Polar-Cartesian Hybrid Transforms: A novel 2D range scan registration algorithm

Registration of range scans is commonly required in many localization and mapping algorithms. In this paper, we introduce a novel approach called Polar-Cartesian Hybrid Transforms for pair-wise registration of range scans. The proposed algorithm iteratively establishes correspondences by searching the points with closest polar angles in the polar coordinate frame. An angular look-up table is constructed based on the properties of the laser range finder to accelerate the searching procedure. In order to speed up the convergence, we compute the difference of polar range of every matched point pair to select the most contributing correspondences. After the correspondences are determined, the transformation is computed in Cartesian coordinate frame using a point-to-line metric. Combining the advantages of the polar and Cartesian coordinate frames, both robustness and efficiency are greatly improved compared with an up-to-date ICP algorithm.     

The effect of handle friction and inward or outward torque on maximum axial push force

OBJECTIVE: To investigate the relationship among friction, applied torque, and axial push force on cylindrical handles. BACKGROUND: We have earlier demonstrated that participants can exert greater contact force and torque in an "inward" movement of the hand about the long axis of a gripped cylinder (wrist flexion/forearm supination) than they can in an "outward" hand movement. METHOD: Twelve healthy participants exerted anteriorly directed maximum push forces along the long axis of aluminum and rubber handles while applying deliberate inward or outward torques, no torque (straight), and an unspecified (preferred) torque. RESULTS: Axial push force was 12% greater for the rubber handle than for the aluminum handle. Participants exerted mean torques of 1.1, 0.3, 2.5, and -2.0 Nm and axial push forces of 94, 85, 75, and 65 N for the preferred, straight, inward, and outward trials, respectively. Left to decide for themselves, participants tended to apply inward torques, which were associated with increased axial push forces. CONCLUSION: Axial push force was limited by hand-handle coupling--not the whole body's push strength. Participants appeared to intuitively know that the application of an inward torque would improve their maximum axial push force. Axial push forces were least when a deliberate torque was requested, probably because high levels of torque exertions interfered with the push. APPLICATION: A low-friction handle decreases maximum axial push force. It should be anticipated that people will apply inward torque during maximum axial push.     

Direct microscale imprinting of Al at room temperature with Si inserts

For direct imprinting of metals, hard materials such as diamond and SiC have been used to construct mold inserts in preference to Si, despite the ease in fabricating Si-based micro-/nano- scale structures. In this communication, we demonstrate that micron scale Al structures can be replicated with good fidelity at room temperature by compression molding with Si inserts without incurring insert damage. We further report on results of a finite element analysis of the mechanics of the molding process. The finite element results provide some understanding of the observed lack of damage to the Si inserts.     

Collapse-free thermal bonding technique for large area microchambers in plastic lab-on-a-chip applications

Bonding is an essential step to form microchannels or microchambers in lab-on-a-chip applications. In this paper, we present a novel plastic thermal bonding technique to seal and form large area microchambers (planar characteristic width and length on the order of 1 mm and characteristic thickness on the order of 10–100 μm) without collapse by introducing a holed pressure equalizing plate (HPEP) that includes holes of the same size and shape as the microchambers. To demonstrate the proposed technique, two types of large area microchambers [(1) 20 × 10 mm and 40 μm thick and (2) 12 × 2.5 mm and 120 μm thick] with microchannels were designed and replicated on plastic substrates by means of hot embossing and injection molding processes with prepared two nickel mold inserts. The replicated large area microchambers as well as the microchannels in the plastic lab-on-a-chip were successfully sealed (i.e., no leakage) and formed without any collapse by the proposed thermal bonding technique with the help of the HPEP.     

遗传算法与文本特征选择方法相结合的研究

对文本特征选择的传统方法进行了深入分析并对各自的优缺点进行了详细的对比;其次,通过利用遗传算法自身的寻优特点,把它与传统特征选择方法相结合,并得出了算法。最后,在对各自算法进行了分析,表明了在性能上有了明显的提高。     

Ubiquitous Personal Study: a framework for supporting information access and sharing

The information resources on the Web are diversified, the amount of which is increasing rapidly. Demands for selecting useful information from the Internet, managing personal contents, and sharing contents under control have risen. In this study, we propose the Ubiquitous Personal Study, a framework of personalized virtual study to support accessing, managing, organizing, sharing and recommending information. In this paper, we focus on discussing the framework, and design and implementation issues on how to implement it with Web 2.0 mash-up technology and Open Source Software.     

禅之韵——试谈卫浴空间的意境营造

禅是一种心灵体验,禅意的营造需要主人积极的情感投入。卫浴间是现代居室的重要组成部分,也是现代人放松身体的重要场所.本文试从卫浴产品的选择、空间的布局以及装饰三个方面展开讨论,对禅风的现实意义进行了反思。     

Reducing control points in lofted B-spline surface interpolation using common knot vector determination

A new algorithm for reducing control points in lofted surface interpolation to rows of data points is presented in this paper. The key step of surface lofting is to obtain a set of compatible B-spline curves interpolating each row. Given a set of points and their parameterization, a necessary and sufficient condition is proposed to determine the existence of interpolating B-spline curves defined on a given knot vector. Based on this condition, we first properly construct a common knot vector that guarantees the existence of interpolating B-spline curves to each row of points. Then we calculate a set of interpolating B-spline curves defined on the common knot vector by energy minimization. Using this method, fewer control points are employed while maintaining a visually pleasing shape of the lofted surface. Several experimental results demonstrate the usability and quality of the proposed method.     

AutoCAD的尺寸驱动技术的探讨

AutoCAD是一种人机交互的绘图软件,本身并不具备参数化绘图功能,更不具备尺寸驱动功能,但用户可以利用其所提供的强大的二次开发语言AutoLISP、VisualLISP、VBA开发完全个性化的、性能更为优越的、具有尺寸驱动功能的参数化绘图软件。     

Pitchfork bifurcation and flip-flop operation with a coupled nonlinear system

A ring cavity system consisting of two hybrid Michelson interferometers coupled together with feedback is constructed. This system shows spatial bifurcation and can be utilized as an all-optical flip-flop device. We demonstrate experimentally a flip-flop operation by use of only a positive pulse in this system.