基于差分进化算法的手眼标定方法

针对眼在手机器人视觉系统的手眼标定问题，提出了一种基于差分进化算法的手眼标定方法。首先建立了眼在手机器人视觉系统手眼标定的数学模型，通过李群李代数理论，将手眼标定问题转化为误差函数的优化问题，同时保证了优化问题的最优解落在特殊欧氏群ＳＥ（３）上。通过差分进化算法对优化问题进行求解，避免了求解过程中的局部最优问题。最后在实物平台上进行了手眼标定实验，实验结果验证了算法的可行性和有效性。     

A review on some classes of algebraic systems

ABSTRACT

In this paper, we review some algebraic control system. Precisely, linear and bilinear systems on Euclidean spaces and invariant and linear systems on Lie groups. The fourth classes of systems have a common issue: to any class, there exists an associated subgroup. From this object, we survey the controllability property. Especially, from those coming from our contribution to the theory.     

Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space

This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector space. The vehicle’s model is established on the matrix Lie group SE(3), which describes the configuration of rigid bodies globally and uniquely. We focus on the kinematic model of the underactuated vehicle, which features an underactuation form that has no sway and heave velocity. To compensate for the lack of these two velocities, we construct additional rotation matrices to generate a motion of rotation coupled with translation. Then, the state feedback is designed with the help of the logarithmic map, and we prove that the proposed control law can exponentially stabilize the underactuated vehicle to the identity group element with an almost global domain of attraction. Later, the presented control strategy is extended to set-point stabilization in the sense that the underactuated vehicle can be stabilized to an arbitrary desired configuration specified in advance. Finally, simulation examples are provided to verify the effectiveness of the stabilization controller.      

带强迫项的KdV方程的非线性自伴随性和守恒律

应用非线性自伴随性的概念和伊布拉基莫夫的一般守恒律定理，研究了带强迫的KdV方程的非线性自伴随性和守恒律。首先讨论了自伴随性，结果表明这个方程具有非线性自伴随性，同时得到了这个方程的形式拉格朗日量。在对这个方程进行李对称分析之后，根据李对称的不同得到了这个方程的一些非平凡守恒律。     

Variational Bayesian data analysis on manifold

In this paper, variational inference is studied on manifolds with certain metrics. To solve the problem, the analysis is first proposed for the variational Bayesian on Lie group, and then extended to the manifold that is approximated by Lie groups. Then the convergence of the proposed algorithm with respect to the manifold metric is proved in two iterative processes: variational Bayesian expectation (VB-E) step and variational Bayesian maximum (VB-M) step. Moreover, the effective of different metrics for Bayesian analysis is discussed.     

Positively equicontinuous flows

Let G be a positively equicontinuous flow of homeomorphisms of a locally compact metric space E. We show how the dynamics of such a flow are rich. We study when regularly almost periodic elements in G are periodic and we describe orbits and their limit sets. In particular, we show that the limit set L(G?) of G is a closed subset on which G is equicontinuous and that if G moreover has closed orbits, then any w-limit set is a periodic orbit.     

勒·柯布西耶Vers une Architecture译名考

以勒·柯布西耶的名著Veune Architecture在国内外不同版本的比较为线索,通过对该书文本的再阅读,讨论了勒·柯布西耶这部具有现代建筑划时代意义的理论著作的思想内涵,同时对我国建筑学界基于1927年英文译本而形成的译名《走向新建筑》的得失进行分析,阐述了对这部已在中文建筑学语境中具有广泛影响的著作的书名进行重新翻译的必要性和可能性.     

Linearization through state immersion of nonlinear systems admitting Lie symmetries

In this paper, it is shown that if a nonlinear system admits a Lie symmetry that can be transformed into its Poincaré-Dulac normal form by a state diffeomorphism, then, under some technical conditions, such a nonlinear system can be immersed into a linear one. This allows us to compute in closed-form the flow, all algebraic invariant curves (through semi-invariants) of the nonlinear system, and Lyapunov functions to study stability properties.     

Generators of the ideal of an algebraic space curve

In this paper we show that the ideal of any algebraic curve in affine 3-space whose Jacobian matrix has rank at least 1 at every singular point of the curve can be generated by three polynomials and we give constructive procedures to compute such generators.     

Lie group method: A new approach to image matching with arbitrary orientations

In this article, we develop a new method for image matching of any two images with arbitrary orientations. The idea comes from the workpiece localization in machining industry. We first describe an image as a 3D point set other than the common 2D function f(x, y), then, making the sets corresponding to the compared images form solid surfaces, we equivalently translate the matching problem into an optimization problem on the Lie group SE(3). Through developing a kind of steepest descent algorithms on a general Lie group, we present an practical algorithm for matching problem. Simulations of eye detection and face detection are presented to show the feasibility and efficiency of the proposed algorithm. © 2010 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 20, 245–252, 2010.