MOBSY: Integration of vision and dialogue in service robots

Abstract. This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based receptionist for visitors to our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics. Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological and on the technical level. We describe the task and the techniques involved. Finally, we discuss the experiences that we gained with MOBSY during a live performance at our institute.     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Diameter NASREQ协议在卫星移动通信系统中的应用研究

如何对接入网络的用户进行身份认证、授予相应权限并进行计费,是卫星移动通信系统网络管理需解决的重要问题。简要介绍认证、授权、计费(AAA)的基本概念,分析Diameter协议框架、协议原理以及协议应用于网络接入的特点。阐述协议中包含的各种应用,给出Diameter NASREQ应用的一种系统模型。重点研究Diameter NASREQ协议在卫星移动通信系统中的应用,详述应用中客户机和服务器中各模块的功能和工作原理。通过分析,说明该应用的可行性及有效性。     

General Solution for the Dynamic Modeling of Parallel Robots

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Categories (2), (3).     

应用于ROHC的窗基LSB编解码修正算法实现机制

在移动：IPv6中，常常因为数据分组的头标太大而消耗过多的带宽，因而需要使用灵活可靠的鲁棒性头标压缩机制(ROHC)来对分组头标进行压缩。在ROHC中，使用LSB编码方案对分组中那些变化比较小的头标域进行编码。本文将在简要介绍ROHC原理的基础上，深入探讨应用于ROHC的窗基LSB编解码修正算法的实现机制。     

透析3G在中国面临的重重困局(1)--牌照与标准选择

探讨了中国3G牌照何时发放、发放数量、牌照与标准是否捆绑、3G产业链如何搭建、频率如何分配、市场容量和终端等问题，并对此提出了建设性的意见。     

中国的三种非同步轨道卫星移动通信系统星座方案

本文介绍基于我国的三种非同步轨道卫星移动通信系统星座方案：低、中轨系统各有２４和１８颗星，轨道高度分别为１３２６和８０３５ｋｍ，两系统各以５°和３０°的仰角对我国的覆盖率为９９．７８％和９９．９６％；椭圆轨道系统１２颗星，近、远地点分别为４２７和２９０６ｋｍ，以７°和１５°仰角对我国北纬２０°以上地区覆盖率分别为９７．９０％和８９．６１％，若增加４颗中轨卫星，以１５°仰角对我国的覆盖率为９９．９９％。     

6m焦炉移动设备故障分析及处理

对6m焦炉移动设备运行特点及损坏原因进行了分析，并对6m焦炉移动设备PLC系统，液压系统的故障及其处理方法进行了探讨。     

美籍华裔专家讲通信工程技术新动态

本文扼要介绍１９９５年北京中美工程技术研讨会通信组五位美籍华裔专家关于通信技术新动态的专题报告。一是宽带综合业务数字网的同步数字系列（ＳＤＨ）和异步转移模式（ＡＴＭ）；二是光纤通信系统的光放大器（ＯＦＡ）、波分多路（ＷＤＭ）、光电子集成（ＯＥＩＣ）、色散补偿和新型光纤；三是蜂窝网车载移动通信和全国性个人通信业务（ＰＣＳ）、时分多址（ＴＤＭＡ）和码分多址（ＣＤＭＡ），四是智能网（ＩＮ）体系结构、概念模型和业务管理系统（ＳＭＳ）；五是数字传输网的恢复（ＦＡＳＴＡＲ）、维护（ＴＭＰ）和供应（ＴＳＮＯＷ）三种管理平台，及综合网络管理系统（ＩＮＭＳ）。