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.

CIMS设计过程中存在的一些问题及解决方案

提出了一种新的集成的I2 DEF方法 ,并介绍了与之配套的设计开发工具 ,用以支持大型复杂信息系统的设计与开发 ,它可以成功地解决计算机集成制造系统设计开发过程中遇到的许多问题。本文指出了我国CIMS工程存在的问题 ,分析了这些问题产生的原因 ,并结合企业实际给出了应用I2 DEF方法的解决方案。

对象互操作的行为模型

对象互操作表达了一组对象在完成某一任务时的动态协作关系，对象互操作的行为描述与抽象是支持面向应用对象互操作的基础．对此，提出一种活动模型作为描述对象互操作行为的方法．该方法以一阶时态逻辑为基础，表达了互操作对象之间交换消息的时态顺序和不同活动之间的行为关系．在该方法中，提出了活动特化和活动聚合两种行为抽象机制，实现了对象互操作行为的复用．最后讨论了给定论域的类模式和活动模式的一致性集成问题。

艺术学生的感觉寻求人格比较研究

High sensation seekers have unusual creativities. Recent years Furnham Adrian et al, found that the groups have different arts tendency have higher difference in Sensation seeking dimension than in Big 5. Some studies found arts students have higher level in many dimension. Sensation seeking has an important influence to peoples` aesthetic conception. This thesis measured art (including painting, music, dancing) students and non-art students` trait of sensation seeking Personality, and looked for the similarities and differences between art students and non-art students in development of sensation seeking personality. Try to find the influence of different procession of art study to sensation seeking level. The outcome of this study: 1. In non-art students, sensation seeking level has a decrease from Grade 1 to Grade 3 in college students, especially in males. Male has higher sensation seeking level than female, especially in TAS, DIS and GEN. 2. There are differences between art students and non-art students in sensation seeking. In ES and GEN Painting students have higher level than non-art students, but in TAS dancing students have lower level than non-art students, in BS students studied in music have lower level than non-art students. 3. Tendency of arts development in art students and non-art students has difference from grade 1 to grade 3. Tendency in non-art students has a decrease, but in art students is not so obviously. The developments in TAS、ES、GEN of painting students, in ES、BS、GEN of dancing students, in TAS、ES、GEN of music major students have differences towards to non-art students. Different art studies have possibility to improve opening of experiment and normal sensation seeking level. All the Different art kinds may affect the development of ES and GEN, and ES and GEN may become commonness gradually within all kind art groups. But this commonness is not so notable in Grade 1-3. 4. Between different art kinds have differences. TAS Scores of dancing group is notably lower than scores of music and painting groups, score of painting group in ES BS and GEN is remarkably higher than that of music and dancing groups, and painting group in DIS has a higher score than music group and dancing group. Painting group has highest sensation seeking in all art kinds students, and dancing group has lowest score in TAS. 5. For female, development tendency of all art kinds dimensions have no remarkable difference, except DIS. Interaction in female DIS dimension may be aroused by scores increase of painting group. In other scores development tendency of different kinds arts have no notable difference.

嵌套式空间中物体空间关系的表征和提取

In human memory, a large environment is divided into several small trunks. Each trunk is represented separately. So it formed a hierarchical representation of the large environment. Carlson-Radvansky & Jiang (1998) reported that different environments may be encoded in different spatial reference frames, and accessing an environmental representation requires activating the corresponding reference frame. According to the theory of intrinsic frames of reference proposed by Mou and his college, people organize the spatial relations of the objects in an environment relative to the intrinsic frames of reference in their representation. Our study focus on how people retrieval the spatial relations of objects in two nested spaces when they do the JRD task. The main findings of our study are: a) In two nested spaces, the objects in each space are represented relative to the intrinsic reference direction of that space. And people’s retrieval of the spatial relations between the objects in the same space according to the recovery and retrieval of the intrinsic reference direction of that space. b) In the JRD task, when retrieval the spatial relationships of objects in different spaces, the performance is depend on the recovery and retrieval of the intrinsic reference direction of the space that the target object in. c) After people retrieval of the spatial relations of objects in different spaces depends on the recovery of the intrinsic reference frame of one of the space, it was very hard for them to use the intrinsic frame of reference frame of the other space in retrieval the spatial relations of objects.

