Pedestrian detection and tracking at crossroads

This paper presents a system that can perform pedestrian detection and tracking using vision-based techniques. A very important issue in the field of intelligent transportation system is to prevent pedestrians from being hit by vehicles. Recently, a great number of vision-based techniques have been proposed for this purpose. In this paper, we propose a vision-based method, which combines the use of a pedestrian model as well as the walking rhythm of pedestrians to detect and track walking pedestrians. Through integrating some spatial and temporal information grabbed by a vision system, we are able to develop a reliable system that can be used to prevent traffic accidents happened at crossroads. In addition, the proposed system can deal with the occlusion problem. Experimental results obtained by executing some real world cases have demonstrated that the proposed system is indeed superb.     

Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

卸煤机走行部的技术改造

通过对卸煤机走行部的技术改造,提高了工作效率,节省了维修费用。     

对梁,底组合步进式加热炉半热滑轨的改进实践

介绍了间断式半热滑轨的研制和应用过程，以及经过节能技术改造，用新型半热滑轨代替老式滑轨的使用。实践表明，不但解决了以往的水梁漏水的问题，而且使线Ｃ级品率提高了３．３９％，每年可增产３５００ｔ线材，吨钢热涌单耗降低０．１４ＧＪ，年创经济效益２３９万元。     

基于闭环矢量法的六足机器人关节位姿研究

设计出了一种新型的三自由度缩放式的并联机构,并把该机构作为六足步行机器人的腿机构.采用闭环矢量法求解腿机构运动位置的正运动学问题,用MATLAB软件编写函数来求解腿机构的最大腿行程和最大抬跨高度/研究表明,原动件较小的位移可以获得较大的足端运动空间.     

Design and control of a planar bipedal robot ERNIE with parallel knee compliance

This paper presents the development of the planar bipedal robot ERNIE as well as numerical and experimental studies of the influence of parallel knee joint compliance on the energetic efficiency of walking in ERNIE. ERNIE has 5 links—a torso, two femurs and two tibias—and is configured to walk on a treadmill so that it can walk indefinitely in a confined space. Springs can be attached across the knee joints in parallel with the knee actuators. The hybrid zero dynamics framework serves as the basis for control of ERNIE’s walking. In the investigation of the effects of compliance on the energetic efficiency of walking, four cases were studied: one without springs and three with springs of different stiffnesses and preloads. It was found that for low-speed walking, the addition of soft springs may be used to increase energetic efficiency, while stiffer springs decrease the energetic efficiency. For high-speed walking, the addition of either soft or stiff springs increases the energetic efficiency of walking, while stiffer springs improve the energetic efficiency more than do softer springs. Electronic Supplementary Material  The online version of this article () contains supplementary material, which is available to authorized users.

高压变频器在重钢步进梁式加热炉风机控制中的应用

本文介绍HARSVERT—A系列高压变频器在重钢宽厚板工程步进梁式加热炉风机功率控制中的应用,主要论述了所采用的高压变频器的原理及控制系统技术方案。     

Stability analysis and time-varying walking control for an under-actuated planar biped robot

This paper presents two walking controllers for a planar biped robot with unactuated point feet. The control is based on the tracking of reference motions expressed as a function of time. First, the reference motions are adapted at each step in order to create a hybrid zero dynamic (HZD) system. Next, the stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. When the controlled outputs are selected to be the actuated coordinates, most periodic walking gaits for this robot are unstable, that is, the eigenvalues of the linearized Poincaré map (ELPM) is larger than one. Therefore, two control strategies are explored to produce stable walking. The first strategy uses an event-based feedback controller to modify the ELPM and the second one is based on the choice of controlled outputs. The stability analysis show that, for the same robot and for the same reference trajectory, the stability of the walking (or ELPM) can be modified by some pertinent choices of controlled outputs. Moreover, by studying some walking characteristics of many stable cases, a necessary condition for stable walking is proposed. It is that the height of swing foot is nearly zero at the desired moment of impact. Based on this condition, the duration of the step is almost constant in presence of initial error, so a method for choosing controlled outputs for the second controller is given. By using this method, two stable domains for the controlled outputs selection are obtained.     

Hybrid learning concepts based on self-organizing neural networks for adaptive control of walking machines

Online learning of complex control behaviour of autonomous mobile robots like walking machines is one of the current research topics. In this article, a hybrid learning architecture based on reinforcement learning (RL) and self-organizing neural networks for online adaptivity is presented. The hybrid concept integrates different learning methods and task-oriented representations as well as available domain knowledge. The proposed concept is used for RL of control strategies on different control levels on a walking machine.     

棒材步进式冷床机构设计选型

介绍了棒材步进式冷床机构设计选型方面的经验 ,通过对使用不同机构的冷床主要部件的对比描述 ,介绍了较先进的机构 ,对冷床的发展趋势进行了探索。