中国西部农村经济发展面临的挑战及对策

根据中国西部农村自然条件和社会条件 ,分析了西部农村经济发展中面临的问题 ,并提出了相应的对策 :抓住历史机遇 ,转变思想观念 ;改善基础设施 ,发挥设施功能 ;增加资金投放 ,提高投入水平 ;发展文化教育 ,加快人才培育 ;强化政府职能 ,提高管理水平

非结构环境下基于人机合作技术的抓取作业研究

介绍了一种利用人机合作技术在非结构环境引导机械手抓取静态目标的方法.分别介绍了将激光—CCD摄像机系统与操作者的经验相结合获得抓取目标位置的方法,及将虚拟现实技术与操作者的经验相结合获得抓取目标姿态的方法.继而利用基于模型的视觉引导技术,引导手臂完成抓取操作.

基于视觉伺服的输电线巡检机器人抓线控制

巡检机器人在越障时,需要完成机器人手臂的准确抓线控制.结合输电线的几何特征和摄像机成像原理,提出了一种基于单摄像机的立体视觉方法来确定输电线的位置和姿态.基于该定位方法及视觉伺服理论,建立机械手抓线伺服控制模型.利用自行研制的巡检机器人进行了视觉伺服抓线实验;实验结果验证了该方法的有效性.

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

基于模型引导的半自主抓取作业研究

本文以非结构环境下机器人的抓取作业为研究背景，开展了机器人在非结构环境下抓取操作的相关技术研究。为了在复杂背景下推测目标物的抓取位置和姿态，进行了基于“人机系统”理论和虚拟现实技术的目标物定位定姿研究；为了在视觉伺服过程中实时的测定机械手末端的位置和姿态，进行了基于直线特征和曲线特征的旋转体定位研究；为了保证P3P技术能够应用于手臂定姿，进行了利用迭代解技术求解P3P问题的成立条件的研究。构造了一个原理性的实验系统，并利用基于位置的视觉伺服技术验证了以上研究结果的有效性。本文的研究内容具体可以归纳为如下几个方面： 在目标物定位定姿的研究中，给出了如何利用人机交互技术辅助测量目标物的抓取位置和抓取姿态的方法，设计了激光结合CCD摄像机测量抓取点位置，虚拟现实和人机交互测量抓取点姿态的方法。这两个方法合理地利用了操作者的经验，通过简单直观的人机接口把人类智能与机器智能进行了有效的融合。文中给出了激光——CCD测量装置的系统构成和定位原理，分析了这种定位装置的特点。提出了利用P3P实现对该定位装置标定的一种简易方法。该方法的特点是不需要标定摄像机的外参数及使用精密的标定设备，且具有较高的标定精度。并利用我们设计的误差检测实验方法分析了系统的定位精度。在测量抓取点姿态的过程中，我们使用了真实图像背景与虚拟的机械手相结合，从而可以在目标背景上通过人机接口直观地调整虚拟机械手的抓取姿态，直到获得满意的位置。 迭代方法求解P3P问题的成立条件一直困扰着基于P3P的模型定位方法在实际中的应用。本文对于迭代方法求解P3P问题的成立条件做了比较完整的分析，在对于P3P问题的参数方程和目标方程进行介绍后分别给出了针对任意三角形和等腰三角形用迭代方法求解P3P问题的成立条件。其中对于等腰三角形的成立条件表明只要预先确定P3P问题的参数方程，无论摄像机处于P3P附近的哪个方向上，迭代解都是成立的。由于第四章通过模型的约束关系可以间接地获得P3P的参数方程，这样利用第四章中提供的两个模型就可以在任意方向上实现对手臂的定位。 由于手臂末端合作目标的特殊性（可旋转，可全方位测量），使用传统的基于点特征、直线特征及曲线特征的定位方法在用于旋转体定位过程中都存在相应的问题。为此根据不同的手臂结构和使用环境设计了两种不同的模型。两种模型分别由四个直线特征和四个曲线特征组合而成，并利用特征之间的交点和切点将其转换为P3P的定位问题。同时研究了利用特征之间的几何约束关系避免可能产生的多解问题的方法。最后分别对这两种定位方法进行了仿真实验和系统实验，结果表明了这两种方法的有效性。

Learning Fine Motion by Markov Mixtures of Experts

Compliant control is a standard method for performing fine manipulation tasks, like grasping and assembly, but it requires estimation of the state of contact between the robot arm and the objects involved. Here we present a method to learn a model of the movement from measured data. The method requires little or no prior knowledge and the resulting model explicitly estimates the state of contact. The current state of contact is viewed as the hidden state variable of a discrete HMM. The control dependent transition probabilities between states are modeled as parametrized functions of the measurement We show that their parameters can be estimated from measurements concurrently with the estimation of the parameters of the movement in each state of contact. The learning algorithm is a variant of the EM procedure. The E step is computed exactly; solving the M step exactly would require solving a set of coupled nonlinear algebraic equations in the parameters. Instead, gradient ascent is used to produce an increase in likelihood.

