面向虚拟维修训练的自抓取虚拟手交互行为构建

针对当前维护训练模拟器（MTD）不能很好地向受训者展示飞机维修过程中的具体维修动作的问题,构建一种自抓取的虚拟手与相应的交互行为,以提高机务培训质量。通过分析维修的基本动作要素,定义与构建基于蒙皮骨骼的虚拟手动作库;在场景漫游阶段,实时获取视角位置来驱动虚拟手运动,减轻场景漫游下的虚拟手控制负荷;在具体维修操作阶段,利用所提的交互行为算法,将虚拟手的位置自调节与骨骼动画osgCal相结合,通过调取动作库中的相应动作,完成具体的维修任务。实验结果表明,所提出的方法能较好地展现具体的维修操作,对于虚拟维修训练具有良好可用性。     

Reaction pathway of benzonitrile formation during toluene ammoxidation on vanadium phosphate catalysts

The reaction pathway of the ammoxidation of toluene on (VO)₂P₂O₇ used as catalyst and the interaction of potential intermediates with the pyrophosphate were studied by spectroscopic techniques (FTIR, EPR), temperature-programmed chemisorptions/ reactions (TPD, TPRS) and transient studies such as the temporal analysis of products (TAP) technique. NH₃ is chemisorbed on the catalyst surface, forming three different species, i.e., NH ₄ ⁺ ions located on BrØnsted sites, coordinatively bound NH₃ on Lewis sites and NH ₂ ^– groups, presumably P-NH₂. Toluene that is probably adsorbed on Lewis sites reacts in a first step to a benzyl radical. A subsequent partial oxidation by interaction of V^IV=O groups generates a V...O=CH-C₆H₅ surface structure. This benzaldehyde-like surface species reacts with adsorbed NH₃ according to a Langmuir-Hinshelwood mechanism. TAP experiments on ammonium-containing vanadium phosphates revealed that NH ₄ ⁺ ions could act as potential N-insertion species. No formation of benzylamine as well as the generation of V=NH surface groups as possible intermediates or N-insertion sites were observed.     

Mechanical and dynamic mechanical properties of jute fibers–Novolac–epoxy composite laminates

A study was done of jute composite using a polymer matrix of epoxidized Novolac resin (ENR), diglycidyl ether of bisphenol A (DGEBA)–based epoxy, and their blends with different weight percentages of the resins. It was found that on blending ENR with DGEBA, the storage modulii at room temperature are enhanced by about 100% or more in the case of 30 and 40% ENR‐containing matrices, whereas the enhancement in the case of 20 and 12% ENR‐containing matrices is only 50% that of the pure matrix. It was also observed that the tan δ peak heights of the composites containing 30 and 40% ENR are closer to that of 20% ENR‐containing composite. The probable explanation drawn on the basis of experimental findings of DMA and mechanical analysis is that by blending ENR with DGEBA epoxy it is possible to manufacture jute composites with increased stiffness without sacrificing their ductility. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 85: 2800–2807, 2002     

Molar volume and ultrasonic studies of europium soaps in mixed organic solvents

The ultrasonic velocity and density measurements of europium soaps in a mixture of benzene and methanol (3:2, vol/vol) were used to evaluate various acoustic parameters and molar volume and to determine the critical micelle concentration. The results showed that the ultrasonic velocity, specific acoustic impedance, molar sound velocity, and molar compressibility increase, and intermolecular free length, adiabatic Compressibility, and relative association decrease with increasing concentration and chainlength of the soap. The results were interpreted in terms of soap-solvent interaction.     

The comparative effect of a mixed urea,ammonium nitrate,ammonium sulphate granular formulation on the efficiency of N recovery by perennial ryegrass

The¹⁵N isotope was used to study the mode of action of individual nitrogen sources in a 30% urea:30% ammonium nitrate: 10% ammonium sulphate:30% filler (w/w) granular fertilizer for perennial ryegrass in a greenhouse pot experiment. The fertilizer consisted of two types of granules, one containing 80% urea and 20% filler and the second containing 48% ammonium nitrate (AN), 16% ammonium sulphate (AS) and 36% filler. In addition the effect of dolomite compared with silica as the filler was investigated on nitrogen recovery from the 30:30:10:30 formulation.Dolomite adversely affected the recovery of nitrate N from the system and evidence suggested that MgCO₃ was the active component. Granules containing dolomite resulted in a lower dry-matter yield than those containing silica, however the difference was not significant as nitrate contributed only 20% of the N in the formulation. AN gave the greatest DM yield and urea the lowest with AS being intermediate. The¹⁵N budget in shoots, roots and soil indicated that only 65% of the N from urea was recovered at the end of the experiment compared with 86% for AN and 91% for AS. The dry-matter yield of the 30:30:10:30 formulation using silica as the filler was intermediate between urea and AN; however, the apparent N recovery was significantly higher than expected from the sum of the individual components. The use of¹⁵N labelling indicated that using separate granules for ammonium N and urea the recovery of urea was improved by 11% in the triple N mixture when both AN and AS were present in the second granule compared to the recovery on its own. The enhanced recovery of urea appeared to be a function of AN and AS acting together as neither source in double combination with urea had any effect on urea N recovery.Urea enhanced the recovery of nitrate N by 10% but decreased the recovery of AS by 6% (in the 30:30:10:30 formulation) in comparison with the single sources on their own. The results indicate that interactions can occur between N sources even when they are physically separated by being in different granules.     