物体朝向对场景内在参照系建立的影响

Six experiments tested how headings of objects in scenes influenced the construction for the intrinsic frame of reference under different structure and viewpoint amount conditions. In Experiment 1 and 2, participants stood at 0 degree and learned an asymmetrical scene and a symmetrical scene that were composed by balls with no apparent headings separately. In Experiment 3, 4, 5 and 6, toys with apparent headings were used and they all faced the 315 degree of the scene. In Experiment 3 and 4, participants stood at 0 degree and learned an asymmetrical scene and a symmetrical scene that were composed by toys separately. In Experiment 5 and 6, participants stood at 0 and 315 degree and learned an asymmetrical scene and a symmetrical scene that were composed by toys separately. After learning, participants needed to finish triplet recognition tasks in all the experiments. The dependent measures were response latency and accuracy. The correct response latencies to the targets were analyzed by ANOVA. Accuracy was used to filter data and analyzed in an ANOVA in some experiments as a reference. Results indicate that headings of objects in scenes influence the pattern for intrinsic frame of reference. The structure of scene affects the acting mechanism of heading, but the amount of viewpoints does not have this effect. If the objects in scenes have no apparent headings, there will be viewpoint dependent effect and the advantage of symmetry axis as intrinsic axis in triplet recognition tasks. If the objects in scenes have apparent headings, people’s spatial memory pattern will be affected by objects’ headings. If the heading of objects (315 degree) is not parallel to the viewpoint (0 degree) in an asymmetrical scene, people will be inclined to represent the scene from the heading of objects but not from the viewpoint. As a result, the viewpoint dependent effect will disappear, and there is significant advantage for the triplets presented from heading of objects. If the heading of objects is not parallel to the symmetry axis in a symmetrical scene, people will represent the scene not only according to the symmetry axis as intrinsic axis, but also according to the heading of objects. As a result, the significant advantage for symmetry axis as intrinsic axis in triplet recognition tasks will disappear but there will be still a tendency. By contrast, the effect for the headings of objects is more significant in asymmetrical scenes than that in symmetrical scenes.

空间情境模型中以观察者为中心的空间关系表征

Human being built and updated the representations of spatial distances and spatial relations between protagonist and the around things in language comprehension. The representations of the spatial relations in egocentric spatial situational models were important in spatial cognition, narrative comprehension and psycholinguistic. Using imagery searching paradigm, Franklin and Tversky (1990) studied the representations of the spatial relations in egocentric spatial situational models and found the standard RT pattern of searching the objects in different directions around the observer (frontin his paradigm, there was focus bias that could brought out the standard RT pattern based on the findings in perceptual space(Hintzman, 1981). Eight experiments were conducted to distinguish the factors that affected the RT pattern in imagery searching. Rt. patterns in experiments 1, 2, 3, showed that there were two factors in identify which object was currently located beyond the observer's front, back, right, and left. The first factor (called direction effect) was for identifying the referred direction of probing noun, with a pattern of process time fronting the attention to the goal direction to identify the goal object, with a pattern of process time focusindependent to each other. These results supported that there are two kinds of spatial relations in egocentric framework: Body-Object relation and Object-Object relation. Without relation position effect, the standard RT pattern was found in reacting to direction nouns in Experiment 4, whereas another RT pattern (left=right=frontin reacting to direction arrows Experiment 5. These results supported this hypothesis: The mapping of conceptual representation (direction nouns) to perceptual representation (the position of objects around body) was required in searching task (from direction nouns to objects). The mapping needs the body of observer as reference frame. The body are designed asymmetry, so there are effects of direction, while as The arrows pointing to four directions around body map directly to the position around body; In spatial memory, the difficulty of retrieving objects in front, back, right or left is different(front=right=leftIn Experiments 7, 8, another RT pattern (focusobjects around the body. The reason of the effect of relative locations of target object to focused object was that, the canonical axis constructed spatial representation, as consequence, front-back, right-left directions represents near than other pairs. So from front to back, from back to front, from right to left or from left to right, is quick than other pairs. With the 45-degree count-clockwise rotation of the objects around the body, the geometric distance between them determined the psychological distance between two objects. As a conclusion, the structural natures of the spatial representation determined the nature of spatial relations.

