Contact Stability Analysis of a One Degree-of-Freedom Robot

The aim of this note is to examine the conditions of stability of a simple robotic task: we consider a one degree-of-freedom (dof) robot that collides with a spring-like environment with stiffness k, the goal being to stabilize the system in contact with the environment. We study conditions on the feedback gains that guarantee quadratic Lyapunov stability of the task with a well-conditioned solution to the Lyapunov equation. It is shown that when the environment's stiffness k grows unbounded, those conditions yield unbounded values of the gains. Motivated by the stability analysis of the impact Poincaré map in the perfectly rigid case ( ), we propose an analysis that is independent of k. It enables us to conclude on global asymptotic convergence of the system's state towards the equilibrium point. This work can also be seen as the study of stability of a contact (force control) phase, taking into account the unilateral feature of the constraint.     

Morphological Models for the Collapse of Area Features in Digital Map Generalization

Collapse is an essential operation for the manipulation of area features in digital data generalization. This operation can be categorized into two types: complete collapse and partial collapse. The former is composed of another two types: area-to-point and area-to-line collapse. In this paper, a set of algebraic models built upon the operators in mathematical morphology is described for the area-to-line collapse and partial collapse operations. For the area-to-line collapse operation, a modified skeleton algorithm is presented. For the partial collapse operation, a procedure is designed which consists of a set of operations, i.e., the skeletonization, separation of areal and linear parts, simplification of areas and an overlay operation. These models are tested using real map data sets.     

自组织映射法在机械故障诊断中的应用

自组织映射法是由Ｔ．Ｋｏｈｏｎｅｎ提出的一种人工神经网络模式,它能把高维的信息数据以有序方式映射到低维的网络上,形成一种拓扑意义上的有序图。由于其有序性,使得信号空间图成为许多输入信息及其关系的群落图。每个图可用灰度深浅不等的方块阴影图表示出来,这种可视的图形表示了机械运行的状态。人们可以非常直观地从图上判断机械运行状态,从而使得机械运行状态的监测和故障诊断更为简便。     

基于全向视觉的移动机器人实时全局地图构建

实时全局地图构建是实现移动机器人智能化的关键;研究了一种基于全向视觉的移动机器人全局地图的实时构建方法.首先介绍了全向视觉的体系结构,然后对图像处理软件的相关模块,包括基于颜色的阈值分割、区域连通、特征提取和目标识别等进行了说明,最后通过坐标的转换实现全局地图的构建;实验结果表明,由于充分利用了全向视觉的特性,构建的全局地图准确性高、实时性好,完全能够满足移动机器人对环境建模的需要.     

Efficient random saliency map detection

Most image retargeting algorithms rely heavily on valid saliency map detection to proceed. However, the inefficiency of high quality saliency map detection severely restricts the application of these image retargeting methods. In this paper, we propose a random algorithm for efficient context-aware saliency map detection. Our method is a multiple level saliency map detection algorithm that integrates multiple level coarse saliency maps into the resulting saliency map and selectively updates unreliable regio...     

A novel iterative shape from focus algorithm based on combinatorial optimization

Shape from focus (SFF) is a technique to estimate the depth and 3D shape of an object from a sequence of images obtained at different focus settings. In this paper, the SFF is presented as a combinatorial optimization problem. The proposed algorithm tries to find the combination of pixel frames which produces maximum focus measure computed over pixels lying on those frames. To reduce the high computational complexity, a local search method is proposed. After the estimate of the initial depth map solution of an object, the neighborhood is defined, and an intermediate image volume is generated from the neighborhood. The updated depth map solution is found from the intermediate image volume. This update process of the depth map solution continues until the amount of improvement is negligible. The results of the proposed SFF algorithm have shown significant improvements in both the accuracy of the depth map estimation and the computational complexity, with respect to the existing SFF methods.     

混沌背景中微弱信号参数估计新方法

本文提出一种基于单向耦合同步的混沌背景中谐波频率估计的新方法。该方法把混沌背景中的谐波频率估计问题转变为同步误差中的谐波频率估计问题,改善了信噪比,在混沌背景中存在强随机噪声情况下,仍能估计出谐波信号频率。仿真实验表明,该方法简单有效,计算量小,且估计效果要优于RBF神经网络方法。     

浅析次世代单机游戏

近些年来游戏产业空前发展,现已成为网络经济及文化娱乐业的重要组成部分。次时代游戏有其独特的形式与审美视觉价值被大家所认知。随着国外信息技术不断冲击国内游戏产业促使国内网游业集成了新技术,譬如次时代网游,国内知名的游戏公司久游首先利用了法线技术,运用到中国式的网游业中。其二是电脑硬件的提升有利于新技术的空前发展。文章粗浅总结一下次世代游戏单机的三维制作基本流程。     

基于三维分割的图像加密算法

为了实现图像安全、快速加密,设计了一种新的数字图像混沌加密算法.仿真结果表明,该算法在没有扩散函数的情况下也能很好地改变图像的直方图,可以有效地抵制已知(选择)明文攻击,而且只有1次左映射或者右映射的情况下,该方法具有高置乱程度、良好的扩散性能和足够大的密钥空间,可获得足够高的安全性.     

Adaptive sliding mode control of chaotic dynamical systems with application to synchronization

We address the problem of control and synchronization of a class of uncertain chaotic systems. Our approach follows techniques of sliding mode control and adaptive estimation law. The adaptive algorithm is constructed based on the sliding mode control to ensure perfect tracking and synchronization in presence of system uncertainty and external disturbance. Stability of the closed-loop system is proved using Lyapunov stability theory. Our theoretical findings are supported by simulation results.