位－力驱动的线驱连续型机器人的动力学建模及实验验证

提出了一种位－力混合驱动的线驱连续型机器人的动力学模型。首先,基于集中质量矩阵法进行机器人动力学建模,将机器人动能的连续积分等效离散为三点求和形式,可简化建模过程并提升仿真的计算效率。其次,分析了驱动力与驱动线几何约束的力学关系,将线驱动作用等效建模为电机的驱动参数与牵引线张力的线性方程组,不仅可以精确地满足牵引线对系统的约束条件,还可以在不使用拉力传感器的条件下得到线的驱动力,降低了机器人成本及控制难度,这种方法适用于任意数量牵引线的连续型机器人。最后,将线驱连续型机器人的仿真和实验结果进行对比,机器人末端点的轨迹最大误差为3.85%,验证了所提模型的有效性。     

Modeling and Analysis of the Dynamics of an Omni-directional Mobile Manipulators System

This work studies the dynamic modeling method for a service robot with Omni-directional Mobile ManipulatorS configuration. Based on screw theory, Lie group notations, reciprocal product of twist and wrench, and Jourdain principle, the robot’s motion equations including the whole body manipulation are formulated with left invariant representation. A legible and canonical dynamic model representing the relation between the inputs and the generalized dynamic load wrenches is presented. Considering the tradeoff between the symbolic concision, the modularization in code realization and the computation load, the dynamic model is decomposed into succinct block factorizations, and the basic computation unites are boiled down to the adjoint map corresponding to each joint. The traditional Lie bracket operation is extended to a generalized form. Computation efficiency, for the coefficient matrixes of the system motion equation, is discussed based on its special representation form. The generalization of the modeling method with Lie group and algebra tool is also summarized.     

人工智能在合成生物学的应用

生命系统极其复杂,难以精确描述和预测,这给高效设计合成生物系统提出了挑战,故在合成生物系统构建中往往须进行海量工程试错和优化.近年来,人工智能技术快速发展,其基于海量数据的持续学习能力和在未知空间的智能探索能力有效契合了当前合成生物学工程化试错平台的需求,在复杂生物特征的挖掘与生命系统的设计方面具备巨大潜力.该文回顾并...     

行人运动建模及仿真研究综述

根据行人运动建模及仿真发展历史以及已经提出的一些模型和算法,从宏观和微观两个层面对行人运动建模策略进行系统分析,包括宏观建模策略:行人动力学模型、空间交互/熵最大化模型以及微观建模策略:元胞自动机模型、磁力场模型、社会力模型、智能体模型、空间句法模型、马尔可夫模型.在建模策略分析基础上,重点研究了Legion,PAXPORT,NOMAD,STEPS以及BuildingEXODUS五种主流行人仿真系统,总结了各系统的建模思想、核心模型及优缺点.指出了未来行人系统建模及仿真的研究趋势.     

基于形变模型的物体建模与分析

在物体建模领域内,传统的方法是建立三维线框模型上的纹理图像。该方法计算复杂,数据冗余量大,显示效果真实性差。近年来,在对同类物体（尤其是人脸）的建模研究中提出了形变模型（morphable model)的方法,该方法数据冗余少,显示效果逼真,在低码率编码、分析识别、身份验证、重建等方面的应用中取得了良好效果。文中回顾了近年来morphable模型的研究、发展及应用情况,并对未来的发展方向进行了展望。     

A Review of Eye Gaze in Virtual Agents,Social Robotics and HCI: Behaviour Generation,User Interaction and Perception

A person's emotions and state of mind are apparent in their face and eyes. As a Latin proverb states: ‘The face is the portrait of the mind; the eyes, its informers’. This presents a significant challenge for Computer Graphics researchers who generate artificial entities that aim to replicate the movement and appearance of the human eye, which is so important in human–human interactions. This review article provides an overview of the efforts made on tackling this demanding task. As with many topics in computer graphics, a cross‐disciplinary approach is required to fully understand the workings of the eye in the transmission of information to the user. We begin with a discussion of the movement of the eyeballs, eyelids and the head from a physiological perspective and how these movements can be modelled, rendered and animated in computer graphics applications. Furthermore, we present recent research from psychology and sociology that seeks to understand higher level behaviours, such as attention and eye gaze, during the expression of emotion or during conversation. We discuss how these findings are synthesized in computer graphics and can be utilized in the domains of Human–Robot Interaction and Human–Computer Interaction for allowing humans to interact with virtual agents and other artificial entities. We conclude with a summary of guidelines for animating the eye and head from the perspective of a character animator.     

