Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.     

移动平台三维花卉植物触摸反馈可视化模拟

移动平台上高交互感的三维花卉植物可视化已成为植物研究、园艺设计等领域的重要需求,但现有植物运动形变方法还不能根据触摸力度对整株花卉植物或单一叶片的受力进行不同的形变过程模拟。为此,提出一种改进的三维花卉植物触摸反馈可视化模拟方法。根据植物整株交互需求或单一叶片受力情况,研究不同方式的触摸反馈模拟方法。在模拟触摸反馈时,整株受力应用动力学原理,抽象为杆件模型并计算形变结果。单一叶片受力时,根据触摸屏获取数据,并结合叶脉骨架旋转模型算法,模拟不同力度触摸造成的叶片形变,过程中无需手动输入参数。仿真结果表明,该方法应用于移动平台后,帧速率稳定,具有较高的真实感。     

机械式旋转脉冲水深水位测量装置的设计与应用

针对超声波、光电等水深水位传感器抗污染能力差,无法实现水深水位同时检测的问题,提出了一种机械式旋转脉冲水深水位测量装置,该测量装置分滚筒提升装置、夹紧装置和控制装置三部分。在重锤下降的过程中,通过实时检测光电编码器输出的旋转脉冲数可以得到重锤下降的位移、速度、加速度,找出重锤下降的加速度突变点,由此判断出蓄水池的水面和固液界面两个临界点,进而计算出蓄水池的水深、水位和沉淀物料厚度。测试结果表明：该装置抗污染能力强,在重锤为510 g、采样时间间隔为0.10 s时测量效果最佳,测量误差小于1%。     

一种基于Matrix的QR分解向量化方法

提出一种基于Matrix的Givens旋转的QR分解向量化方法。针对Matrix的体系结构特点,对向量数据访存和计算进行优化,使计算均衡分布到各个向量处理单元;设计双缓冲DMA的数据传输策略,使得内核的计算与DMA数据搬移的时间完全重迭,内核始终处于峰值计算,从而取得最佳的计算效率。实验结果表明,该方法能够取得较高的计算效率和性能加速比。     

基于光纤传感器的转速测量系统设计

本文提出一种基于光纤传感器测量旋转轴转速的方法,入射光线经旋转轴反射面反射后,利用反射式光纤传感器采集得到强弱变化的反射光,采用频率测量法得到反射频率,通过信号处理电路进行转换,即可测量转速.该系统具有电路结构简单、精度高、抗干扰能力强、光路弯曲、测量方便等优点.     

Effects of Hall current and two temperatures in transversely isotropic magnetothermoelastic with and without energy dissipation due to ramp-type heat

The present article is concerned with the investigation of disturbances in a homogeneous transversely isotropic thermoelastic rotating medium with two temperatures, in the presence of the combined effects of Hall currents and magnetic field. The formulation is applied to the thermoelasticity theories developed by Green-Naghdi theories of type-II and type-III. Laplace and Fourier transform techniques are applied to solve the problem. The analytical expressions of displacements, stress components, temperature change, and current density components are obtained in the transformed domain. A numerical inversion technique has been applied to obtain the results in the physical domain. Numerical simulated results are depicted graphically to show the effect of Hall current and two temperatures on resulting quantities. Some special cases are also deduced from the present investigation.     

Polypyrrole Whelk‐Like Arrays toward Robust Controlling Manipulation of Organic Droplets Underwater

Whelk‐like polypyrrole (PPy) arrays film is successfully prepared by electropolymerization of pyrrole in the presence of low‐surface‐energy tetraethylammonium perfluorooctanesulfonate (TEAPFOS) as dopant. The underwater wettability of PPy whelk‐like arrays can be successfully tuned by electrical doping/dedoping of PFOS ions. Interestingly, CCl₄ droplets with microliter‐size as a representative sample are gathered together to form a larger droplet underwater at the potential of +0.8 V (vs Ag/AgCl), because PPy is in its PFOS‐doped states. Note that CCl₄ droplet can climb uphill successfully on the inclined whelk‐like arrays PPy film under the applied potential of ?1.0 V (vs Ag/AgCl), which may be attributed to wettability gradient derived from different oxidation states of PPy induced by electrochemical potential. These results may provide a simple strategy for on‐demand manipulation of organic droplets underwater at low voltage.     

Root-restricted Kleenean rotations

We generalize the Kleene theorem to the case where nonassociative products are used. For this purpose, we apply rotations restricted to the root of binary trees.     

旋光效应在微位移测量中的实验研究

微位移测量原理有许多种,利用偏振光的旋光效应是一种高效、简洁、精确的新方法.旋光效应是指单色线偏振光在沿光轴方向通过石英晶体时,透射出来的光的振动面会产生旋转的物理现象,其旋转角度与晶体厚度有关.用激光器、起偏器、石英晶体、千分尺等设计了一个微位移测试系统,测试表明:其测量精度能达到0.1 μm,测量范围可达300 μ...