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61.
In this paper, we develop a semi-autonomous serially connected multi-crawler robot for search and rescue. In large-scale disasters, such as earthquakes and tornadoes, the application of rescue robots to search for survivors under rubble would be beneficial. Snake-like robots (robots composed of serially connected units) are an effective candidate for such robots. Their long body enables them to overcome obstacles, and they can move into narrow spaces because of their thin shape. However, conventional snake-like robots have significant problems with operability. The numerous degrees of freedom of their bodies require complex operation to overcome obstacles, and training is required for the operators. Thus, survivors or community members cannot operate conventional robots to search for victims, despite the availability of such rescue robots. Here, we address this problem and develop a semi-autonomous serially connected multi-crawler robot designed for non-trained operators, such as community members or rescued survivors. It can be controlled easily by a conventional two-channel user interface with levers for turning and straight line motion. To demonstrate the effectiveness of our proposed mechanism, a prototype robot was developed and experiments were conducted. The results confirm that the proposed robot had both higher operability and higher mobility than conventional robots. 相似文献
62.
Morihiro Nakamura Yuki Koyama Daisuke Sakamoto Takeo Igarashi 《Computer Graphics Forum》2016,35(7):323-332
We present an interactive design system for designing free‐formed bamboo‐copters, where novices can easily design free‐formed, even asymmetric bamboo‐copters that successfully fly. The designed bamboo‐copters can be fabricated using digital fabrication equipment, such as a laser cutter. Our system provides two useful functions for facilitating this design activity. First, it visualizes a simulated flight trajectory of the current bamboo‐copter design, which is updated in real time during the user's editing. Second, it provides an optimization function that automatically tweaks the current bamboo‐copter design such that the spin quality—how stably it spins—and the flight quality—how high and long it flies—are enhanced. To enable these functions, we present non‐trivial extensions over existing techniques for designing free‐formed model airplanes [ UKSI14 ], including a wing discretization method tailored to free‐formed bamboo‐copters and an optimization scheme for achieving stable bamboo‐copters considering both spin and flight qualities. 相似文献
63.
Datta A Sheikh Y Kanade T 《IEEE transactions on pattern analysis and machine intelligence》2011,33(4):780-793
In this paper, we describe the explicit application of articulation constraints for estimating the motion of a system of articulated planes. We relate articulations to the relative homography between planes and show that these articulations translate into linearized equality constraints on a linear least-squares system, which can be solved efficiently using a Karush-Kuhn-Tucker system. The articulation constraints can be applied for both gradient-based and feature-based motion estimation algorithms and to illustrate this, we describe a gradient-based motion estimation algorithm for an affine camera and a feature-based motion estimation algorithm for a projective camera that explicitly enforces articulation constraints. We show that explicit application of articulation constraints leads to numerically stable estimates of motion. The simultaneous computation of motion estimates for all of the articulated planes in a scene allows us to handle scene areas where there is limited texture information and areas that leave the field of view. Our results demonstrate the wide applicability of the algorithm in a variety of challenging real-world cases such as human body tracking, motion estimation of rigid, piecewise planar scenes, and motion estimation of triangulated meshes. 相似文献
64.
K-means clustering is a very popular clustering technique, which is used in numerous applications. In the k-means clustering
algorithm, each point in the dataset is assigned to the nearest cluster by calculating the distances from each point to the
cluster centers. The computation of these distances is a very time-consuming task, particularly for large dataset and large
number of clusters. In order to achieve high performance, we need to reduce the number of the distance calculations for each
point efficiently. In this paper, we describe an FPGA implementation of k-means clustering for color images based on the filtering
algorithm. In our implementation, when calculating the distances for each point, clusters which are apparently not closer
to the point than other clusters are filtered out using kd-trees which are dynamically generated on the FPGA in each iteration
of k-means clustering. The performance of our system for 512 × 512 and 640 × 480 pixel images (24-bit full color RGB) is
more than 30 fps, and 20–30 fps for 756 × 512 pixel images in average when dividing to 256 clusters.
相似文献
Tsutomu Maruyama (Corresponding author)Email: |
65.
Summary Hydroboration polymerization of various ,-dicyanoalkanes with thexylborane produced the corresponding poly(cyclodiborazane)s, that consist of boron-nitrogen four-membered rings. The structures of the obtained polymers were confirmed by spectroscopic analyses such as 1H-, 11B-NMR and IR spectra. From the result of thermogravimetric analysis of the polymer prepared from adiponitrile and thexylborane, 12% of the inorganic materials remained after heating at 900°C. *** DIRECT SUPPORT *** AEB03051 00003 相似文献
66.
Yoshihiro Adachi Kensei Tsuchida Takanori Imaki Takeo Yaku 《Electronic Notes in Theoretical Computer Science》2000,30(4):276-288
An intelligible program diagram called Logichart has been developed for Prolog visualization. Its syntax rules and layout rules are formalized in terms of an attribute graph grammar. This grammar is underlain by a context–free graph grammar whose productions are defined to formalize the graph–syntax rules of Logichart diagrams. Semantic rules attached to the productions are defined in such a way that they can extract the layout information needed to display a Logichart diagram as attributes. Our Prolog visualization system, which has been implemented based on the attribute graph grammar, can draw a Logichart diagram for any correct Prolog program (completeness), and any Logichart diagram displayed by the system is always valid for the grammar (soundness). The system can also display the execution of a Prolog program in real time; that is, the Logichart diagram is dynamically updated as the program runs. 相似文献
67.
68.
69.
Several V-W-Ti alloys with about 50% reduction in thickness by cold rolling were isochronally annealed at temperatures from 100 to 1100 °C. Hardness was measured after the annealing. By comparison with V4Cr4Ti and V4Ti alloys, the V6WTi alloy was found to begin recovery at a temperature about 100 °C higher, while the full recrystallization temperature was around 900 °C for all of the alloys. Hardness decreased successively above 500 °C in V8W, as is the case in pure V. Impurity induced hardening was observed around 300 °C only in the alloys without Ti. Precipitation and the interaction between interstitial impurities and dislocations were supposed to be the main contributors to the different recovery and recrystallization behaviors of the alloys. 相似文献
70.
In order to study the dependence of the gap width change on the burn-up, the fuel-to-cladding gap widths were investigated by ceramography in a large number of FBR MOX fuel pins irradiated to high burn-up. The dependence of gap widths on the burn-up was closely connected with the formations of JOG (joint oxyde-gaine) and rim structure. The gap widths decreased gradually due to the fuel swelling until ∼30 GWd/t, but beyond this burn-up the dependence showed two different tendencies. With the increase of burn-up, the gap widths decreased due to the increase of fuel swelling in the low fuel temperature region where the rim structure was observed, but they increased in the high fuel temperature region where the JOG rich in Cs and Mo formed in the gap. 相似文献