Effect of Vortex Restructuring on Heat Transfer in an “Inverted” Flame

The papers deals with formation of vortex structures during combustion of a fuel gas–air mixture injected vertically down through a hole in a flat plate. It has been established that the shape, position, and number of vortex cells are determined by the flow rate and composition of the fuel mixture. It is shown that as the flow rate increases from the minimum critical value for which a vortex structure arises, the number of vortex cells decreases from five or six to one. A further increase in the gas flow rate leads to transition to turbulence of the combustion product flow. The presence of a vortex structure increases the critical Reynolds number at which the flow becomes turbulent. Reverse transition to the structure with an increased number of vortex cells occurs with a delay in the gas flow rate (gas discharge hysteresis). Variation in flow rate is accompanied by bifurcation of the number of vortex cells.     

Study on interaction-induced symptoms with respect to virtual grasping and manipulation

Owing to the popularity of various hand tracking interfaces, there have been numerous applications developed to provide intuitive hand interaction with the virtual world. As users start with great anticipation, they end up with dissatisfaction due to difficulties of manipulation or physical tiredness coming very short. Although the task itself is rather trivial in a real life situation, it requires much effort in the virtual environment. We address this awkwardness as ‘VR interaction-induced fatigue symptom’ and hypothesize its causes based on our observations. We argue that the source of the fatigue comes from the restricted sensory information of the VR interfaces, and that users try to accommodate the missing sensory feedback by excessive motion leading to wrong posture or bad timing. We demonstrate our hypothesis by conducting experiments of two types of virtual interaction scenarios: object transport and 3D selection. Furthermore, by analyzing the behaviors of users' action collected from our experiment, we derive essential factors to be considered in designing VR applications, and propose a conceptual interaction model for orchestrating virtual grasping.     

How social distance shapes human–robot interaction

This paper investigates how social distance can serve as a lens through which we can understand human–robot relationships and develop guidelines for robot design. In two studies, we examine the effects of distance based on physical proximity (proxemic distance), organizational status (power distance), and task structure (task distance) on people׳s experiences with and perceptions of a humanlike robot. In Study 1, participants (n=32) played a card-matching game with a humanlike robot. We manipulated the power distance (supervisor vs. subordinate) and proxemic distance (close vs. distant) between participants and the robot. Participants who interacted with the supervisor robot reported a more positive user experience when the robot was close than when the robot was distant, while interactions with the subordinate robot resulted in a more positive experience when the robot was distant than when the robot was close. In Study 2, participants (n=32) played the game in two different task distances (cooperation vs. competition) and proxemic distances (close vs. distant). Participants who cooperated with the robot reported a more positive experience when the robot was distant than when it was close. In contrast, competing with the robot resulted in a more positive experience when it was close than when the robot was distant. The findings from the two studies highlight the importance of consistency between the status and proxemic behaviors of the robot and of task interdependency in fostering cooperation between the robot and its users. This work also demonstrates how social distance may guide efforts toward a better understanding of human–robot interaction and the development of effective design guidelines.     

Response of generalist and specialist insects to qualitative allelochemical variation

We examined the effects of a set of four biosynthetically related iridoid glycosides, aucubin, catalpol, loganin, and asperuloside, on larvae of a generalist,Lymantria dispar (Lymantriidae), the gypsy moth, and an adapted specialist, the buckeye,Junonia coenia (Nymphalidae). In general,L. dispar grew and survived significantly less well on artificial diets containing iridoid glycoside, compared to a control diet without iridoid glycosides. In choice tests, previous exposure to a diet containing iridoid glycosides caused larvae subsequently to prefer iridoid glycoside-containing diets even though they were detrimental to growth and survival. In contrast,J coenia larvae grew and survived better on diets with aucubin and catalpol, the two iridoid glycosides found in the host plantPlantago lanceolata (Plantaginaceae), than on diets with no iridoid glycoside or with loganin and asperuloside. The results of choice tests of diets with and without iridoid glycosides and between diets with different iridoid glycosides reflected these differences as well. These results are discussed in terms of (1) differences between generalists and specialists in their response to qualitative variation in plant allelochemical content, (2) the induction of feeding preferences, and (3) the evolution of qualitative allelochemical variation as a plant defense.     

基于Flash 3D的在线虚拟漫游系统设计与实现

对目前虚拟漫游系统的瓶颈进行分析,提出并实现了一个基于Flash 3D的、优化了的在线虚拟旅游系统。系统对三维场景文件包括模型文件、材质文件及其构建步骤进行优化,并在实现了对多种媒体元素支持的基础上,设计了独创的热点系统,实现对三维场景按需进行加载和展示,以及游客在场景中的互动漫游。系统测试结果表明,该设计方案优化效果显著,系统性能得到了极大的提升。