Proceedings of the Fourth PHANTOM Users Group Workshop

This Report contains the proceedings of the Fourth Phantom Users Group Workshop contains 17 papers presented October 9-12, 1999 at MIT Endicott House in Dedham Massachusetts. The workshop included sessions on, Tools for Programmers, Dynamic Environments, Perception and Cognition, Haptic Connections, Collision Detection / Collision Response, Medical and Seismic Applications, and Haptics Going Mainstream. The proceedings include papers that cover a variety of subjects in computer haptics including rendering, contact determination, development libraries, and applications in medicine, path planning, data interaction and training.

The Proceedings of the First PHANToM User's Group Workshop

These proceedings summarize the results of the First PHANToM User's Group Workshop held September 27-30, 1996 MIT. The goal of the workshop was to bring together a group of active users of the PHANToM Haptic Interface to discuss the scientific and engineering challenges involved in bringing haptics into widespread use, and to explore the future possibilities of this exciting technology. With over 50 attendees and 25 presentations the workshop provided the first large forum for users of a common haptic interface to share results and engage in collaborative discussions. Short papers from the presenters are contained herein and address the following topics: Research Effort Overviews, Displays and Effects, Applications in Teleoperation and Training, Tools for Simulated Worlds and, Data Visualization.

Tactile Sensing for Mechatronics: A State of the Art Survey

Lee M.H. and Nicholls H.R., Tactile Sensing for Mechatronics: A State of the Art Survey, Mechatronics, 9, Jan 1999, pp1-31.

ROSSI: Emergence of communication in Robots through Sensorimotor and Social Interaction

ROSSI: Emergence of communication in Robots through Sensorimotor and Social Interaction, T. Ziemke, A. Borghi, F. Anelli, C. Gianelli, F. Binkovski, G. Buccino, V. Gallese, M. Huelse, M. Lee, R. Nicoletti, D. Parisi, L. Riggio, A. Tessari, E. Sahin, International Conference on Cognitive Systems (CogSys 2008), University of Karlsruhe, Karlsruhe, Germany, 2008 Sponsorship: EU-FP7

Prawda - istina w horyzoncie anthropos w myśli rosyjskiego renesansu religijno-filozoficznego

Wydział Nauk Społecznych: Instytut Filozofii

A navigation and object location device for the blind

Gemstone Team Vision

A Kinect Based Indoor Navigation System for the Blind

Team NAVIGATE aims to create a robust, portable navigational aid for the blind. Our prototype uses depth data from the Microsoft Kinect to perform realtime obstacle avoidance in unfamiliar indoor environments. The device augments the white cane by performing two signi cant functions: detecting overhanging objects and identifying stairs. Based on interviews with blind individuals, we found a combined audio and haptic feedback system best for communicating environmental information. Our prototype uses vibration motors to indicate the presence of an obstacle and an auditory command to alert the user to stairs ahead. Through multiple trials with sighted and blind participants, the device was successful in detecting overhanging objects and approaching stairs. The device increased user competency and adaptability across all trials.

Ghost/Machine: cinema in a digital age

Cinema, with its passive cinematic apparatus and linear narrative is often characterised as a contrast to new media narrative strategies, yet from Vertov’s Man with a Movie Camera to Mike Figgis’ TimeCode and Wong Kar Wei’s 2046 cinema provides narrative strategies and spatial conceptualisations which prefigure or are contiguous with new media environments. Both our perception of what cyberspace constitutes and the technology that actualises those perceptions arise out of and are driven by fantasy and desire. This paper will explore the metaphors used to represent and understand new media aesthetics through cinematic representations of new media environments. Two key themes relevant to new media aesthetics emerge. Irigaray, Haraway, and Grosz are used to explore the de-essentialising haptic and penetrative potential of new technologies and their ability to collapse the boundary between the body and the machine. The second fantasy, of new media as a liminal space that expresses the memorialising function of technology and its relation to mourning, is analysed using Benjamin, Burgin and Rutsky. These altered spaces and perceptions of the body and memory of the post-cinematic subject are illustrated through an analysis of Gondry’s Eternal Sunshine of the Spotless Mind and Jonze’s Being John Malkovich. [From the Author]

A Novel Multimodal Interface for Improving Visually Impaired People's Web Accessibility

This paper introduces a novel interface designed to help blind and visually impaired people to explore and navigate on the Web. In contrast to traditionally used assistive tools, such as screen readers and magnifiers, the new interface employs a combination of both audio and haptic features to provide spatial and navigational information to users. The haptic features are presented via a low-cost force feedback mouse allowing blind people to interact with the Web, in a similar fashion to their sighted counterparts. The audio provides navigational and textual information through the use of non-speech sounds and synthesised speech. Interacting with the multimodal interface offers a novel experience to target users, especially to those with total blindness. A series of experiments have been conducted to ascertain the usability of the interface and compare its performance to that of a traditional screen reader. Results have shown the advantages that the new multimodal interface offers blind and visually impaired people. This includes the enhanced perception of the spatial layout of Web pages, and navigation towards elements on a page. Certain issues regarding the design of the haptic and audio features raised in the evaluation are discussed and presented in terms of recommendations for future work.