微小型跳跃机器人:仿生原理,设计方法与驱动技术

高爆发性的跳跃是生物亿万年进化演变中赖以生存的关键之一,帮助生物实现在各种非结构化环境下的灵活运动功能.通过对生物跳跃机制的深入理解,微小型跳跃机器人在功能及性能上取得长足进步.本文以生物跳跃运动四个阶段(准备、起跳、腾空和着陆)为主线,剖析了生物的行为原理,介绍了对应的微小型跳跃机器人的动力学特征与技术,归纳了现有研究的挑战,最后讨论了跳跃机器人的未来发展趋势和潜在研究价值.     

Robotics in construction: A critical review of the reinforcement learning and imitation learning paradigms

The reinforcement and imitation learning paradigms have the potential to revolutionise robotics. Many successful developments have been reported in literature; however, these approaches have not been explored widely in robotics for construction. The objective of this paper is to consolidate, structure, and summarise research knowledge at the intersection of robotics, reinforcement learning, and construction. A two-strand approach to literature review was employed. A bottom-up approach to analyse in detail a selected number of relevant publications, and a top-down approach in which a large number of papers were analysed to identify common relevant themes and research trends. This study found that research on robotics for construction has not increased significantly since the 1980s, in terms of number of publications. Also, robotics for construction lacks the development of dedicated systems, which limits their effectiveness. Moreover, unlike manufacturing, construction's unstructured and dynamic characteristics are a major challenge for reinforcement and imitation learning approaches. This paper provides a very useful starting point to understating research on robotics for construction by (i) identifying the strengths and limitations of the reinforcement and imitation learning approaches, and (ii) by contextualising the construction robotics problem; both of which will aid to kick-start research on the subject or boost existing research efforts.     

气象景观的真实感模拟技术综述

气象景观的真实感模拟是计算机图形学中研究的热点和难点之一．综述了近年来在气象景观的真实感建模与绘制技术方面取得的最新研究进展;介绍了这些方法的基本原理,并对其进行分析和比较;最后对气象景观建模和绘制技术的未来提出了一些建议．     

文本挖掘在主题发现和相关性评估中的应用——以人工智能和机器人领域的专利为例

人工智能和机器人是当前技术发展的重要领域,专利反映了基础研究和技术创新的进展。将两者结合起来进行学科发现与关联性评价以及演化趋势分析,有利于对知识的挖掘,对于理解科学技术的互动与渗透、识别技术机会、发现潜在商业机会具有重要意义。在LDA算法的基础上,通过对专利主题强度和主题内容演变的分析,探索并构建了能够全面揭示专利主题关系的相关进化图。人工智能和机器人专利领域的实证研究表明,该方法能够充分展示领域主题随时间的变化趋势,揭示专利主题之间的相互继承关系。     

偏微分方程(PDEs)模型在图像处理中的若干应用

介绍了偏微分方程(PDEs)模型在图像处理与分析中的应用,基本思想,发展历史和解决问题的基本框架。主要阐述了变分方法和形变模型(曲线演化)在图像恢复和图像分割中的应用。理论和实验结果表明,应用偏微分方程模型进行图像处理是一种有效的工具。最后,分析了这种方法的优点和面临的挑战。     

Collaborative Technology in the Classroom: A Review of the GSS Research and a Research Framework

Over the past several years, a number of research studies have investigated the application of group support system (GSS) technology to the classroom. The purpose of this paper is twofold: (1) to summarize and assess what has been learned from this emerging body of research, and (2) to draw on the GSS and cooperative learning literatures to construct a framework to guide future studies. The review of research studies reported in this paper focuses on comparative studies investigating the synchronous GSS classroom environment. While research findings regarding the impacts of GSS on learning performance are somewhat mixed, early indications are encouraging and suggest that GSS may have a positive impact under certain situations. A framework based on the GSS and cooperative learning research is introduced that identifies the contextual, group process, and outcome factors that researchers may wish to consider when designing and interpreting future research studies in this area.     

