基于机器人运动模型的EKF-SLAM算法改进

针对两轮驱动机器人运动模型定向误差的累积问题,提出改进的三轮驱动机器人运动模型,对EKF-SLAM算法的一致性进行改进;该模型通过对机器人车轮线速度的解耦运算,将机器人运动过程中的旋转角速度提取出来并作为系统的控制输入之一,从而可以直接得到各个控制时间间隔内的机器人姿态角变化,很好地避免了机器人定向误差的累积;最后,基于归一化估计方差的检验标准进行实验,验证了三轮驱动机器人运动模型有效提高了EKF-SLAM算法的一致性。     

A new look at software piracy: Soft lifting primes an inauthentic sense of self,prompting further unethical behavior

Soft lifting refers to the process whereby a legally licensed software program is installed or copied in violation of its licensing agreement. Previous research on this pervasive kind of unethical computer use has mainly focused on the determinants of this unethical act, which are rooted in personal, economic, technological, cultural, socio-political, or legal domains. However, little is known about the symbolic power that soft lifting has on the sense of self. Based on recent advances in behavioral priming, we hypothesized that soft lifting can influence the signals one sends to oneself; more specifically, soft lifting may prime individuals to experience an inauthentic sense of self, which, in turn, prompts further unethical behavior. In Study 1, we showed that participants, primed with the memory of a recent soft lifting experience, cheated more than participants recalling a recent experience of purchasing authentic software or than control participants. Moreover, feelings of inauthenticity mediated the priming effect of soft lifting on dishonest behavior. In Study 2, participants primed with soft lifting showed a greater willingness to purchase a wide range of counterfeit products over authentic products. Besides those antecedents or correlates of soft lifting already identified in the literature, educators should pay more attention to the negative impact of soft lifting on the self-images of users, which may go beyond computer-related behaviors. Priming may provide a new direction for HCI researchers to examine the impact of computer-use-related factors on users' perceptions, motivations, and behaviors.     

Data-driven facial expression synthesis via Laplacian deformation

Realistic talking heads have important use in interactive multimedia applications. This paper presents a novel framework to synthesize realistic facial animations driven by motion capture data using Laplacian deformation. We first capture the facial expression from a performer, then decompose the motion data into two components: the rigid movement of the head and the change of the facial expression. By making use of the local-detail preserving property of the Laplacian coordinate, we clone the captured facial expression onto a neutral 3D facial model using Laplacian deformation. We choose some expression “independent points” in the facial model as the fixed points when solving the Laplacian deformation equations. Experimental results show that our approach can synthesize realistic facial expressions in real time while preserving the facial details. We compare our method with the state-of-the-art facial expression synthesis methods to verify the advantages of our method. Our approach can be applied in real-time multimedia systems.     

MapReduce Workload Modeling with Statistical Approach

Large-scale data-intensive cloud computing with the MapReduce framework is becoming pervasive for the core business of many academic, government, and industrial organizations. Hadoop, a state-of-the-art open source project, is by far the most successful realization of MapReduce framework. While MapReduce is easy- to-use, efficient and reliable for data-intensive computations, the excessive configuration parameters in Hadoop impose unexpected challenges on running various workloads with a Hadoop cluster effectively. Consequently, developers who have less experience with the Hadoop configuration system may devote a significant effort to write an application with poor performance, either because they have no idea how these configurations would influence the performance, or because they are not even aware that these configurations exist. There is a pressing need for comprehensive analysis and performance modeling to ease MapReduce application development and guide performance optimization under different Hadoop configurations. In this paper, we propose a statistical analysis approach to identify the relationships among workload characteristics, Hadoop configurations and workload performance. We apply principal component analysis and cluster analysis to 45 different metrics, which derive relationships between workload characteristics and corresponding performance under different Hadoop configurations. Regression models are also constructed that attempt to predict the performance of various workloads under different Hadoop configurations. Several non-intuitive relationships between workload characteristics and performance are revealed through our analysis and the experimental results demonstrate that our regression models accurately predict the performance of MapReduce workloads under different Hadoop configurations.     

Development of human-machine interface for teleoperation of a mobile manipulator

Human-robot control interfaces have received increased attention during the past decades for conveniently introducing robot into human daily life. In this paper, a novel Human-machine Interface (HMI) is developed, which contains two components. One is based on the surface electromyography (sEMG) signal, which is from the human upper limb, and the other is based on the Microsoft Kinect sensor. The proposed interface allows the user to control in real time a mobile humanoid robot arm in 3-D space, through upper limb motion estimation by sEMG recordings and Microsoft Kinect sensor. The effectiveness of the method is verified by experiments, including random arm motions in the 3-D space with variable hand speed profiles.     

封闭循环TEA CO2激光器用催化剂的实验研究

在不同的催化剂和不同温度的条件下,用磁氧分析仪监测了封离型TEA C0₂激光器中O₂含量随时间或脉冲次数的变化。对实验现象进行了分析。对几种催化剂的特性给出了详细的比较。     

Weber定律下尺度空间的自适应构建

在Weber定律的启发下提出一种基于"恰可识别差异"的尺度空间自适应构建方法。Weber定律认为人类感知模式不仅与刺激的变化有关,而且与原刺激强度有关。基于此观点,在图像尺度空间的构建过程中,首先以Marr视觉理论的屋脊型边缘和阶梯型边缘的特征之和计算图像的信息量,再通过实验获得人类视觉能感知到"恰可识别差异"时的图像信息量变化,最后通过曲线拟合自适应构建图像的尺度空间。实验结果表明,该方法充分体现了人类视觉感知特性,与其他尺度空间构建方法相比,在目标匹配实验中,匹配数目提升了25%以上;在去噪实验中,本算法的去噪效果良好。     

黄冈市农村卫生人才培养的现状与对策

本文采取问卷调查和文献查阅相结合的方式,对黄冈市卫生专业技术人员队伍现状进行了调查和分析,剖析了黄冈市农村卫生人才培养的方法和经验,提出了切实可行的农村卫生人才培养的对策与建议。     

关于Photoshop插件的SAR图像处理探究

SAR图像处理主要包括相干斑抑制、特征提取等,如果在使用Photoshop插件SAR图像处理图片,将主要精力集中于算法的设计和优化方面,可以尽量减少在用户界面、内存管理和基本的图像操作方面的编程,既可以实现多种图像处理,又容易实现功能的充分扩大与填充,从而在最短的时间内做做多的事。     

Effect of nitrogen and nickel on the stability of an Fe-12Cr-23Mn austenitic steel

The effect of nitrogen and nickel on the austenite stability and the structural changes as a result of cold work of an Fe-12Cr-23Mn alloy steel has been examined by transmission electron microscopy and X-ray analysis. Prestrain was performed either at room temperature or at 200° C. Final strain was carried out at liquid nitrogen temperature. The volume fraction of strain-induced martensite decreased by 40% and 12% due to the addition of 2.43% Ni and 0.11% N, respectively, despite whether prestrain was performed or not. The mechanisms are discussed in terms of the phase, stacking faults, dislocation cells and dislocation tangles induced by prestrain and final strain.