A method for expressing human posture as 3DCG using thermal image processing and 3D model fitting

An imitation of human motion has been used as a promising technique for the development of a robot. Some techniques such as motion capture systems and data-gloves are used for analyzing human motion. However, since those methods involve (a) environmental restrictions such as the preparation of two or more cameras and the strict control of brightness, and (b) physical restrictions such as the wearing of markers and/or data-gloves, they are far removed from a method for recognizing human motion in a natural condition. In this article, we propose a method that makes a 3-dimensional CG (3DCG) by transforming a feature vector of human posture on a thermal image into a 3DCG model. The 3DCG models for use as training data are made with manual model fitting. Then human models synthesized by our method are geometrically evaluated in CG space. The average error in position is about 10 cm. Such a relatively small error might be acceptable in some cases e.g., 3DCG animation generation and the imitation of human motion by a robot. Our method has neither physical nor environmental restrictions. The rotation-angles at each joint obtained by our method can be used for an imitation of human posture by a robot.     

路网环境下的移动对象查询技术研究综述

随着基于定位服务（Loaction-Based Service,简称LBS）在移动设备上的广泛应用,移动对象在路网中的查询成为时空数据检索领域的一个研究热点.本文从索引结构、查询方法和隐私保护三层面对基于路网的移动对象查询技术进行了分类讨论.索引结构分为分层索引、分布式索引和广播索引并对三种索引进行对比和分析;查询方法分为单对象连续查询、多对象并行查询、最短路径查询和路网关键字查询并归纳了每种查询的解决策略;此外,阐述了路网移动对象查询中采用的隐私安全保护措施.最后,分析了未来路网移动对象查询研究所面临的挑战.     

Efficient vector-oriented graphic drawing method for laser-scanned display

Laser projection, such as that used in laser light shows, usually uses computer-drawn graphics. However, some restrictions are imposed by laser-scanned displays on these vector-based drawings. This paper presents a general vector-oriented drawing method to display computer vector graphics on different laser-scanned displays with optimization. The method considers how to solve the three fundamental problems inherent in laser projection: achieving constant beam intensity, blanking timing and corner overshooting. A velocity parameter has been used to achieve constant beam velocity for all strokes. Blanking timing which is related to turning on/off the laser beam has been examined and a simple test pattern is presented to estimate the total delay that exists in the laser-scanned display and compensate for it. In addition, an optimized approach to avoid corner overshooting and ringing is proposed: the dwelling time of the laser beam at a corner is set according to the corner angle. Moreover, a comparison between the proposed method and the point-oriented method in terms of speed has been presented. It is demonstrated that the vector-oriented approach outperforms the point-oriented approach. Thus, this paper describes the fundamental problems related to laser graphics that must be well considered when drawing with any laser-scanned display.     

Coordinated road-network search route planning by a team of UAVs

This paper presents a road-network search route planning algorithm by which multiple autonomous vehicles are able to efficiently visit every road identified in the map in the context of the Chinese postman problem. Since the typical Chinese postman algorithm can be applied solely to a connected road-network in which ground vehicles are involved, it is modified to be used for a general type of road map including unconnected roads as well as the operational and physical constraints of unmanned aerial vehicles (UAVs). For this, a multi-choice multi-dimensional knapsack problem is formulated to find an optimal solution minimising flight time and then solved via mixed integer linear programming. To deal with the dynamic constraints of the UAVs, the Dubins theory is used for path generation. In particular, a circular–circular–circular type of the Dubins path is exploited based on a differential geometry to guarantee that the vehicles follow the road precisely in a densely distributed road environment. Moreover, to overcome the computational burden of the multi-choice multi-dimensional knapsack algorithm, a nearest insertion and auction-based approximation algorithm is newly introduced. The properties and performance of the proposed algorithm are evaluated via numerical simulations operating on a real village map and randomly generated maps with different parameters.     

基于二值图像的信息隐藏算法

针对二值图像修改痕迹明显的特点,提出一种失真较小的二值图像信息隐藏算法.给出翻转点选择标准,定义二值图像所有适合翻转的像索点集合.考虑视觉特性,提出可翻转像素点修改得分的计算方法,设定可翻转点选取的门限值,将含有可修改像素点的图像块视为隐藏消息的载体块.对二值图像进行分块,利用STC编码,在载体块序列中选择一条信息嵌入...     

