某火炮高平机手轮力6σ稳健优化设计

火炮高平机工作环境的温度存在一个波动范围,无法人为控制,影响到其平衡性能和高平机手轮力。传统的优化设计较少考虑温度等不确定性因素对手轮力的影响。为了提高高平机的稳健性和可靠性,降低高平机手轮力对温度变化的敏感度,基于6σ稳健优化方法,将工作温度作为影响手轮力的不确定因素,对高平机进行稳健优化设计。优化结果表明,在温度变化相同幅度时,手轮力变化值减小,优化结果降低了高平机手轮力对温度变化的敏感度,提高了高平机的稳健性。     

基于支持向量机数据分析红外手势识别方法研究

该文提出了利用支持向量机结合仿生六点手势模型优化红外体感控制设备手势识别的方法。采集空间手势信息,仿生六点手势模型提取手势特征向量,利用支持向量机分类及校对数据,引用核函数将低维空间不可分信息映射至高维空间实现线性可分。结果表明,运用基于支持向量机的红外体感设备手势方法能有效识别手势,减轻计算机通信的传输负荷。     

Neuropsychological evidence for visual- and motor-based affordance: Effects of reference frame and object–hand congruence.

Two experiments are reported that use patients with visual extinction to examine how visual attention is influenced by action information in images. In Experiment 1 patients saw images of objects that were either correctly or incorrectly colocated for action, with the objects held by hands that were congruent or incongruent with those used premorbidly by the patients. The images were also shown from a 1st- and 3rd-person perspective. There was an overall reduction in extinction for objects colocated for action. In addition, there was an extra benefit when the objects were held in hands congruent with those used by the patients and when the objects were seen from a 1st-person perspective. This last result fits with an effect of motor simulation, over and above a purely visual effect based on positioning objects correctly for action. Experiment 2 showed that effects of hand congruence could emerge with images depicted from a 3rd-person perspective when patients saw themselves holding the objects. The data indicate 2 effects of action information on extinction: (a) an effect of colocating objects for action, which does not depend on a self-reference frame (a visual effect), and (b) an effect sensitive to object–hand congruence, which does depend on a self-reference frame (a motor-based effect). The self-reference frame is induced when stimuli are viewed from a 1st-person perspective and when an image of the self is seen from a 3rd-person perspective. Both visual and motor-based effects of action information facilitate the spread of attention across objects. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

多指拟人手的控制

多指多关节拟人手是一种机器人的通用型灵巧终端执行器,同时它也是当前假肢领域中的一项重要研究课题。本文首先讨论当前机械手的力/位置同时控制方法,然后针对拟人手的传动特点,讨论拟人手单指及多指协调控制的设计。     

电刺激皮肤假手力感反馈信息规律研究

佩戴具有力感的假手使残肢者获得类似真手的机械功能和感觉功能——能感知假手的握力。这是假手发展的更高级阶段. 作者进行了用金属接触电极发出的电脉冲刺激皮肤的感觉试验研究,以探索人体感觉与电脉冲刺激信号的某些规律.本文总结了作者的部分研究成果,阐述下述三个问题: 1)皮肤敏感、适宜的电刺激脉冲的波形、幅值及频率等参数; 2)不产生“感觉适应现象”的间歇刺激脉冲; 3)代表假手握力的电刺激脉冲模式. 上述研究,是开发智能假手的基础研究,为研制具有力感的假手的握力电刺激反馈信号发生器提供设计依据.     

一种新的交互式买方-卖方数字水印协议

对国内外现阶段提出的协议进行了分析,并在Memon N协议的基础上提出了一种交互式买方-卖方数字水印协议.该协议能有效的应用于多方交易和二手交易,并使买卖双方实现了真正的匿名交易.     

Combining Generative and Discriminative Models in a Framework for Articulated Pose Estimation

We develop a method for the estimation of articulated pose, such as that of the human body or the human hand, from a single (monocular) image. Pose estimation is formulated as a statistical inference problem, where the goal is to find a posterior probability distribution over poses as well as a maximum a posteriori (MAP) estimate. The method combines two modeling approaches, one discriminative and the other generative. The discriminative model consists of a set of mapping functions that are constructed automatically from a labeled training set of body poses and their respective image features. The discriminative formulation allows for modeling ambiguous, one-to-many mappings (through the use of multi-modal distributions) that may yield multiple valid articulated pose hypotheses from a single image. The generative model is defined in terms of a computer graphics rendering of poses. While the generative model offers an accurate way to relate observed (image features) and hidden (body pose) random variables, it is difficult to use it directly in pose estimation, since inference is computationally intractable. In contrast, inference with the discriminative model is tractable, but considerably less accurate for the problem of interest. A combined discriminative/generative formulation is derived that leverages the complimentary strengths of both models in a principled framework for articulated pose inference. Two efficient MAP pose estimation algorithms are derived from this formulation; the first is deterministic and the second non-deterministic. Performance of the framework is quantitatively evaluated in estimating articulated pose of both the human hand and human body. Most of this work was done while the first author was with Boston University.     

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅰ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.     

单模光纤传输系统的扩容

综述最近几年来在扩大单模光纤传输容量方面的进展,包括密集波分复用,光纤有效截面与色散斜率的优化,第四、第五窗口的应用等;还介绍了几个光纤制造厂在这些方面所推出的新型单模光纤;最后对我国今后扩充光纤网络方面提出几点建议。     

仿人灵巧手关节的位置/力矩控制

为了使仿人灵巧手完成各种精细作业,提出了一种新的关节位置／力矩控制方法。在自由空间和约束空间中分别采用滑模位置控制和具有前馈的PD力矩控制,在过渡过程中使用系统观测器切换控制模式。这种方法可以使关节在自由空间和约束空间中分别实现良好的轨迹跟踪和力矩跟踪,在过渡过程中实现控制模式的可靠切换和系统的稳定过渡。实验证明了该方法的有效性。