Pedestrian detection and tracking at crossroads

This paper presents a system that can perform pedestrian detection and tracking using vision-based techniques. A very important issue in the field of intelligent transportation system is to prevent pedestrians from being hit by vehicles. Recently, a great number of vision-based techniques have been proposed for this purpose. In this paper, we propose a vision-based method, which combines the use of a pedestrian model as well as the walking rhythm of pedestrians to detect and track walking pedestrians. Through integrating some spatial and temporal information grabbed by a vision system, we are able to develop a reliable system that can be used to prevent traffic accidents happened at crossroads. In addition, the proposed system can deal with the occlusion problem. Experimental results obtained by executing some real world cases have demonstrated that the proposed system is indeed superb.     

局域网服务器缓冲区容量的Petri网设计方法

本文在分析局域网服务器信息缓冲区、数据包接受和发送缓冲区的相互关系基础上提出一种新的局域网服务器缓冲区设计方法─—广义随机Ｐｅｔｒｉ网方法，并给出了局域网服务器信息缓冲区的广义随机Ｐｅｔｒｉ网模型。该设计方法理论完备、严谨实用，且不再局限于追求某一边界值（上限或下限），并且避免了排队理论处理多级服务的繁琐公式。最后本文用一例题说明了这种方法的应用。     

The Appropriation of the Material of Places in the Landscape: the case of tufa and springs

Springs have long been recognized as being significant places in the landscape, and there is ample evidence of later-prehistoric and Roman activity at spring sites. The Christian appropriation of springs as 'places', either indirectly by assigning their origin to saints, or directly by building chapels and churches on spring-head sites, is also well evidenced. The possibility that the material of petrifying springs - tufa - was both transplanted and appropriated, and that the symbolic properties of the material may go back well into British prehistory, is explored.     

卸煤机走行部的技术改造

通过对卸煤机走行部的技术改造,提高了工作效率,节省了维修费用。     

对梁,底组合步进式加热炉半热滑轨的改进实践

介绍了间断式半热滑轨的研制和应用过程，以及经过节能技术改造，用新型半热滑轨代替老式滑轨的使用。实践表明，不但解决了以往的水梁漏水的问题，而且使线Ｃ级品率提高了３．３９％，每年可增产３５００ｔ线材，吨钢热涌单耗降低０．１４ＧＪ，年创经济效益２３９万元。     

Design and control of a planar bipedal robot ERNIE with parallel knee compliance

This paper presents the development of the planar bipedal robot ERNIE as well as numerical and experimental studies of the influence of parallel knee joint compliance on the energetic efficiency of walking in ERNIE. ERNIE has 5 links—a torso, two femurs and two tibias—and is configured to walk on a treadmill so that it can walk indefinitely in a confined space. Springs can be attached across the knee joints in parallel with the knee actuators. The hybrid zero dynamics framework serves as the basis for control of ERNIE’s walking. In the investigation of the effects of compliance on the energetic efficiency of walking, four cases were studied: one without springs and three with springs of different stiffnesses and preloads. It was found that for low-speed walking, the addition of soft springs may be used to increase energetic efficiency, while stiffer springs decrease the energetic efficiency. For high-speed walking, the addition of either soft or stiff springs increases the energetic efficiency of walking, while stiffer springs improve the energetic efficiency more than do softer springs. Electronic Supplementary Material  The online version of this article () contains supplementary material, which is available to authorized users.

高压变频器在重钢步进梁式加热炉风机控制中的应用

本文介绍HARSVERT—A系列高压变频器在重钢宽厚板工程步进梁式加热炉风机功率控制中的应用,主要论述了所采用的高压变频器的原理及控制系统技术方案。     

一种排课问题的形式化描述体系和框架

排课问题主要解决时间和空间资源冲突,以优化教学资源和教学时间的分配,实现教学资源的负载均衡.提出一种新的排课约束的表述框架--时间地点限定表达式,可以通过形式推理缩减排课问题空间,支持基于案例和规则的排课问题求解.     

Fault detection for discrete event systems using Petri nets with unobservable transitions

In this paper we present a fault detection approach for discrete event systems using Petri nets. We assume that some of the transitions of the net are unobservable, including all those transitions that model faulty behaviors. Our diagnosis approach is based on the notions of basis marking and justification, that allow us to characterize the set of markings that are consistent with the actual observation, and the set of unobservable transitions whose firing enable it. This approach applies to all net systems whose unobservable subnet is acyclic. If the net system is also bounded the proposed approach may be significantly simplified by moving the most burdensome part of the procedure off-line, thanks to the construction of a graph, called the basis reachability graph.     

Stability analysis and time-varying walking control for an under-actuated planar biped robot

This paper presents two walking controllers for a planar biped robot with unactuated point feet. The control is based on the tracking of reference motions expressed as a function of time. First, the reference motions are adapted at each step in order to create a hybrid zero dynamic (HZD) system. Next, the stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. When the controlled outputs are selected to be the actuated coordinates, most periodic walking gaits for this robot are unstable, that is, the eigenvalues of the linearized Poincaré map (ELPM) is larger than one. Therefore, two control strategies are explored to produce stable walking. The first strategy uses an event-based feedback controller to modify the ELPM and the second one is based on the choice of controlled outputs. The stability analysis show that, for the same robot and for the same reference trajectory, the stability of the walking (or ELPM) can be modified by some pertinent choices of controlled outputs. Moreover, by studying some walking characteristics of many stable cases, a necessary condition for stable walking is proposed. It is that the height of swing foot is nearly zero at the desired moment of impact. Based on this condition, the duration of the step is almost constant in presence of initial error, so a method for choosing controlled outputs for the second controller is given. By using this method, two stable domains for the controlled outputs selection are obtained.