基于ArcGIS Server的交通出行路径查询系统设计与实现

数字家庭是信息技术、通信技术和计算机技术发展的产物,本文以设计并实现数字家庭交通出行服务系统为目标,基于ArcGIS Server跨平台优势,将Eclipse开发环境与ArcGIS for Android插件相结合,应用二次开发组件Network Analyst扩展模块进行动态路径的开发,通过建立历史流量表来实现路网基于时间成本的动态路径查询,测试表明系统能够初步满足数字家庭背景下的交通出行查询需求,具有一定的工程使用价值。     

基于拐点判断法的GPS定位数据精简

描述车辆轨迹描绘的特点,分析逐点判断法及多点联合判断法的优缺点,提出利用拐点判断法对轨迹进行描绘的方法。实测数据分析表明,在保证轨迹恢复达到一定精度要求的前提下,利用拐点对定位信息进行精简是可行的,采用联合判断法比逐点判断法更准确、压缩比更高。     

基于拐点判断法的GPS定位数据精简

描述车辆轨迹描绘的特点,分析逐点判断法及多点联合判断法的优缺点,提出利用拐点判断法对轨迹进行描绘的方法。实测数据分析表明,在保证轨迹恢复达到一定精度要求的前提下,利用拐点对定位信息进行精简是可行的,采用联合判断法比逐点判断法更准确、压缩比更高。     

可变形机器人协同转向运动研究

可变形机器人AMOEBA I具有多种构形和多种转向方式．为实现机器人转向性能的优化,提出了可变形机器人的协同转向方法,并建立了相应的数学模型,对不同构形下的协同转向方式进行了理论分析．设定了机器人三个模块在协同转向过程中的运动关系,在此基础上给出了可变形机器人协同转向性能的评价指标．通过理论和实验比较了不同构形下的协同转向方式,实验验证了协同转向方法的有效性．     

Prediction of manually controlled vessels’ position and course navigating in narrow waterways using Artificial Neural Networks

Despite modern navigation devices, there are still some problems for navigating of vessels in narrow waterways because of geographical structures and various disturbances. In this study, a guidance and an early warning method by means of predicting three-minute-ahead position of a vessel, especially in the turning points, has been developed for navigating in narrow waterways. The Istanbul Strait has been specifically studied as a model. Since operators in Vessel Traffic Services (VTS) can watch only straight bearing of vessels on VTS panels but especially for turning regions, they have to foresee a risk on time which may result in a disaster. The objective of this study is to predict the future coordinates of a manually controlled vessel using Artificial Neural Networks (ANN).Artificial Neural Networks have been trained by using position and speed data collected from vessels which navigated manually in the Strait. Three-minute-ahead position of vessels has been predicted by using the trained ANN. Some on-line experiments have been done in Istanbul VTS centre and it has been observed that the method satisfied the goal in especially turning points of the Strait. Hence the proposed method could be utilized for warning system by VTS operators and guidance system by vessel crew.     

Specifying real-time properties with metric temporal logic

This paper is motivated by the need for a formal specification method for real-time systems. In these systemsquantitative temporal properties play a dominant role. We first characterize real-time systems by giving a classification of such quantitative temporal properties. Next, we extend the usual models for temporal logic by including a distance function to measure time and analyze what restrictions should be imposed on such a function. Then we introduce appropriate temporal operators to reason about such models by turning qualitative temporal operators into (quantitative) metric temporal operators and show how the usual quantitative temporal properties of real-time systems can be expressed in this metric temporal logic. After we illustrate the application of metric temporal logic to real-time systems by several examples, we end this paper with some conclusions.Part of this research has been performed at the Eindhoven University of Technology when the author was working in ESPRIT project 937: Debugging and Specification of Ada Real-Time Embedded Systems (DESCARTES).     

An indirect method for computing origins for Hopf bifurcation in two-parameter problems

Branches of turning points and of Hopf bifurcation points can exist in a two-parameter problem because simple turning points and Hopf points are structurally stable in the one-parameter problem. It is well-known that in a two-parameter problem a branch of Hopf points can emanate from a turning point curve at a so-called BT-point for which the Jacobian matrix of the steady state problem has a double eigenvalue zero with a one-dimensional nullspace. Hence such a BT-point that is also called origin for Hopf bifurcation can be detected during the continuation of a turning point curve. In order to determine such a BT-point efficiently we present an indirect method that fits to the continuation procedure. Based on a nonsingular parametrization of the turning point curve a scalar test function is given, for which the parameter value of the BT-point is a regular zero. A Newton-like method that utilizes the internal structure of the test function and it's derivative is used to generate a superlinearly convergent sequence of parameter values. At each step the corresponding turning point has to be calculated approximately by a direct method. The implementation of the whole procedure is organized in such a way that the second order derivatives of the original problem occur only in form of directional derivatives and, hence, they are approximated by special difference formulas requiring only a few additional function values. Numerical examples illustrate the behavior of the algorithm, where one example is a model of a chemical exothermic reaction described by a system of partial differential equations.     

Assessment of micro turning machine stiffness response and material characteristics by fuzzy rule based pattern matching of cutting force plots

In micro-nano systems technology (MNST), application of mechanical based machining operations such as micro turning, micro milling, micro EDM have shown promising trends to produce micro parts in batch scale. In order to ensure reproducibility better understanding on micro cutting process dynamics and sensitivity of machine stiffness and material characteristics becomes critical. In this paper, a methodology has been developed to assess machine stiffness and material dependent characteristics and demonstrated for micro turning operations conducted on DT-110 micro machining center. In this method, authors incorporate pattern matching algorithm to compare run data image of cutting force plots with that of reference plot. The reference plots of cutting forces v/s time were drawn from simulation run data computed from the micro turning process models. The run data plots of cutting force v/s time were drawn from the processed signal data obtained from the dynamometer during machining operation. The plots were fragmented into patterns and Euclidean distance computed between pair patterns of reference and measured cutting forces v/s time plot image represents the changes happened in machining conditions. This has been used to perform backward calculation to assess the machine stiffness response and material characteristic constants variations over machining time. In order to perform these comparative pattern error adjustments between reference and measured cutting force plots a fuzzy rule based algorithm has been developed.     

