CAN总线伺服控制卡的研制应用

本文结合清华大学THBIP-I型仿人机器人样机研制，开发设计了基于CAN总线的仿人机器人关节伺服控制卡。文中详细描述了该控制卡的硬件结构原理和系统软件协议，以及伺服卡在样机上的技术实验，并提出了进一步完善发展的思路。     

Nonparametric Traversability Estimation in Partially Occluded and Deformable Terrain

Terrain traversability estimation is a fundamental requirement to ensure the safety of autonomous planetary rovers and their ability to conduct long‐term missions. This paper addresses two fundamental challenges for terrain traversability estimation techniques. First, representations of terrain data, which are typically built by the rover's onboard exteroceptive sensors, are often incomplete due to occlusions and sensor limitations. Second, during terrain traversal, the rover‐terrain interaction can cause terrain deformation, which may significantly alter the difficulty of traversal. We propose a novel approach built on Gaussian process (GP) regression to learn, and consequently to predict, the rover's attitude and chassis configuration on unstructured terrain using terrain geometry information only. First, given incomplete terrain data, we make an initial prediction under the assumption that the terrain is rigid, using a learnt kernel function. Then, we refine this initial estimate to account for the effects of potential terrain deformation, using a near‐to‐far learning approach based on multitask GP regression. We present an extensive experimental validation of the proposed approach on terrain that is mostly rocky and whose geometry changes as a result of loads from rover traversals. This demonstrates the ability of the proposed approach to accurately predict the rover's attitude and configuration in partially occluded and deformable terrain.     

Negative bias illumination stress assessment of indium gallium zinc oxide thin‐film transistors

Electrical performance stability of indium gallium zinc oxide (IGZO) thin‐film transistors (TFTs) is evaluated under negative bias illumination stress (NBIS). A bottom‐gate IGZO TFT whose top surface is passivated with zinc tin silicon oxide (ZTSO) exhibits a dramatic improvement in NBIS stability compared with that of an unpassivated, bottom‐gate IGZO TFT. Oxygen chemisorption/desorption at the channel layer top surface is proposed to explain why an unpassivated TFT exhibits significantly more NBIS than a passivated TFT.     

Bright-field scanning confocal electron microscopy using a double aberration-corrected transmission electron microscope

Scanning confocal electron microscopy (SCEM) offers a mechanism for three-dimensional imaging of materials, which makes use of the reduced depth of field in an aberration-corrected transmission electron microscope. The simplest configuration of SCEM is the bright-field mode. In this paper we present experimental data and simulations showing the form of bright-field SCEM images. We show that the depth dependence of the three-dimensional image can be explained in terms of two-dimensional images formed in the detector plane. For a crystalline sample, this so-called probe image is shown to be similar to a conventional diffraction pattern. Experimental results and simulations show how the diffracted probes in this image are elongated in thicker crystals and the use of this elongation to estimate sample thickness is explored.     

Towards high accuracy calibration of electron backscatter diffraction systems

For precise orientation and strain measurements, advanced Electron Backscatter Diffraction (EBSD) techniques require both accurate calibration and reproducible measurement of the system geometry. In many cases the pattern centre (PC) needs to be determined to sub-pixel accuracy. The mechanical insertion/retraction, through the Scanning Electron Microscope (SEM) chamber wall, of the electron sensitive part of modern EBSD detectors also causes alignment and positioning problems and requires frequent monitoring of the PC. Optical alignment and lens distortion issues within the scintillator, lens and charge-coupled device (CCD) camera combination of an EBSD detector need accurate measurement for each individual EBSD system.This paper highlights and quantifies these issues and demonstrates the determination of the pattern centre using a novel shadow-casting technique with a precision of ∼10 μm or ∼1/3 CCD pixel.     

Catastrophic chaos theory: predicting recovery of health or death

Recently, we revealed a standard pattern of a macroscopic molecular network for controlling morphogenetic processes such as the development of organs, including blast, mesoderm, heart, and hands during about sevenfold cell divisions and a standard bio-chemical clock like the circadian one (Naitoh in Artif Life Robot 13, 2008; Japan J Ind Appl Math 28(1), 2011; J Phys Conf Ser 344, 2012; Artif Life Robot 17, 2012) A network model derived logically based on experimental observations is described by a nonlinear differential equation for predicting time evolutions of six macroscopic molecular groups: three gene groups and three enzyme groups, which include promoting and suppressing factors. Here, the macroscopic model extended for also describing aging processes shows various types of cycles and reveals the physical condition for determining whether or not living beings such as humans can survive after getting ill. It is stressed that, after becoming ill, living systems with overly fast generation of information molecules such as various genes end in death, whereas relatively fast production of enzymes leads to recovery. This may also explain an essential feature underlying carcinogenic processes.     

Microscopic image restoration based on tensor factorization of rotated patches

In microscopic image processing for analyzing biological objects, structural characters of objects such as symmetry and orientation can be used as a prior knowledge to improve the results. In this study, we incorporated filamentous local structures of neurons into a statistical model of image patches and then devised an image processing method based on tensor factorization with image patch rotation. Tensor factorization enabled us to incorporate correlation structure between neighboring pixels, and patch rotation helped us obtain image bases that well reproduce filamentous structures of neurons. We applied the proposed model to a microscopic image and found significant improvement in image restoration performance over existing methods, even with smaller number of bases.     

基于数学规划条件的粘连颗粒图像鞍点搜寻

鞍点在图像粘连对象分割的过程中起着非常关键的作用,目前已有若干以分割为目的的鞍点搜索算法,但在其简捷性、鲁棒性等方面仍有改善的余地。提出一种基于数学规划条件的颗粒图像鞍点搜寻新方法。该方法首先根据颗粒图像3维地貌化后得到的像素空间分布信息,利用数学规划原理提出颗粒图像的鞍点规划条件,然后根据其条件进行鞍点检测。将提出的算法应用在真实粘连颗粒图像上,实验结果表明,该算法具有较高的准判率,为颗粒图像的分割以及相关后续处理奠定了理论分析基础。