A new method which can segment gesture from general and complex backgrounds is introduced. First, this method deals the gesture picture which is get in the general background by convolute filter, and verifies clusteri...
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A new method which can segment gesture from general and complex backgrounds is introduced. First, this method deals the gesture picture which is get in the general background by convolute filter, and verifies clustering character of complexion, then by the complexion and geometry characters of the gestures, this method segments gestures from the backgrounds successfully. At last, by experiments of different backgrounds and eight different gestures, the validity of the method is verified, static state identify rate is 99%.
By integrating mean shift and particle filter, a new method for robotics visual tracking is proposed based on similarity distance. The method mainly depends on particle filter, and the particle number is proportional ...
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By integrating mean shift and particle filter, a new method for robotics visual tracking is proposed based on similarity distance. The method mainly depends on particle filter, and the particle number is proportional to the similarity distance. When the particle number exceeds the threshold, a small number of particles integrated with mean shift replace the traditional particle filter. After the tracking algorithm of each frame is finished, the similarity distance between the target and the model is calculated, which will adjust the number of the particles and determine whether the mean shift algorithm is called for the next frame. Moreover, the correlation coefficient between the particle number and the similarity distance is set through experiments. A frame tracking consumes about 5-10 ms. The experiment shows that our method can achieve accurate and real time tracking.
Focusing on issues of map-distortion caused by accumulated error in mapping with only odometer and sonar sensors, new infrared location lags as absolute landmarks are introduced and build a topological map. Then a gri...
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Focusing on issues of map-distortion caused by accumulated error in mapping with only odometer and sonar sensors, new infrared location lags as absolute landmarks are introduced and build a topological map. Then a grid map is also built in the topological map and landmark information updates related incremental map on Bayesian theory. As result, the hybrid map reduces the accumulated error of sensors and improves the stability of the built map. Moreover, improved particle filter is used for robot localization, which based on the high weight adaptive algorithm can solve particle degradation of the traditional particle filters, because high weight particles and the surrounding space describe robot pose with high probability. Finally, results of experiments show that the map is effectively build based on grid map guided by absolute landmarks in 250 cm × 500 cm area, and improved particle filter can finish self-localization, error of which is less than 2 cm. Besides, localization test proves that improved particle is effective to solve degradation of particles.
For improving displacement sensor sensitivity to detect the motion in-plane and to improve the vertical sidewall surface, a new displacement sensor used for detecting motion in-plane is proposed. Piezoresistor technol...
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For improving displacement sensor sensitivity to detect the motion in-plane and to improve the vertical sidewall surface, a new displacement sensor used for detecting motion in-plane is proposed. Piezoresistor technology is compatible with the other micromachining technology. This sensor can be integrated with other devices easily and fabricated with ion implantation technology combined with deep reactive ion etching technology. This design doubles the sensitivity compared with the conventional design because it puts the piezoresistor on the surface of the vertical sidewall of the detection beam. Besides using vertical sidewall piezoresistor technology, this displacement sensor has been applied to a micro xy-stage to detect the stage motion successfully. The experimental results verify that the sensitivity of the fabricated displacement sensors is better than 0.903 mV/μm, the linearity is better than 0.814%, and the displacement resolution is better than 12.3 nm.
This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, i.e., multi-axe...
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Associate Editor in Chief Marc Donner examines the Witty Worm and what its existence might mean for the future of the software development infrastructure.
Associate Editor in Chief Marc Donner examines the Witty Worm and what its existence might mean for the future of the software development infrastructure.
The main objective is to provide an evidence of spatial dependence of mechanical responses of a heterogeneous aluminum brazed joint re-solidified clad, and to confirm a sufficient sensitivity of a nano-indentation—lo...
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The main objective is to provide an evidence of spatial dependence of mechanical responses of a heterogeneous aluminum brazed joint re-solidified clad, and to confirm a sufficient sensitivity of a nano-indentation—load curve method for identifying the dependence. Topological features of a network of solidification microstructures(α phase and eutectic), formed during quench in a brazing process of aluminum alloy, influence significantly dynamic mechanical responses of resulting heterogeneous material. Nano/micro indentation depth vs load characteristics of differing phases suggest a spatially sensitive mechanical response of a re-solidified fillet in the joint zone. Hence, a spatial distribution, pattern formations and other morphological characteristics of microstructures have a direct impact on an ultimate joint integrity. Topology-induced variations of indentation—load curves was presented. A hypothesis involving microstructures’ spatial distribution vs mechanical response was formulated.
Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired ...
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Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired robots operating in unstructured environments. Due to the use of soft materials, the traditional fabrication and manufacturing methods for rigid materials are unavailable for soft robots. 3D printing is a promising fabrication method for the multifunctional and multimaterial demands of soft robots, as it enables the personalization and customization of the materials and structures. This review provides perspectives on the manufacturing methods for various types of soft robotic systems and discusses the challenges and prospects of future research, including in-depth discussion of pneumatic, electrically activated, magnetically driven, and 4D-printed soft actuators and integrated soft actuators and sensors. Finally, the challenges of realizing multimaterial, multiscale, and multifunctional 3D-printed soft robots are discussed.
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