基于Snake模型的虹膜定位算法

虹膜识别被认为是目前最准确可靠的生物特征识别方法．快速、准确地定位虹膜是虹膜识别系统的关键．提出一种基于Snake模型的虹膜定位算法：采用Canny检测算子定位虹膜内边缘，运用Snake模型锁定虹膜外边缘．实验表明，该方法速度快、精度高，并且具备良好的鲁棒性．     

Snake Mating Systems, Behavior, and Evolution: The Revisionary Implications of Recent Findings.

Sexual selection and mating systems profoundly influence the behavior and psychology of animals. Using their own studies of green anacondas (Eunectes murinus) and reviewing other recent studies, the authors conclude that incomplete data derived from a few well-studied snake species have led to general acceptance of polygyny as the dominant mating system in snakes. New data on behavior, paternity, and life history in a diverse taxonomic array of snakes support the view that polyandry is not only common in snakes but may have been the ancestral mating system. This interpretation helps to explain many seemingly paradoxical behavioral differences between lizards and snakes, such as the lack of territorial systems in most snakes and their frequent female-biased sexual size dimorphism. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Modular Reconfigurable Robots in Space Applications

Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including: serving as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will describe such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.     

基于HMM的卡尔曼蛇跟踪

隐马尔科夫模型(HMM)提供了一种概率框架融合多量测信息，并能够通过转移概率来表达曲线的平滑性，以得到更准确的量测结果．利用HMM所得到的结果作为量测信息输入到卡尔曼蛇滤波系统中，可明显地增强抗干扰能力和跟踪的鲁棒性．从样条向量空间新的内积与范数定义出发，对于形状矩阵的正交化处理可以进一步增强滤波系统的稳定性，增加模型与参数的可控性。     

蛇形机器人侧向运动的研究

本文提出了一种新型蛇形机器人机构，建立了其空间运动学模型，实现了蛇形 机器人的两种侧向运动：侧向蜿蜒运动和侧向滚动，前者通过调节两个异相波的频率比，实 现了任意方向的侧向运动．后者通过控制运动波的幅值变化，实现了各种形式的纯侧向移动 ，当幅值足够大时，这种侧向滚动可以跨越障碍．     

基于GVF的骨架snake模型

提出了一种基于梯度矢量流(GVF)的快速收敛骨架snake算法。首先利用GVF变换后凹腔内外力的特点检测出物体的骨架，然后以骨架作为指引修改其外力的方向和大小，以达到快速收敛。该算法不但能解决GVF不能解决的深凹腔问题，而且在速度上也远远超过GVF。     

基于snake模型的交错字符的分割方法

针对票据中字符之间的互相交错粘连，在总结与比较了以往的字符分割方法的基础上，提出了一种基于snake模型的交错字符分割方法。此方法首先根据传统的分割方法找出字符的候选分割位置，然后根据snake模型进行不规则、动态、曲线的分割，速度快且有较好的鲁棒性。     

Permeation of indomethacin from semisolid preparations through various semipermeable membranes

Objective: The aim of this study was to evaluate and compare the permeation of model drug indomethacin (IND) from various types of gels through several semipermeable membranes.

Methods: Permeation of IND from gels based on carbomer (CA), hydroxyethylcellulose (HEC), and polyacrylamid/laureth-7/isoparaffin was performed via diffusion cell method through membranes: shed snake skin, full thickness chicken skin, mucosa of pork small intestine, and cellophane.

Results: The least permeation of IND was observed in the case of shed snake skin and full thickness chicken skin. It did not exceed 5.4% of original amount in the preparation after 3?h of measurement regardless the type of gel. In the case of mucosa of pork small intestine and cellophane the permeated amount of IND ranged from 9.4 to 55.4% depending on the type of gelling agent used. There was also quite a significant influence of a gelling agent on the permeation of IND observed. The permeation of IND was highest from CA gel, where it ranged from 0.6 to 52.2% of original amount in the preparation depending on the type of membrane used. Gelling agent inhibiting the permeation the most was HEC, where the permeated amount of IND did not exceed 12.3% regardless the type of membrane used.

Conclusions: In general the permeated amount of IND through biological membranes containing stratum corneum represented just a small part of the amount in original preparation. Gelling agent has significant effect on the extent and rate of permeation.     

Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention

Abstract

In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed.     

GVF Snake模型时间复杂度的研究

对使用GVF Snake动态轮廓模型算法中两次迭代的时间复杂度进行了统计计算,并进行了力场分析,在此基础上对初始轮廓线设定位置进行了研究。实验结果表明,初始轮廓线的设置应避免跨越能量极小值,此时可以得到比较好的提取效果。GVF力场迭代的次数和轮廓逼近次数与时间成正比。