基于GPS轨迹的盲用导航算法与实现

利用在Windows CE嵌入式平台下接收到的全球定位系统(GPS)轨迹数据,提出了一种适用于盲人以及视障人士的室外GPS导航算法。通过对已知GPS轨迹数据的分析,判断出轨迹上的拐点位置以及拐弯方向,在实际导航时采用通过语音播报的方式向盲人提供实时导航信息。实验测试结果表明,该算法能够有效筛选出GPS轨迹中的拐点,并为用户播报有效实用的导航信息,指导其安全准确地到达目的地。     

无损耗电阻理论及应用研究（Ⅱ）──在电机调速系统中的应用

论述了两种无损耗电阻用于直流电机调速的原理，证明了通过控制开关通断时间，可改变电机电枢电压，从而实现无级直流调速。实验表明，这是一种可行的调速方式。     

基于DES加解密技术的电子文档访问控制方法

电子文档的在线阅览已经非常普遍.付费用户可以下载文档或在线阅读文档的全部内容,而普通用户则只允许预览有限的内容.通过这种方式可以在一定程度上实现对电子文档使用范围的控制.但该方式的不足在于,付费用户下载文档后,可以随意将下载的文档转发给他人.因而,如何在文档被下载后依然能对其使用范围进行限制,从而更好地实现版权保护,值得研究和摸索.本课题重点研究电子文档的线上线下访问控制方法：通过对注册用户权限的限制实现电子文档的线上访问控制,基于DES加解密等技术控制下载文档的线下使用范围.实验结果表明,本文所提出的基于DES加解密技术的电子文档线上线下访问控制方法,能够更加有效地对电子文档的访问权限进行控制,具有更强的版权保护力度.     

Coordinating multiple groups of robots for gaiting process

Coordinated robots are categorized into different groups when the coordination involves robot interchange or heterogeneous motion during the manipulation process. We investigated problems related to the control and coordination of multiple groups of robots and developed a general strategy and control algorithm for controlling one group of robots. We developed a method for determining the force distribution among the participating robots in a frictional equilibrium case. The control algorithm and the force determination procedure can be adopted in coordinating multiple groups of robots. Scenarios and restrictions for coordinating two groups of robots in turning a disk continuously are discussed. An example is given to illustrate the gaiting process. © 1996 John Wiley & Sons, Inc.     

Nonconvex plus quadratic penalized low-rank and sparse decomposition for noisy image alignment针对含噪图像对准问题的非凸加二次罚项约束的低秩和稀疏分解方法

This paper proposes a general method for dealing with the problem of recovering the low-rank structure, in which the data can be deformed by some unknown transformations and corrupted by sparse or nonsparse noises. Nonconvex penalization method is used to remedy the drawbacks of existing convex penalization method and a quadratic penalty is further used to better tackle the nonsparse noises in the data. We exploits the local linear approximation (LLA) method for turning the resulting nonconvex penalization problem into a series of weighted convex penalization problems and these subproblems are efficiently solved via the augmented Lagrange multiplier (ALM). Besides comparing with the method of robust alignment by sparse and low-rank decomposition for linearly correlated images (RASL), we also propose a nonconvex penalized lowrank and sparse decomposition (NLSD) model as comparison. Numerical experiments are conducted on both controlled and uncontrolled data to demonstrate the outperformance of the proposed method over RASL and NLSD.     

基于Spring Hibernate框架的敏捷软件开发的研究

随着经济全球化与信息时代的到来,企业竞争的焦点逐渐向敏捷性转变,是否能够根据市场的需求快速作出反应已成为企业经营成败的一个关键因素,敏捷开发用于快速开发企业级的Java应用程序,它应用Spring和Hibernate技术,避免了很多EJB所带来的不便,能让我们使用POJO。当使用POJO的时候,使用Spring MVC框架作为Web框架,使代码更加清晰。Hibernate使得数据持久化变得简单,它使我们能够使用POJO来操作数据库的表和记录。该方法具有全程可视化和用例驱动的特点,适用于中小规模的程序开发。     

Multiple shooting and the calculation of some types of singularities in b.v.p.'s

We consider simple and multiple shooting methods for simple turning points, perturbed bifurcation points, cubic turning points and cusps in boundary value problems for ordinary differential equations. We discretize the original problem using the shooting technique to obtain a finite dimensional problem. A direct method is used for the characetrization and computation of simple turning points. Some suitable extension of this direct method is employed for the computation of bifurcation points and cubic turning points and cusps. Enough numerical examples are solved to demonstrate that the method is efficient.