仿人机器人控制系统的研究与实现

根据仿人机器人控制性能的要求,设计开发了关节控制器,并通过CAN总线把各个关节控制器、力传感器及上位机连接在一起,构成了分布式控制系统.利用无线局域网技术,实现了语音、视频等多媒体信息的传输,把监控台、头部、上身和移动平台连接在一起,构成了仿人机器人完整的控制系统.最后提出了一些设想以提高系统的性能.

仿人机器人系统的研究与实现

针对仿人机器人的结构和控制性能的要求,设计开发了机器人的关节控制器,并利用CAN总线把各个关节和力传感器及上位机连接在一起,构成了有效可靠的分布式控制系统;利用无线局域网技术,实现了语音、视频等多媒体信息的传输,构成了仿人机器人完整的控制系统。最后提出了一些设想以提高系统的性能。

投射性空间关系表达过程的研究

It is easy to find that, in each language, the terms and phrases for the representation of spatial locating and orientation, and the ways for sharing spatial knowledge are very rich. The basic way of sharing spatial information is mapping our experience and actions with the environment by using terms and utterances that represent spatial relations. How to build the mapping relation among them and what factors affect the process of mapping are the questions need to be answered in this study. The whole course of expressing projective spatial relation includes the verbal expression and perception to the projective spatial relation. In experiment 1, the perceptual characteristics of perceiving the projective spatial relation was studied by analyzing the production latencies from the presentation of the stimulators in different directions (at 5 levels: 00, 22.50, 450, 67.50, and 900) to the onset of the corresponding buttons triggering on the keyboard, the study verifies the results of prior researches and revealed the foundation of expressing the projective spatial relation. In the experiment 2, and 3, the way and the role of the verbal expression were investigated. Subjects were asked to speak out the spatial relation between intended object and reference object by using verbal locative expressions. In experiment 2, Chinese was used as the verbal expression way, and in Experiment 3, English instead. Experiment 4 was similar as experiment 3, but time of voice key triggering was controlled and balanced among trials to verify the results of Experiment 3 further. Experiment 5 investigated the effect of pre-cue on the courses of expressing projective spatial relation. There were two kinds of clues, one was the spatial locative utterances, and the other was the perceptual coordinates framework, such as drawing a cross ”+” in a circle to imply four quadrants. The main conclusions of this research were as follows: 1. When speaking out a spatial relation, different sets of spatial terms, such as “left and right”, or “north and south”, affected the speed of verbal expression. Verbal coding process was affected by how well the perceptual salient direction matched with spatial terms, which made the speed of verbal expression different. 2. When using composite spatial terms to express diagonal directions, people tend to use direct mapping from spatial conceptual representation to composite spatial terms, rather than combining the two axes, which implied there existed direct one-on-one mapping between spatial conceptual representation and spatial terms. But during specific developing period, the way of combining two axes was employed as well for spatial expression, which meant perceptual salient directions played critical role in the process of perceiving and expressing projective spatial relations. 3. The process of verbal expression of the projective spatial relation was improved by the familiarity of spatial utterances, but this improvement was not the results of enhancement of the effect of prototypical diagonal direction.

应急疏散语音告警信号设计参数的研究

Voice alarm plays an important role in emergency evacuation of public place, because it can provide information and instruct evacuation. This paper studied the optimization of acoustic and semantic parameters of voice alarms in emergency evacuation, so that alarm design can improve the evacuation performance. Both method of magnitude estimation and scale were implemented to investigate participants' perceived urgency of the alarms with different parameters. The results indicated that, participants evaluated the alarms with faster speech rate, with greater signal to noise ratio (SNR) and under louder noises more urgent. There was an interaction between noise level and content of voice alarm. Signals with speech rate below 4 characters / second were evaluated as non urgent at all. Intelligibility of the voice alarm was investigated by evaluating the key pointed recognition performance. The results showed that, speech rate’s effect was a marginal significance, and 7 characters / second has the highest intelligibility. It might because that the faster the signal spoken, the more attention was paid. Gender of speaker and SNR did not have a significant effect on the signals’ intelligibility. This paper also investigated impact of voice alarms' content on human behavior in emergency evacuation in a 3-D virtual reality environment. In condition of "telling the occupants what had happened and what to do", the number of participants who succeeded in evacuation was the largest. Further study, in which similar numbers of participants evacuate successfully in three conditions, indicated that the reaction time and evacuation time was the shortest in the aforesaid condition. Although one-way ANOVA shows that the difference was not significant, the results still provided some reference to the alarm design. In sum, parameters of voice alarm in emergency evacuation should be chosen to meet needs from both perceived urgency and intelligibility. Contents of the alarms should include "what had happened and what to do", and should vary according to noise levels in different public places.