立体视觉测程研究进展

立体视觉测程技术正逐渐成为移动机器人在非结构化环境中导航定位的主要实现方法.本文对立体视觉测程技术在机器人导航应用中的现状进行分析,总结目前立体视觉测程技术的主要研究内容和方法,评述各种技术方法的优缺点,最后对立体视觉测程的发展进行展望.     

中医按摩机器人研制与开发

针对中老年人退行性疾病和慢性疾病对中医按摩及保健康复设备的临床需求,提出了一种中医按摩机器人系统,并对按摩机器人的机械结构、控制系统及各功能模块进行了介绍.利用传感器信息融合技术、人机交互技术、三维仿真技术等,实现了典型中医按摩手法的建模,提出了串并联结构融合的机器人构型,研制了集多种按摩手法于一体的多功能按摩机械手....     

基于混合SVM方法的蛋白质二级结构预测算法

预测蛋白质二级结构,是当今生物信息学中一个难以解决的问题。由于预测蛋白质二级结构的精度在蛋白 质结构研究中起到非常重要的作用,因此在基于KDTICM理论基础上,提出一种基于混合SVM方法的蛋白质二级 结构预测算法。该算法有效地利用蛋白质的物化属性和PSI-SEARCH生成的位置特异性打分矩阵作为双层SVM的 输入,从而大大地提高了蛋白质二级结构预测的精度。实验比较分析表明,新算法的预测精度和普适性明显优于目前 其他典型的预测方法。     

维修性运行功能预计法的计算机实现

维修性预计是产品设计中一项重要的工作。近年来,计算机辅助维修性预计的应用越来越多。这里将一种适用面较广的维修性预计方法——运行功能预计法进行了计算机化研究,并开发了相应的软件。主要介绍了这种软件的基本原理和主要功能、组成和特点,并提出了进一步努力的方向。     

Surface Reconstruction based on Lower Dimensional Localized Delaunay Triangulation

We present a fast, memory efficient algorithm that generates a manifold triangular mesh S passing through a set of unorganized points P R ³. Nothing is assumed about the geometry, topology or presence of boundaries in the data set except that P is sampled from a real manifold surface. The speed of our algorithm is derived from a projection-based approach we use to determine the incident faces on a point. We define our sampling criteria to sample the surface and guarantee a topologically correct mesh after surface reconstruction for such a sampled surface. We also present a new algorithm to find the normal at a vertex, when the surface is sampled according our given criteria. We also present results of our surface reconstruction using our algorithm on unorganized point clouds of various models.     

Nonlinear state estimation for rigid-body motion with low-pass sensors

In this paper, we consider the state estimation problem for the nonlinear kinematic equations of a rigid body observed under low-pass sensors. The problem is motivated from a walking robot application where inclinometers and gyros are the sensors used. We show that a non-local high gain observer exists for the nonlinear rigid-body kinematic equations and that it under a small angle assumption is possible to use one inclinometer only to estimate two angles.     

浅析美国的SPSS在中国人口普查与预测中的洋为中用

根据当前人口普查与预测的关键时期,通过“人口增长方面的例子”,介绍了如何在SPSS中建立人口预测的模型,如何对预测的结果作出科学的分析,指出了SPSS技术的应用前景。     

Adaptive Sampling for Network Management

High-performance networks require sophisticated management systems to identify sources of bottlenecks and detect faults. At the same time, the impact of network queries on the latency and bandwidth available to the applications must be minimized. Adaptive techniques can be used to control and reduce the rate of sampling of network information, reducing the amount of processed data and lessening the overhead on the network. Two adaptive sampling methods are proposed in this paper based on linear prediction and fuzzy logic. The performance of these techniques is compared with conventional sampling methods by conducting simulative experiments using Internet and videoconference traffic patterns. The adaptive techniques are significantly more flexible in their ability to dynamically adjust with fluctuations in network behavior, and in some cases they are able to reduce the sample count by as much as a factor of two while maintaining the same accuracy as the best conventional sampling interval. The results illustrate that adaptive sampling provides the potential for better monitoring, control, and management of high-performance networks with higher accuracy, lower overhead, or both.     

Online Text Prediction with Recurrent Neural Networks

Arithmetic coding is one of the most outstanding techniques for lossless data compression. It attains its good performance with the help of a probability model which indicates at each step the probability of occurrence of each possible input symbol given the current context. The better this model, the greater the compression ratio achieved. This work analyses the use of discrete-time recurrent neural networks and their capability for predicting the next symbol in a sequence in order to implement that model. The focus of this study is on online prediction, a task much harder than the classical offline grammatical inference with neural networks. The results obtained show that recurrent neural networks have no problem when the sequences come from the output of a finite-state machine, easily giving high compression ratios. When compressing real texts, however, the dynamics of the sequences seem to be too complex to be learned online correctly by the net.     

Independent Hybrid Force/Motion Control of Constrained Six-Degrees-of-Freedom Manipulators

Controlling the dynamics of a constrained manipulator includesposition tracking as well as stabilization of the contact wrench.In this paper we derive a control scheme, that makes it possible to treat position and force control independently.The approach is based on a mass-orthogonal splitting of the space of joint torques, allowing independent actuation and therefore independent specification of control laws. An appropriate definition of the reference wrenchmakes it possible to achieve independent stability of the position and force loop.