视频序列中运动对象检测技术的研究现状与展望*

将运动对象检测技术分为变化检测、运动检测和特征检测三类,介绍了各类技术的思想,对现有方法进行了归类,指出各方法的本质区别,从理论和实验两方面剖析其优势和不足并指出了适用场合。讨论了目前视频运动对象检测技术存在的问题,展望了未来的发展方向。     

基于Solid Edge软件的虚拟装配及运动仿真

介绍了Solid Edge软件装配模块的主要功能，以油泵主要部件为对象进行虚拟装配设计，并进行了干涉检查，实现了运动仿真。     

PMAC多轴运动控制器应用研究

本文通过对PMAC多轴运动控制器应用方案的论述，介绍了利用PMAC构建一个机电一体化实验装置所需要的软硬件结构，以及构建系统的方法、解决手段和需要注意的事项。     

基于开放式运动控制器的数控系统的硬件设计

介绍研究基于开放式运动控制器的数控系统的硬件设计，提出一套完整数控系统的机械以及电气解决方案。并在整个设计过程中强调模块化设计思想和各模块的可替换性，其中包括运动控制器的技术要求和接口特性；机械模块的组成和安装要求；关键电气元器件的电气特性和技术要求；以及在它们在组装成数控系统时的接口针脚定义和安装布线要求等；还简要介绍了其它附属传感器的安装和电气特性要求等；最后分析了这种数控系统的优缺点和它的发展前景。     

基于Windows 2000下开放式数控系统软件的开发

基于PC机和Windows操作系统的开放式数控系统是数控技术的大势所趋.文章首先介绍了数控机床的发展历程,并分析传统数控系统不足和基于PC的开放式数控技术的优点的基础上,论述了基于Windows2000操作系统下,开放式数控系统软件的研究和开发过程.重点阐述了在Microsoft Visual C 下系统人机交互界面的设计、工控PC机控制运动控制卡的接口软件模块、PC机与主轴控制变频器的RS485串行口通讯软件模块的的编写,同时给出了主要程序代码.该数控系统现在已经在调试之中,并且达到了预期的加工精度和效果.     

机械压力机低速锻冲急回机构运动特性的研究

在分析通用机械压力机曲柄连杆滑块工作机构运动特性存在不足的基础上，提出研制一种具有低速锻冲急回特性的新机构十分必要，指出了该低速锻冲急回机构应满足的五点要求。介绍了目前常见的低速锻冲急回机构——负偏置机构、连杆曲线型六杆机构、齿轮连杆组合机构、椭圆齿轮机构和双曲柄串连机构等的运动特性、优缺点及其适用场合。明确指出双曲柄串联曲柄滑块机构综合性能最好，并介绍了该机构在开式机身闭式传动曲轴纵放的800kN通用机械压力机上的应用。     

Single-view-based 3D facial reconstruction method robust against pose variations

The 3D Morphable Model (3DMM) and the Structure from Motion (SfM) methods are widely used for 3D facial reconstruction from 2D single-view or multiple-view images. However, model-based methods suffer from disadvantages such as high computational costs and vulnerability to local minima and head pose variations. The SfM-based methods require multiple facial images in various poses. To overcome these disadvantages, we propose a single-view-based 3D facial reconstruction method that is person-specific and robust to pose variations. Our proposed method combines the simplified 3DMM and the SfM methods. First, 2D initial frontal Facial Feature Points (FFPs) are estimated from a preliminary 3D facial image that is reconstructed by the simplified 3DMM. Second, a bilateral symmetric facial image and its corresponding FFPs are obtained from the original side-view image and corresponding FFPs by using the mirroring technique. Finally, a more accurate the 3D facial shape is reconstructed by the SfM using the frontal, original, and bilateral symmetric FFPs. We evaluated the proposed method using facial images in 35 different poses. The reconstructed facial images and the ground-truth 3D facial shapes obtained from the scanner were compared. The proposed method proved more robust to pose variations than 3DMM. The average 3D Root Mean Square Error (RMSE) between the reconstructed and ground-truth 3D faces was less than 2.6 mm when 2D FFPs were manually annotated, and less than 3.5 mm when automatically annotated.     

A new high accuracy method for two-dimensional biharmonic equation with nonlinear third derivative terms: application to Navier–Stokes equations of motion

In this paper, we propose a new compact fourth-order accurate method for solving the two-dimensional fourth-order elliptic boundary value problem with third-order nonlinear derivative terms. We use only 9-point single computational cell in the scheme. The proposed method is then employed to solve Navier–Stokes equations of motion in terms of streamfunction–velocity formulation, and the lid-driven square cavity problem. We describe the derivation of the method in details and also discuss how our streamfunction–velocity formulation is able to handle boundary conditions in terms of normal derivatives. Numerical results show that the proposed method enables us to obtain oscillation-free high accuracy solution.     

旋翼飞行机器人研究进展

旋翼飞行机器人是面向空中自主作业需求,将旋翼飞行器与多自由度机械臂相结合所提出的新型机器人.该机器人作业过程中旋翼飞行器、机械臂与作业目标之间的动态相对运动以及与作业目标接触过程中未建模外力、力矩扰动使自主控制受到极大挑战.本文将针对旋翼飞行机器人的结构演变及关键技术、作业机构集成技术进行综述.从动力学建模及动力学特性分析、动态运动约束/力约束下的协调规划、非结构环境下的运动和作业控制、面向任务动态操作的环境感知、面向任务的实验系统构建与实验验证五个方面初步构建了旋翼飞行机器人自主作业理论体系.     

基于IPC与运动控制卡的机器人运动控制系统

工控机(IPC)和运动控制卡组成的开放式机器人控制系统,具有可靠性高、信息处理能力强、开放程度高、运动轨迹准确等优点,利用其来进行六自由度关节机器人的运动控制系统的开发.IPC实现上位机功能,完成人机交互、运动学运算等任务.下位机采用PMAC运动控制卡,对各关节电机进行伺服控制.上位机基于Visual C++编程,通过调用PMAC的动态链接库编写上位机人机界面实现对PMAC卡的控制,另外介绍了伺服驱动器的设置以及PMAC的PID调节.实践证明这套系统工作可靠,完全满足要求.