Belief-Driven Manipulator Visual Servoing for Less Controlled Environments

This paper presents the architecture of a feedforward manipulator control strategy based on a belief function that may be appropriate for less controlled environments. In this architecture, the belief about the environmental state, as described by a probability density function, is maintained by a recursive Bayesian estimation process. A likelihood is derived from each observation regardless of whether the targeted features of the environmental state have been detected or not. This provides continuously evolving information to the controller and allows an inaccurate belief to evolve into an accurate belief. Control actions are determined by maximizing objective functions using non-linear optimization. Forward models are used to transform control actions to a predicted state so that objective functions may be expressed in task space. The first set of examples numerically investigates the validity of the proposed strategy by demonstrating control in a two dimensional scenario. Then a more realistic application is presented where a robotic manipulator executes a searching and tracking task using an eye-in-hand vision sensor.     

Dynamic visual tracking based on multiple feature matching and g–h filter

The area-based matching approach has been used extensively in many dynamic visual tracking systems to detect moving targets because it is computation efficient and does not require an object model. Unfortunately, area-based matching is sensitive to occlusion and illumination variation. In order to improve the robustness of visual tracking, two image cues, i.e., target template and target contour, are used in the proposed visual tracking algorithm. In particular, the target contour is represented by the active contour model that is used in combination with the fast greedy algorithm. However, to use the conventional active contour method, the initial contour needs to be provided manually. In order to facilitate the use of contour matching, a new approach that combines the adaptive background subtraction method with the border tracing technique was developed and is used to automatically generate the initial contour. In addition, a g–h filter is added to the visual loop to deal with the latency problem of visual feedback so that the performance of dynamic visual tracking can be improved. Experimental results demonstrate the effectiveness of the proposed approach.     

分类专家咨询系统开发工具EFCTOOL的设计与实现

文章在对实际专家系统和现有的专家系统开发工具进行分析的基础上,探讨了提高专家系统开发工具的适应性的途径;实现了弱逻辑关系及其组合算法1;探讨了提高专家系统开发工具运行效率的途径。同时采用VISUAL PROLOG 4．02实现了一个分类专家咨询系统开发工具EFCTOOL,利用EFCTOOL,可根据需要生成确定或不确定的专家咨询系统。     

Development of the assistive mobile robot system: AMOS—to aid in the daily life of the physically handicapped

It can be exhausting, both physically and emotionally, to assist physically handicapped persons. Therefore, an assistive mobile system called AMOS (Assistive MObile robot System) has been developed to help alleviate this burden. The purpose of AMOS is to pick up and transport daily use objects, placing them in a designated indoor location semi-autonomously. AMOS consists of a self-contained mobile robot body, a user interface with a touch-panel and a computer network (Ethernet LAN, Internet). The user interacts with the mobile robot through a Web browser connected to a computer network, allowing for communication anytime, from anywhere and by anyone. This mode provides a simple way for communicating with and determining the status of the robot. Experiments were performed to verify the successful operation of AMOS. Although the system performed as designed, it would prove useful to the extend service area of the robot through communication mechanisms and the user interface.     

A mechatronic platform for early diagnosis of neurodevelopmental disorders

Neurodevelopmental engineering is a new interdisciplinary research area at the intersection of developmental neuroscience and biomedical engineering, mainly concerned with quantitative analysis and modeling of human behaviour during neural development. Along such a line, our research focuses on early diagnosis of neurodevelopmental disorders such as autism, typically diagnosed after 2–3 years of age. With the purpose of beating new paths in the emerging field of neurodevelopmental engineering, we propose a novel approach to the assessment of basic patterns of goal-directed actions in developing babies, in the 0–24 months of age range, both under laboratory and naturalistic conditions. In particular, we propose novel mechatronic devices, either wearable or embedded into toys, for ecological, unobtrusive assessment of infant behavior. Guidelines for the design of a particular toy embedding both kinematics and force-sensing capabilities as well as of experimental scenarios where similar instrumented toys can be deployed are provided. Preliminary experiments for the technical validation of an early prototype in ecological conditions are also presented.     

A general approach for sensibility analysis in visual servoing

In an experimental robotic context, it is very important to study the robustness of visual servoing control laws with respect to uncertainties that arise on the camera intrinsic and extrinsic parameters. Here we propose a general approach allowing us to analyze the sensibility of such control laws with respect to the camera parameter uncertainties. We only focus on sensibility aspects and do not address the stability analysis problem. The presented approach is validated on several examples which consider uncertainties on focal length, camera optical centers and measurement noise.     

零售业信息管理系统总体设计

本文通过对零售业现有管理系统进行分析设计,结合零售业在进、销、存方面的需求,进行系统的总体设计,主要完成了数据库设计,系统模块功能划分、代码设计等,系统采用VB语言和SQL Server2000作为开发工具,以C／S结构,实现对整个系统的信息化管理。     

Eye movements accompanying daydreaming, visual imagery, and thought suppression.

Relationship between oculometer activity during the waking state and internally produced cognitive processes such as daydreaming and visual imagery were studied by means of continuous electro-oculograms. 24 female college students served as Ss. Eye movements and blinks were more frequent following instructions to engage in active rather than passive thinking; more frequent following instructions to suppress than to generate a wish. Greater ocular activity was observed under instructions to imagine moving than to imagine static visual imagery, the difference holding for both eyes open and closed conditions. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

H.323系统中GK软件的系统测试

本文首先介绍了基于H．323协议的多媒体视讯系统及其中的主要功能模块GK，然后详细介绍了软件系统测试的内容和方法，并在此基础上设计了GK的软件测试方案。在文章的最后，给出了应用自动化测度工具VISUAL TEST进行测试的一个例子。     

高压外绝缘试验环境修正及其程序化

介绍了海拔高度和大气条件对高压产品外绝缘试验电压的影响及影响机理。针对在环境修正过程中繁琐的手工计算过程,为了减少试验误差,提高工作效率,根据试验校正原理,利用VISUALBASIC6.0可视化程序平台开发出一种应用软件。实际应用证明,该软件在实用性以及可操作性方面都非常有效。