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One of the key limitations of the many existing visual tracking method is that they are built upon low-level visual features and have limited predictability power of data semantics. To effectively fill the semantic gap of visual data in visual tracking with little supervision, we propose a tracking method which constructs a robust object appearance model via learning and transferring mid-level image...
To cope with the difficulty for the development, upgrade and maintenance of control systems for Autonomous Underwater Vehicles (AUVs), this paper focuses on the architecture of AUVs. Firstly, the design of a generalized architecture is presented. And then, according to its characteristic of modular packaging and hierarchical organization, the Object-oriented Petri Net (OPN) method is adopted to model...
Since an autonomous mobile robot often works with various tasks in different environments, the current of battery onboard is time-varying, hence the battery internal resistance is variable. This paper presents an estimation method for battery State of Charge (SOC) based on an H∞ observer to deal with the effect of the modeling errors caused by the variation of the internal resistance. The observer...
A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and...
In this paper, the hybrid fuzzy PID control system of a pump-propelled autonomous underwater vehicle is presented. The small low-cost vehicle named ldquoU-FISHrdquo is the first one propelled and controlled by four pumps mounted on the stern. Due to the difficulty of building the model and the restriction of the computing power of the micro-controller, the hybrid fuzzy PID control algorithm, which...
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