、环保性、灵活性的均衡,并增强了对源荷不确定性风险的抵御能力。
文摘随着能源互联网战略的深入实施,可再生能源与微电网的参与度不断攀升,系统中不确定性因素显著增加,各参与主体间的合作与竞争关系变得愈发错综复杂。从垂直和水平两个层面建立了电网、服务商及多微电网混合博弈双层电能交易体系。在垂直层面提出主从博弈的思想,以服务商为主导者、微电网为从属者。构建不确定性问题分阶段优化的分段鲁棒优化模型,实现不确定性的差异化调度,提高鲁棒优化的灵活性。利用布尔-列和约束生成(Bool-Column and constraint generation,B-C&CG)算法求解模型,并把整个模型分为主问题和子问题:主问题优化电价不确定性问题,子问题优化源荷不确定问题。在水平层面搭建纳什谈判模型,通过交替方向乘子(alternating direction method of multipliers,ADMM)算法求解水平层面微电网之间的电能交互模型。利用分布式求解方法得出交易价格策略,再结合拉格朗日乘子法,交替优化各分部并更新乘子,得出各微电网之间的最佳交易电价。仿真结果表明,所提方案兼顾了系统的鲁棒性、经济性及灵活性,缩减了各微电网的成本并充分保护了各微网的隐私。
文摘针对新能源不确定性,文中基于深度确定性策略梯度(deep deterministic policy gradient,DDPG)算法,提出了考虑新能源承载能力的交直流电网鲁棒扩展规划方法。首先,建立了交直流电网的扩展规划模型。其次,构建了考虑新能源接入的交直流电网鲁棒扩展规划模型,提出了基于极限场景集的新能源不确定性处理方法。进一步,提出了基于改进DDPG的扩展规划模型求解方法。最后,通过IEEE RTS 24系统、IEEE New England 39系统以及中国西南电网的算例分析,验证了所提方法能够有效降低弃风弃光量和切负荷量,且在不增加额外投资的前提下显著降低规划成本。