表征方式对网上购物信息搜索行为影响的工程心理学实验研究

Interface has been becoming a more significant element today which influences the development of shopping on-line greatly. But in practice the attention arisen from society and study made are quite inadequate. Under this circumstance, I focus my study on the purpose of improving understanding of the engineering psychological factors, which definitely will play a crucial role in shopping on-line representation in future, and of the relations between them through the following experimental research. I hope it can give a basic reference to the practical application of shopping on-line representation pattern and continuous study. In current thesis, an analysis was made on the basis of engineering psychology principles from three aspects, i.e. person (users), task and information environment. It was considered that system overview and information behavior model would have great impact on the activities of users on the web and that representation pattern of information system would affect the forming of system overview and behavior pattern and then further after the performances of users in information system. Based on above-mentioned statement, a three-dimensional conceptual model was presented which demonstrates the relations between the crucial factors, which are media representation pattern, system hierarchy and objects in information unit. Thereafter, eight study hypothesis, which are about engineering psychological factors of virtual reality (VR) representation in shopping on-line system, was taken out and four experiments were followed up to testify the hypothesis. -In experiment one, a research was made to study how the three kinds of single media representation pattern influence the forming of system overview and information behavior from the point view of task performance, operating error, overall satisfactory and mental workload etc. -In experiment two, a study of how the combined media representation pattern of system hierarchy influences users' behavior was carried out. -In experiment three, a study of the hierarchy structure feature of VR representation pattern and the tendency of its width and depth to the effects of system behavior was made. -In experiment four, a study of the location relations between different parties in VR scene (information unit) was made. The result is as follows: -During structure dimensional state: Width-increasing caused more damage to the speed of users than depth-increasing in VR representation pattern. Although the performance of subjects was quite slow in wider environment, yet the percentage rate of causing errors was in lowest level. -During hierarchy representation pattern: 1. Between the representation patterns of the three media, no significant differences was found in terms of the speed of fulfilling the task, error rate, satisfactory, mental workload etc. But the pattern with figure- aided gained the worst results on all of these aspects. 2. During primary stage of the task and the first level of the hierarchy, the speed of subjects' performance in VR pattern was slower than that in text pattern. While with developing of the task and going deeper level of the hierarchy, the speed of users' performance in VR representation pattern reached to the highest level. 3. Effects in VR representation pattern was better than that in text pattern in higher level of the system. The representation pattern in highest level has greatest impact on the performance of the system behavior, whereas results of the only VR representation in the middle part of hierarchy would be worst. 4. Activity error in single media representation pattern was more than that in combined media representation pattern. 5. Individual differences among subjects had effects on the representation pattern of the system. During VR environment, behavior tendency of party A had a significant negative correlation to the quantities of errors. -In VR-scene representation: Physical-distance and flash influenced the subjects' task performance greatly, while psychological-distance has no outstanding impact. Subjects' accurate rate of performing increased if objects with same relation were in the same structure position, in the state of close psychological-distance or if the object target flashed (not reliable). Although the article limits the topic only on the present-existing questions and analysis of shopping-on-line, as a matter of fact, it can also apply for other relevant purposes on the web. While the study of this article only gives its emphasis on the researching-task with definite goal, making no consideration of other task conditions and their relations with other navigation tools. So I hope it lay a good start to make continuous research in this areas.

The Effect of Indexing on the Complexity of Object Recognition

Many current recognition systems use constrained search to locate objects in cluttered environments. Previous formal analysis has shown that the expected amount of search is quadratic in the number of model and data features, if all the data is known to come from a sinlge object, but is exponential when spurious data is included. If one can group the data into subsets likely to have come from a single object, then terminating the search once a "good enough" interpretation is found reduces the expected search to cubic. Without successful grouping, terminated search is still exponential. These results apply to finding instances of a known object in the data. In this paper, we turn to the problem of selecting models from a library, and examine the combinatorics of determining that a candidate object is not present in the data. We show that the expected search is again exponential, implying that naﶥ approaches to indexing are likely to carry an expensive overhead, since an exponential amount of work is needed to week out each of the incorrect models. The analytic results are shown to be in agreement with empirical data for cluttered object recognition.

Recovering Heading for Visually-Guided Navigation

We present a model for recovering the direction of heading of an observer who is moving relative to a scene that may contain self-moving objects. The model builds upon an algorithm proposed by Rieger and Lawton (1985), which is based on earlier work by Longuet-Higgens and Prazdny (1981). The algorithm uses velocity differences computed in regions of high depth variation to estimate the location of the focus of expansion, which indicates the observer's heading direction. We relate the behavior of the proposed model to psychophysical observations regarding the ability of human observers to judge their heading direction, and show how the model can cope with self-moving objects in the environment. We also discuss this model in the broader context of a navigational system that performs tasks requiring rapid sensing and response through the interaction of simple task-specific routines.

