一种基于光照变化补偿的颜色识别方法

针对RoboCup中型组足球机器人比赛中光照变化会使颜色发生色彩漂移,影响颜色识别的准确性问题,提出一种基于光照变化补偿的颜色识别方法。该方法首先利用球的历史信息预测球的位置,然后在较小的区域内用基于色调直方图反向投影的方法找到球后,通过球的亮度直方图的变化计算出光照变化率,用于动态补偿颜色查找表。实验表明该方法能提高颜色识别的光照自适应性。     

MC算法在医学图像三维重建中的应用

详细介绍了MC算法,提出了优化网格模型简化算法。优化网格模型简化算法选取坐标点的原则是,尽可能地接近原始网格,通常采用子集选择法或优化选择法。在尽可能保证图像精度的前提下,优化网格模型简化算法可以提高运算速度,而单纯的网格算法由于失真严重而缺乏实用价值。基于体绘制的网格化简化算法重建的三维模型比较完全,且算法简单,在多排螺旋CT等医学图像三维重建中有较好的应用。     

基于SAP接口技术的移动终端解决方案

越来越多的企业正在或者即将用SAP作为ERP的应用载体。企业在得益于ERP精细化管理的同时,往往也为ERP与其他子系统整合集成所烦恼。介绍了几种应用于SAP的接口技术,其中包括RFC、ALE-IDOC、BAPI、SAP-DCOM以及Web Service接口技术。并且在此基础上,列举了企业内部的一个实例,展现了SAP通过接口技术与外部的PDA移动终端系统整合,从而解决了维修服务行业从接收工单、记录维修、备件管理等在移动环境下的应用需求。     

Robust pole assignment for incomplete nonlinear decoupling applied to robots

A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H ₁- and H - norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment.     

Image quality evaluation for OLED-based smart-phone displays at various lighting conditions

The image quality of three organic light-emitting diode (OLED) based smart-phone displays was assessed at three levels of ambient lighting conditions corresponding to the darkroom, indoor and outdoor environment, respectively. Seven perceptual attributes, i.e., naturalness, colorfulness, brightness, contrast, sharpness, preference, and overall image quality (IQ), were evaluated in both standard dynamic range (SDR) and high dynamic range (HDR) mode via psychophysical experiments by rank order method, while readability was assessed only in SDR mode and gradation was investigated only in HDR mode. The experimental results demonstrate that, besides the color gamut, the tone reproduction curve is also an important factor affecting the colorfulness of mobile display in the two modes. Higher peak luminance would not mean better performance on brightness and contrast for HDR images, which is opposite to SDR mode. Further analysis of variance (ANOVA) indicates that the ranking results of all perceptual attributes are not significantly affected by the ambient lighting levels in both SDR and HDR modes.     

An Intelligent Robust Tracking Control for a Class of Electrically Driven Mobile Robots

This paper addresses the problem of designing robust tracking control for a class of uncertain wheeled mobile robots actuated by brushed direct current motors. This class of electrically‐driven mechanical systems consists of the robot kinematics, the robot dynamics, and the wheel actuator dynamics. Via the backstepping technique, an intelligent robust tracking control scheme that integrates a kinematic controller and an adaptive neural network‐based (or fuzzy‐based) controller is developed such that all of the states and signals of the closed‐loop system are bounded and the tracking error can be made as small as possible. Two adaptive approximation systems are constructed to learn the behaviors of unknown mechanical and electrical dynamics. The effects of both the approximation errors and the unmodeled time‐varying perturbations in the input and virtual‐input weighting matrices are counteracted by suitably tuning the control gains. Consequently, the robust control scheme developed here can be employed to handle a broader class of electrically‐driven wheeled mobile robots in the presence of high‐degree time‐varying uncertainties. Finally, a simulation example is given to demonstrate the effectiveness of the developed control scheme.     

Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of the mobile robot velocity is obtained as the simple average of the optical mouse velocity readings. Second, it is shown that a redundant number of optical mice contributes to the robustness of the least squares mobile robot velocity estimation against both measurement noises and partial malfunction of optical mice. Third, the sensitivity analysis of the least squares mobile robot velocity estimation to imprecise installation of optical mice is made, from which a practical method of optical mouse position calibration is devised. Finally, some experimental results using commercial optical mice are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

一种引入通信的多移动机器人编队方法*

提出以视觉跟踪为基础并引入通信进行多机器人的编队控制方法,根据需要编写了一种新的通信协议,采用闭环l-Φ实现编队算法.这种多机器人编队控制避免了视觉系统的局限,能够更好地在复杂未知环境中协作完成任务,解决了编队控制的无反馈和实时性不高的问题,使得机器人能够准确迅速地进行跟踪和通信编队,一起顺利达到目标点.试验结果证明了该方法的有效性.     

Mobile learning in chemical engineering: An outlook based on case studies

In the context of the electronic learning (E-learning) methodology, mobile learning (M-learning) focuses on the use of portable technology (such as mobiles or tablets) and the mobility of students. E-learning, and particularly M-learning, can be implemented in combination with other pedagogical methodologies for chemical engineering teaching and learning. We can consider that the vast majority of undergraduates own personal mobile devices nowadays. Moreover, many case studies have shown that M-learning is an effective methodology to capture students’ attention and to actively engage them in the learning process. In most cases, lecturers have reported an improvement in both academic performance and qualifications and have expressed a favourable opinion towards this type of initiative in surveys. In line with the increasing interest in the incorporation of E-learning, this review discusses cases studies based on M-learning within the field of chemical engineering teaching through different technological platforms and apps which can be installed or directly used on mobile devices. All the platforms described in this work offer a free version, emphasizing the possibility of extending this methodology within the university with no need for additional economic resources.     

Mobile augmented reality based context-aware library management system

Mobile augmented reality has gained popularity in recent years due to the technological advances of smartphones and other mobile devices. One particular area in which mobile augmented reality is being used is library management. However, current mobile augmented reality solutions in this domain are lacking in context-awareness. It has been suggested in the literature that agent programming may be suitable at overcoming this problem, but little research has been conducted using modern mobile augmented reality applications with agents. This paper aims to bridge this gap through the development of an agent-based, mobile augmented reality prototype, titled Libagent. Libagent was subjected to five experiments to determine its suitability, efficiency, and accuracy for library management. The results of these experiments indicate that agent-based mobile augmented reality is a promising tool for context-aware library management.