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1.
Mixed reality can overlay and display 3D digital content in the real world, convey abstract concepts to users, and promote the understanding of complex tasks. However, the abstract graphics overlaid on the physical space may cause a certain cognitive load for local users and reduce the efficiency of collaboration. To improve the efficiency of remote collaboration, we conducted an elicitation study on assembly tasks, explored the user needs for collaboration, and defined the design goals of our remote collaboration method. Inspired by the mirror-neuron mechanism, we present an imitative collaboration method that allows local users to imitate the interaction behavior of remote users to complete tasks. We also propose a series of interaction methods for remote users to select, copy, and interact with the local point clouds to facilitate the expression of collaboration intentions. Finally, the results of a user study evaluating our imitative collaboration method on assembly tasks are reported, confirming that our method improves collaboration efficiency while reducing the cognitive load of local users. 相似文献
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针对星载合成孔径雷达(SAR)天线要求在超低转速下平稳转动,同时满足小型化轻量化的要求,本文提出一种基于微步距模式的天线转动控制技术,该技术使用两个带PWM电路的全桥驱动器通过微步距方式驱动步进电机。在给出系统架构、微步距控制原理后,进一步提出可靠性设计的具体措施。经测试和环境试验验证,该技术对同类应用具有一定的参考价值。 相似文献
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以鄂尔多斯盆地靖边气田A井区为例,采用单因素相关分析和数值模拟方法,对比研究了井网控制程度、储层物性及地层废弃压力对气藏采收率影响及其主次关系。结果表明,井网控制程度是影响采收率的首要因素,井网控制程度每增加10%,采收率提高8.5%;渗透率是影响采收率的重要因素,渗透率每增加10%,采收率平均增加6%;废弃压力对采收率亦有较大影响,废弃压力每降低10%,采收率可提高1.6%。三者对采收率影响综合排序为:井网控制程度>储层物性>废弃压力。分析认为,渗透率是储层固有属性,很难从根本改变;而废弃压力受井口外输压力和增压开采成本制约,降低幅度有限。因此,优化井网及增加井网控制程度是提高气藏采收率的有效途径。研究成果具有实践意义,可为改进气田开发方式和提高气藏采收率提供参考。 相似文献
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Recently, the Tactile Internet (TI) becomes a new era of the Internet. The TI provides ultra-reliable, ultra-responsive and intelligent network connectivity for delivering real-time control and physical haptic experiences from a remote location. The TI provides a different feeling to human–machine interaction by implementing the real-time interactive systems. In this review article, we discuss a generalized authentication model which can be used to perform authentication procedure among different communicating parties in order to secure remote surgery in the TI environment. By using the proposed authentication model, an authentication protocol can be designed so that an authenticated surgeon can use the robot/robotic arms to perform the surgery securely as well as remotely. Since the application is very critical, the important instructions provided by the surgeon to the robot/robotic arms must not be leaked in between the communication during the surgical procedure. To deal with this emerging research area, a secure mutual user authentication mechanism should be provided between a remote surgeon and the robot/robotic arms so that they can communicate securely using the established session key among them. Further, several security issues and challenges for such kind of communication are also discussed in this article. Finally, we discuss few points that need to be considered as future research works that are related to authentication for securing remote surgery in the TI environment. 相似文献
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This paper presents an underactuated mobile manipulator (UMM) and focuses on solving modeling, tracking, and vibration- and balance-control problems. Although the study has been directed at warehousing applications, the developed techniques are general and can be applied to other applications. The derivation of equations of motion of the UMM, disturbance analysis, and model validation are investigated to reveal the actual system dynamics. Additionally, a simple but effective strategy is also developed to solve the equilibrium point and balance problem. Based on the dynamic model, two control architectures are proposed: Model Predictive Control (MPC) and MPC+Proportional-Integral (PI) with integral actions, respectively, and they can also be applied to other robotic systems. Compared to other MPC-based control strategies, the proposed controllers require less effort to implement in practice. Finally, simulations, experiments, and robustness verification are conducted and discussed, and the results are satisfactory. 相似文献
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利用Q-学习算法,针对模型未知只有数据可用的非线性被控对象,解决最优镇定控制问题.由于状态空间和控制空间的连续性,Q-学习只能以近似的方式实现.因此,文中提出的近似Q-学习算法只能获得一个次优控制器.尽管求得的控制器只是次优,但是仿真研究表明,对于强非线性被控对象,相比线性二次型调节器和深度确定性梯度下降方法,文中方法的闭环吸引域更宽广,实际指标函数也更小. 相似文献