基于似人特性的拟人臂机器人自主抓取动作规划

针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.     

State space approximation for general fractional order dynamic systems

Approximations for general fractional order dynamic systems are of much theoretical and practical interest. In this paper, a new approximate method for fractional order integrator is proposed. The poles of the approximate model are unrelated to the order of integrator. This feature shows benefits on extending the algorithm to the systems containing various fractional orders. Then a unified approximate method is derived for general fractional order linear or nonlinear dynamic systems via combining the proposed new method with the distributed frequency model approach. Numerical examples are given to show the wide applicability of our method and to illustrate the acceptable accuracy for approximations as well.     

Ensemble clustering by means of clustering embedding in vector spaces

Ensemble clustering is a recently evolving research direction in cluster analysis and has found several different application domains. In this work the complex ensemble clustering problem is reduced to the well-known Euclidean median problem by clustering embedding in vector spaces. The Euclidean median problem is solved by the Weiszfeld algorithm and an inverse transformation maps the Euclidean median back into the clustering domain. In the experiment study different evaluation strategies are considered. The proposed embedding strategy is compared to several state-of-art ensemble clustering algorithms and demonstrates superior performance.     

Deformation similarity measurement in quasi-conformal shape space

This paper presents a novel approach based on the shape space concept to classify deformations of 3D models. A new quasi-conformal metric is introduced which measures the curvature changes at each vertex of each pose during the deformation. The shapes with similar deformation patterns follow a similar deformation curve in shape space. Energy functional of the deformation curve is minimized to calculate the geodesic curve connecting two shapes on the shape space manifold. The geodesic distance illustrates the similarity between two shapes, which is used to compute the similarity between the deformations. We applied our method to classify the left ventricle deformations of myopathic and control subjects, and the sensitivity and specificity of our method were 88.8% and 85.7%, which are higher than other methods based on the left ventricle cavity, which shows our method can quantify the similarity and disparity of the left ventricle motion well.     

数字化时代的数字艺术空间

从办公、娱乐和统计到信息采集、保存和传递,现代生活就是与数字技术结合的数字生活。数字艺术也不例外。数字化时代的数字艺术空间主要通过数字技术对传统艺术的仿真复制和数字媒体艺术的创作来实现数字艺术虚拟世界的完成。文章将通过对数字艺术虚拟世界里的数字空间形态特征的描述,以初步探讨数字化时代的数字艺术存在模式。     

基于环保的广告机概念设计

广告机这一产品通过视频、音频的形式向公众传达信息,其主要使用环境为公共场合。在广告机概念设计上。不仅注重外观的时尚和简洁,有时为了向人们传达环保的理念,特别在广告机面板下方的广告单领取口镂空丝印一个树和海洋图标。当人们领取广告单时,广告单数量减少．图标会逐渐的产生变化。通过这种图标的变化来警示人们环保的重要性。     

基于Java 3D的地球空间环境可视化研究

根据空间科学研究对交互性和Web化的发展需求,将Java 3D应用于该领域。深入剖析了Java 3D的主要几何类和实现细节;改进并实现了一种矩形网格等值线生成算法,解决了二义性和等值点在网格顶点的问题;介绍了一种生成规则网格的简单算法,并选用合适的Java 3D类加以实现;介绍了一种数值———颜色映射算法,并将空间环境数据映射为RGB颜色信息。综合运用这些算法,对地球空间环境中若干物理要素模型进行了二维和三维可视化。可视化结果与国内外空间环境模型研究成果基本一致,说明上述算法正确,有较高的参考价值。     

应变空间中一般加载规律的弹塑性本构关系

为了建立多维应力、应变空间的弹塑性本构关系,将一般加载规律一维全量理论的简单弹塑性模型推广到一般加载规律的多维增量理论,并且给出应力空间的加载函数和应变空间的加载函数以及它们之间的正确的变换关系.在此基础上,在应变空间中建立了推导一般加载规律的多维增量理论的本构关系的一种途径.应用这种途径,从应变空间的加载函数出发,推导了等向强化材料的一般加载规律的弹塑性本构关系.理论和实例表明,这种途径对等向强化材料、随动强化材料、理想弹塑性材料和热弹塑性问题都适用.     

汉语语音文档检索中后验概率的索引方法

基于音节Lattice形式的语音识别结果来实现汉语语音文档检索,不但可以成功规避词表外词问题,而且Lattice这种多候选形式也能有效补偿识别错误对检索性能的影响.在基于音节Lattice的汉语语音文档检索研究中,针对已有索引方法的不足,提出了一种基于后验概率的索引方法,对向量空间模型进行改进,以音节和K步邻接音节对作为索引项,以它们在语音文档中的后验概率值作为索引项权重.检索实验表明,文中的方法更适用于基于音节Lattice的语音文档检索任务,各项改进都达到了预期效果.