The Evolution and Emergence of Integrated Social and Financial Networks with Electronic Transactions: A Dynamic Supernetwork Theory for the Modeling, Analysis, and Computation of Financial Flows and Relationship Levels

In this paper, we propose a rigorous dynamic supernetwork theory for the integration of social networks with financial networks with intermediation in the presence of electronic transactions. We consider decision-makers with sources of funds, financial intermediaries, as well as demand markets for the various financial products. Through a multilevel supernetwork framework consisting of the financial network and the social network we model the multicriteria decision-making behavior of the various decision-makers, which includes the maximization of net return, the maximization of relationship values, and the minimization of risk. Increasing relationship levels in our framework are assumed to reduce transaction costs as well as risk and to have some additional value for the decision-makers. We explore the dynamic evolution of the financial flows, the associated product prices, as well as the relationship levels on the supernetwork until an equilibrium pattern is achieved. We provide some qualitative properties of the dynamic trajectories, under suitable assumptions, and propose a discrete-time algorithm which is then applied to track the evolution of the relationship levels over time as well as the financial flows and prices. The equilibrium pattern yields, as a byproduct, the emergent structure of the social and financial networks since it identifies not only which pairs of nodes will have flows but also the size of the flows, i.e., the relationship levels and the financial transactions.     

Affect in computer-mediated and face-to-face work groups: The construction and testing of a general model

The present study examines the role of affect, or emotion, in the performance of computer-mediated and face-to-face work groups. Past research has focussed on the role of affect in either individual information processing or behavior in settings requiring interpersonal interaction. Little research has examined the role of affect in groups, especially those in a work group setting. Even less is known about the role that the communication medium plays in the expression or impact of group members' affect. To integrate these domains, a general model of affect in work group settings is proposed. Predictions are derived from the relevant affect, group interaction, and group performance literatures. In addition, predictions about the moderating role of the communication system are discussed. Results from a path analysis suggest that affect has a substantial impact intragroup on processes as well as on work group performance. In face-to-face groups, the affect experienced by group members had an impact on the group's cohesiveness, the amount members participated in the task, and the degree to which members processed information relevant to the task. These factors, in turn, had implications for the group's performance. In computer-mediated groups, affect had an effect on the group's cohesiveness and the amount of information processing, though these were unrelated to any performance measures for these groups. Similarities and differences between communication media are discussed in terms of their importance for extending our understanding about the role of affect in a group performance context.     

辐射传输LOWTRAN程序气溶胶模式分析评述(一):发展过程

详细介绍了LOWTRAN计算程序中的大气气溶胶模式结构，综述了气溶胶诸物理量的引入历史及其相应模式的逐步发展过程，分析了LOWTRAN在处理大气气溶胶方面的成功经验，这对今后建立符合中国地域和气候特征的大气气溶胶模式以及遥感图像的大气订正有参考价值。     

一种改进的前馈神经网络结构及其在复杂系统建模中的应用

针对包含多道加工工序、输入变量很多的复杂工业系统建模精度难以提高的问题,提出一种改进的前馈神经网络结构,输入变量不是由同一层输入,而是根据变量起作用的前后次序分别在网络的不同层输入,真实反映了大工业过程的各生产工序中的参数发生作用的时间顺序。同时由于输入变量在适当的时候输入网络,从而使网络的规模减小。该神经网络是处理高维问题,尤其是建立包含多道加工工序的大工业过程模型问题的强有力工具。将该神经网络用于热连轧产品质量建模,经过实测数据拟合与检验,仿真结果表明:提出的小波神经网络结构是可行的而且有很好的应用前景。     

控制论视角下对宏观经济建模的再思考：为能预测经济危机，对建模的审视及趋势评述

论文依据工程控制论中的系统辨识理论,就宏观经济系统建模的几个重要方面:先验知识、建模假设、建模数据、机理的恒定性、可辨识性、因果性等进行审视和评论;对宏观经济学术界,有关经济模型的两个有争议的问题、两个责难和卢卡斯批判提出了看法.鉴于审视的结果,论文对现用模型经修补后能否预测危机持悲观态度.为此,简介了欧盟经济的巨型并联基于主体的经济模型EU/RACE(agent-based computational model of European economy)及其创新之处.最后为能预测经济危机,论文总结了建模的研究趋势,包括动态随机一般均衡(dynamic stochastic general equilibrium,DSGE)模型和基于主体的可计算(agent-based computational,ACE)模型的结合、需要对宏观经济学进行反思,以及加强对变结构系统辨识的研究等等.