Monitoring Activities from Multiple Video Streams: Establishing a Common Coordinate Frame

Passive monitoring of large sites typically requires coordination between multiple cameras, which in turn requires methods for automatically relating events between distributed cameras. This paper tackles the problem of self-calibration of multiple cameras which are very far apart, using feature correspondences to determine the camera geometry. The key problem is finding such correspondences. Since the camera geometry and photometric characteristics vary considerably between images, one cannot use brightness and/or proximity constraints. Instead we apply planar geometric constraints to moving objects in the scene in order to align the scene"s ground plane across multiple views. We do not assume synchronized cameras, and we show that enforcing geometric constraints enables us to align the tracking data in time. Once we have recovered the homography which aligns the planar structure in the scene, we can compute from the homography matrix the 3D position of the plane and the relative camera positions. This in turn enables us to recover a homography matrix which maps the images to an overhead view. We demonstrate this technique in two settings: a controlled lab setting where we test the effects of errors in internal camera calibration, and an uncontrolled, outdoor setting in which the full procedure is applied to external camera calibration and ground plane recovery. In spite of noise in the internal camera parameters and image data, the system successfully recovers both planar structure and relative camera positions in both settings.

Context-Based Vision System for Place and Object Recognition

While navigating in an environment, a vision system has to be able to recognize where it is and what the main objects in the scene are. In this paper we present a context-based vision system for place and object recognition. The goal is to identify familiar locations (e.g., office 610, conference room 941, Main Street), to categorize new environments (office, corridor, street) and to use that information to provide contextual priors for object recognition (e.g., table, chair, car, computer). We present a low-dimensional global image representation that provides relevant information for place recognition and categorization, and how such contextual information introduces strong priors that simplify object recognition. We have trained the system to recognize over 60 locations (indoors and outdoors) and to suggest the presence and locations of more than 20 different object types. The algorithm has been integrated into a mobile system that provides real-time feedback to the user.

Sharing visual features for multiclass and multiview object detection

We consider the problem of detecting a large number of different classes of objects in cluttered scenes. Traditional approaches require applying a battery of different classifiers to the image, at multiple locations and scales. This can be slow and can require a lot of training data, since each classifier requires the computation of many different image features. In particular, for independently trained detectors, the (run-time) computational complexity, and the (training-time) sample complexity, scales linearly with the number of classes to be detected. It seems unlikely that such an approach will scale up to allow recognition of hundreds or thousands of objects. We present a multi-class boosting procedure (joint boosting) that reduces the computational and sample complexity, by finding common features that can be shared across the classes (and/or views). The detectors for each class are trained jointly, rather than independently. For a given performance level, the total number of features required, and therefore the computational cost, is observed to scale approximately logarithmically with the number of classes. The features selected jointly are closer to edges and generic features typical of many natural structures instead of finding specific object parts. Those generic features generalize better and reduce considerably the computational cost of an algorithm for multi-class object detection.

Contextual models for object detection using boosted random fields

We seek to both detect and segment objects in images. To exploit both local image data as well as contextual information, we introduce Boosted Random Fields (BRFs), which uses Boosting to learn the graph structure and local evidence of a conditional random field (CRF). The graph structure is learned by assembling graph fragments in an additive model. The connections between individual pixels are not very informative, but by using dense graphs, we can pool information from large regions of the image; dense models also support efficient inference. We show how contextual information from other objects can improve detection performance, both in terms of accuracy and speed, by using a computational cascade. We apply our system to detect stuff and things in office and street scenes.

Robust and Efficient 3D Recognition by Alignment

Alignment is a prevalent approach for recognizing 3D objects in 2D images. A major problem with current implementations is how to robustly handle errors that propagate from uncertainties in the locations of image features. This thesis gives a technique for bounding these errors. The technique makes use of a new solution to the problem of recovering 3D pose from three matching point pairs under weak-perspective projection. Furthermore, the error bounds are used to demonstrate that using line segments for features instead of points significantly reduces the false positive rate, to the extent that alignment can remain reliable even in cluttered scenes.