Shape Morphing-Based Control of Robotic Visual Servoing

We present an approach for controlling robotic interactions with objects, using synthetic images generated by morphing shapes. In particular, we attempt the problem of positioning an eye-in-hand robotic system with respect to objects in the workspace for grasping and manipulation. In our formulation, the grasp position (and consequently the approach trajectory of the manipulator), varies with each object. The proposed solution to the problem consists of two parts. First, based on a model-based object recognition framework, images of the objects taken at the desired grasp pose are stored in a database. The recognition and identification of the grasp position for an unknown input object (selected from the family of recognizable objects) occurs by morphing its contour to the templates in the database and using the virtual energy spent during the morph as a dissimilarity measure. In the second step, the images synthesized during the morph are used to guide the eye-in-hand system and execute the grasp. The proposed method requires minimal calibration of the system. Furthermore, it conjoins techniques from shape recognition, computer graphics, and vision-based robot control in a unified engineering amework. Potential applications range from recognition and positioning with respect to partially-occluded or deformable objects to planning robotic grasping based on human demonstration.     

Vehicle Teleoperation Interfaces

Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of vehicle teleoperation and present a summary of interfaces currently in use.     

Application of a Recurrent Neural Network to Space Deversity in SDMA and CDMA Mobile Communication Systems

Linear and non-linear adaptive algorithms are investigated for Space Division Multiple Access (SDMA). SDMA is one of the emerging techniques for multiple access of users in mobile radio, which uses spatial distribution of users for their differentiation. The performance of the linear Square Root Kalman (SRK) algorithm for SDMA is compared to that of the non-linear Recurrent Neural Network (RNN) technique. The proposed SDMA-RNN technique is evaluated over Rician fading channels, and it shows improved Bit Error Rate (BER) performance in comparison with the linear SRK-based technique. The performance of SDMA-RNN is also compared with that of Code Division Multiple Access (CDMA) systems, showing that it could be used as a viable alternative scheme for multiple access of users. Finally, a Hybrid CDMA-SDMA system is proposed combining CDMA and SDMA-RNN systems. Hybrid CDMA-SDMA exhibits a very good potential for increase in the capacity and the performance of mobile communications systems.     

虚拟空间会议系统中视频合成技术的研究与实现

虚拟空间会议系统能够把所有与会者合成同一个虚拟会场中,从而构造一个能提供无缝的会场环境,眼神接触、凝视感知等普通多媒体会议系统不具备的虚拟协同工作环境。VST系统是我们刚刚完成的一个虚拟空间会议系统。视频合成技术是其实现的关键技术之一。本文介绍了VST系统中视频合成技术的研究与实现。     

为移动代理构造一个安全运行虚环境

移动代理在其执行和迁移过程中涉及到的安全问题就是保护主机不受恶意代理的攻击,其中一个重要方面就是将由程序员的编程错误而造成的危险降到最低。这主要是通过代理程序设计语言来保证的。将代理程序限制在某个安全环境内执行－即为代理程序构造一个安全的运行虚环境为实现代理的安全性提供了基础。提出了一个有效地构造安全运行虚环境的算法。     

汽轮机建模和仿真研究的一种新方法

应用模块化和面向对象技术分析和设计的方法对蒸汽轮机热力系统进行可扩展及便于调整的建模和仿真研究,将饱和蒸汽轮机的仿真研究分为各个部件的计算。对每个部件进行比较准确的仿真后,把部件之间的接口标准化进行封装,即通过类似计算机技术中的总线技术把各个部件连接起来。用各个部件的状态空间来描述构成整个机组的状态空间,并进行汽轮机的仿真研究。     

周期黎卡提微分方程正定解的存在性

讨论了标准的周期黎卡提微分方程,给出了其存在埃尔米特周期正定（HPPD）解的一个完整的充分必要条件。准确地说,在经过一个适当的状态空间基底变换后该条件通过能稳性和能检测性概念表述。结果表明,当HP－PD解存在时,它或者是唯一的,或者有无限多个。这一结果可以看作是Richardson和Kwong的结果对周期时变情况的扩展。     

钴基非晶丝应力电阻抗效应

研究了钴基非晶丝材料显示的应力电阻抗 (SI)效应。结果表明 ,淬态钴基非晶丝在其两端受到外加轴向压力作用下可呈现显著的应力电阻抗效应 ,它与驱动电流频率及幅值均有关