一种弧焊机器人实时激光扫描视觉系统

研制了一种小型高精度弧焊机器人实时激光扫描视觉系统，对其各项性能进行了测试，并进行了抗电弧光干扰试验，结果表明，此系统精度高，抗干扰能力强，检测范围宽，能广泛地应秀于机器人和自动化焊接中。     

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 Cartesian 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. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

Ranking with uncertain labels and its applications

The techniques for image analysis and classification generally consider the image sample labels fixed and without uncertainties. The rank regression problem studied in this paper is based on the training samples with uncertain labels, which often is the case for the manual estimated image labels. A core ranking model is designed first as the bilinear fusing of multiple candidate kernels. Then, the parameters for feature selection and kernel selection are learned simultaneously by maximum a posteriori for given samples and uncertain labels. The provable convergency Expectation Maximization (EM) method is used for inferring these parameters in an iterative manner. The effectiveness of the proposed algorithm is finally validated by the extensive experiments on age ranking task and human tracking task. The popular FG-NET and the large scale Yamaha aging database are used for the age estimation experiments, and our algorithm outperforms those state-of-the-art algorithms ever reported by other interrelated literatures significantly. The experiment result of human tracking task also validates its advantage over conventional linear regression algorithm. A short version of this paper appeared in ICME07.     

调节对象参数和运动特性随工况变化的分析

水轮机调节对象的许多参数都是随运行工况变化的。以调节对象线性化模型为基础，从1个实例计算人手，计算了不同工况下水轮机传递系数和发电机6个参数的变化情况，进而计算这些参数变化对捌节对象特征根的影响。通过汁算表明，其水力振荡衰减速度与出力有关．而系统的其他运动特性随工况变化较小。     

Mutual information based registration of multimodal stereo videos for person tracking

Research presented in this paper deals with the systematic examination, development, and evaluation of a novel multimodal registration approach that can perform accurately and robustly for relatively close range surveillance applications. An analysis of multimodal image registration gives insight into the limitations of assumptions made in current approaches and motivates the methodology of the developed algorithm. Using calibrated stereo imagery, we employ maximization of mutual information in sliding correspondence windows that inform a disparity voting algorithm to demonstrate successful registration of objects in color and thermal imagery. Extensive evaluation of scenes with multiple objects at different depths and levels of occlusion shows high rates of successful registration. Ground truth experiments demonstrate the utility of the disparity voting techniques for multimodal registration by yielding qualitative and quantitative results that outperform approaches that do not consider occlusions. A basic framework for multimodal stereo tracking is investigated and promising experimental studies show the viability of using registration disparity estimates as a tracking feature.     

基于类库思想的Powerbuilder录入界面实现

在ERP及其他数据库开发项目中．方便而操作风格一致的录入界面是被用户所广泛要求的。笔者在工程项目中总结了部分用户需要的功能．并在PowerBuilder中以基类的形式实现．在加快工程进度和方便用户方面取得了不错的效果。     

Boundary Constrained Swept Surfaces for Modelling and Animation

Due to their simplicity and intuitiveness, swept surfaces are widely used in many surface modelling applications. In this paper, we present a versatile swept surface technique called the boundary constrained swept surfaces. The most distinct feature is its ability to satisfy boundary constraints, including the shape and tangent conditions at the boundaries of a swept surface. This permits significantly varying surfaces to be both modelled and smoothly assembled, leading to the construction of complex objects. The representation, similar to an ordinary swept surface, is analytical in nature and thus it is light in storage cost and numerically very stable to compute. We also introduce a number of useful shape manipulation tools, such as sculpting forces, to deform a surface both locally and globally. In addition to being a complementary method to the mainstream surface modelling and deformation techniques, we have found it very effective in automatically rebuilding existing complex models. Model reconstruction is arguably one of the most laborious and expensive tasks in modelling complex animated characters. We demonstrate how our technique can be used to automate this process.     

Heterogeneous object modeling: A review

A review on the recent development in heterogeneous object modeling is provided in this paper. General problems and prevalent solutions to the modeling of heterogeneous objects are investigated. Vigorous heterogeneous object representations are roughly classified into three major categories: evaluated models, unevaluated models and composite models. We reveal their similarities and study their strengths and weaknesses in terms of the representational capacities, intuitiveness, exactness, compactness, efficiency and other criteria. Different design paradigms are briefly reviewed to provide an overview of the state-of-the-art in heterogeneous object design. Finally, open problems and possible future directions are discussed.     

Testing the robustness of CIECAM02

CIE TC8‐01 has adopted a new color appearance model: CIECAM02¹ replaces the CIECAM97s.² The new model consists of a number of refinements and simplifications of the CIECAM97s color appearance model. This article describes further tests to the robustness of the forward and reverse modes. © 2005 Wiley Periodicals, Inc. Col Res Appl, 30, 99–106, 2005; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/col.20087     

一种识别薄板对接接头的视觉方法

对薄板紧密对接接头的识别问题进行了深入的分析，提出了由照明、自适应局部特征提取、全局特征识别和验证融合在一起的视觉识别方法。它克服了电弧光的干扰，识别结果可靠，可以有效地解决薄板紧密对接接头识别这一难题。