3D Motion Estimation and Motion Fusion by Affine Region Matching

In this paper,a new method is presented for 3D motion estimation by image region correspondences using stereo cameras.Under the weak perspectivity assumption.we first employ the moment tensor theory (Cyganski and Orr^[11]) to compute the monocular affine transformations relating images taken by the same camera at different time instants and the binocular affine transformations relating images taken by different cameras at the same time instant.We then show that 3D motion can be recovered from these 2D transformations.A space-time fusion strategy is proposed to aim at robust results.No knowledge of point correspondences if requred in the above processes and the computations involved are linear.To find corresponding image regions,new affine invariants,which show stronger invariance,are derived in term of tensor contraction theory.Experiments on real motion images are conducted to verify the proposed method.     

泥沙起动条件及机理的非线性研究

 分析了单颗粒、均匀沙及非均匀沙的起动现象及其机理，认为泥沙的起动属于突变论研究的范畴。从泥沙起动所遵循起动条件的力学规律出发，导出泥沙起动条件方程。在此基础上，利用尖点突变性质对各种泥沙起动现象及机理进行了描述和说明。     

关于Gibbs函数变关系式引出的探讨

本文推荐陈林根编著的《工程化学》对化学热力学基本公式△G=△H-T△S的引出方法,试探基础教学的改革。     

模拟光耦SLC800在转台系统中的应用

在大功率转台控制系统中．存在着较大的电压干扰和电磁兼容问题。在转台的控制精度和驱动功率不断提高的情况下．本文使用模拟光耦隔离器件SLC800重新设计了转台中的某部分模拟电路．将功率放大电路和控制电路隔开，来增强系统的抗干扰能力和运行的可靠性。实验结果的分析和转台的运行表明：应用模拟光耦进行隔离，有效地消除了转台控制中的干扰和电磁兼容。     

CAMC-IP型二轴运动控制电路的功能及应用

CAMC-IP是韩国AXT公司开发的二轴运动控制电路,详细介绍CAMC-IP的主要功能、特点及其内部结构,简要介绍以CAMC-IP为核心的基于PCI总线运动控制卡的设计.     

Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

A Simon Effect With Stationary Moving Stimuli.

To clarify whether motion information per se has a separable influence on action control, the authors investigated whether irrelevant direction of motion of stimuli whose overall position was constant over time would affect manual left-right responses (i.e., reveal a motion-based Simon effect). In Experiments 1 and 2, significant Simon effects were obtained for sine-wave gratings moving in a stationary Gaussian window. In Experiment 3, a direction-based Simon effect with random-dot patterns was replicated, except that the perceived direction of motion was based on the displacement of single elements. Experiments 4 and 5 studied motion-based Simon effects to point-light figures that walked in place--displays requiring high-level analysis of global shape and local motion. Motion-based Simon effects occurred when the displays could be interpreted as an upright human walker, showing that a high-level representation of motion direction mediated the effects. Thus, the present study establishes links between high-level motion perception and action. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Threshold‐Based Camera Motion Characterization of MPEG Video

We propose an efficient scheme for camera motion characterization in MPEG‐compressed video. The proposed scheme detects six types of basic camera motions through threshold‐based qualitative interpretation, in which fixed thresholds are applied to motion model parameters estimated from MPEG motion vectors (MVs). The efficiency and robustness of the scheme are validated by the experiment with real compressed video sequences.     

The visual control of reaching and grasping: Binocular disparity and motion parallax.

The primary visual sources of depth and size information are binocular cues and motion parallax. Here, the authors determine the efficacy of these cues to control prehension by presenting them in isolation from other visual cues. When only binocular cues were available, reaches showed normal scaling of the transport and grasp components with object distance and size. However, when only motion parallax was available, only the transpont component scaled reliably. No additional increase in scaling was found when both cues were available simultaneously. Therefore, although equivalent information is available from binocular and motion parallax information, the latter may be of relatively limited use for the control of the grasp. Binocular disparity appears selectively important for the control of the grasp. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.