多机械臂搬运同一物体的协调动态载荷分配

针对多机械臂共同搬运同一物体形成闭运动链的协调系统,研究了多机械臂协调动态载荷分配存在冗余情况下的实时性分配方法文中提出了“应集中惯性质量棒”的概念,进而根据各机械臂的承载能力,采用线性加权的方法发展了一种操作物体质心处零内力的载荷分配原则。最后给出了系统载荷分配的解析表达式,有效地解决了多机械臂搬运同一物体时其动态载荷分配的实时性问题。     

基于树型冗余字典正交匹配追踪的信号稀疏分解

结合树型结构和正交匹配追踪算法,提出一种信号稀疏分解的新方法.该方法的基本思想是在基于树型结构的匹配搜索过程中引入正交化过程,其中树型结构可以快速有效地实现稀疏分解,正交匹配追踪算法提高了信号分解的收敛速度和稀疏性.对语音和地震信号的测试实验结果表明,该算法能以较快的速度收敛到零.     

Development of a continuum robot for colonoscopy

A novel continuum robot for colonoscopy is presented.The aim is to develop a robot for colonoscopywhich can provide the same functions as conventional colonoscope,but much less pain and discomfort forpatient.In contrast to traditional rigid-link robot,the robot features a continuous backbone with nojoints.The continuum robot is 300 mm in total length and 12 mm in diameter that is less than the averagediameter of human colon(20 mm).The robot has a total of 4 DOF(degrees of freedom)and is actuatedremotely...     

Lifting Scheme and Its Application to Edge Detection

0　ＩｎｔｒｏｄｕｃｔｉｏｎＬｉｆｔｉｎｇｓｃｈｅｍｅａｓｉｎｔｒｏｄｕｃｅｄｂｙＷ .Ｓｗｅｌｄｅｎｓ[1] ｉｎ 1996 ,ｉｓａｎｅｗｗａｙｏｆｃｏｎｓｔｒｕｃｔｉｎｇｗａｖｅｌｅｔｔｒａｎｓｆｏｒｍｔｈａｔｎｏｔｎｅｃｅｓｓａｒｉｌｙｂａｓｅｄｏｎｔｒａｎｓｌａｔｅｓａｎｄｄｉｌａｔｅｓｏｆｏｎｅｆｕｎｃｔｉｏｎ .ＬｉｆｔｉｎｇａｌｌｏｗｓｔｈｅｃｏｎｓｔｒｕｃｔｉｏｎｏｆｗａｖｅｌｅｔｓｅｎｔｉｒｅｌｙｉｎｔｈｅｓｐａｔｉａｌｄｏｍａｉｎｗｉｔｈｏｕｔｍａｋｉｎｇｕｓｅｏｆｔｈｅＦｏｕｒｉｅｒｔｒ…     

One-step optical trinary signed-digit arithmetic using redundant bit representations

A simple one-step fully parallel trinary signed-digit arithmetic is proposed for parallel optical computing. This technique performs multidigit carry-free addition and borrow-free subtraction in constant time. The trinary signed-digit arithmetic operations are based on redundant bit representation of the digits. Optical implementation of the proposed arithmetic can be carried out using correlation or matrix multiplication based schemes. An efficient matrix multiplication based optical implementation that employs a fixed number of minterms for any operand length is developed. It is shown that only 30 minterms (less than recently reported techniques) are enough for implementing the one-step trinary addition and subtraction.     

Markowitz投资组合风险偏好模型研究

以风险对收益的变化幅度θ为风险偏好系数提出Markowitz风险偏好模型,研究了它的有效边界和一些性质,然后以Kuhn-Tucker条件为基础,通过对冗余证券的剔除,求解不允许卖空条件下的证券投资组合.     

事件驱动型无线传感器网络生存期分析

事件驱动型传感器网络在侵扰监测、地震活动监测、动物运动跟踪以及大型设备的状态监测等领域有着巨大的应用前景,但由于其数据传输率不可预知,由此带来的不确定性增大了研究工作的难度.从网络结构与优化冗余节点分布的角度,提出延长事件驱动型传感器网络生存期的能量管理策略.将监测区域的无线传感网络划分成基于正六边形网格的分层结构网络,各层网格内的冗余节点数按最优分布条件由内层向外层依次递减.仿真计算了不同层数和不同p值的网络生存周期,并与传感器节点相同但按泊松分布和均匀分布的网络进行了比较,结果表明本文的方法有效的延长了网络的生存期.     

陀螺冗余安装在机载光电系统中的设计与应用北大核心CSCD

陀螺是光电系统瞄准线稳定的重要元器件,介绍了一种基于光电系统的光纤陀螺冗余安装方法。在冗余安装陀螺数量确定的前提下,考虑到工程实际应用的安装空间、体积、重量和成本等因素,设计了4个陀螺的八边形金字塔冗余安装方式,对此冗余安装方式的精度和可靠性进行了分析和仿真,并与无冗余安装进行了对比。同时,该安装方式可用于陀螺与磁流体动力学角速率传感器的冗余安装。结果表明,该方法使角速度测量的噪声标准差下降约25.3%,可靠性提升约1.75倍。该方法能有效解决某光电系统受安装空间限制而陀螺精度不够的问题,提升了光电系统可靠性;同时也可应用于三轴陀螺稳定光电系统中,对工程应用有一定的指导作用。     

Redundant Information Neural Estimation

We introduce the Redundant Information Neural Estimator (RINE), a method that allows efficient estimation for the component of information about a target variable that is common to a set of sources, known as the “redundant information”. We show that existing definitions of the redundant information can be recast in terms of an optimization over a family of functions. In contrast to previous information decompositions, which can only be evaluated for discrete variables over small alphabets, we show that optimizing over functions enables the approximation of the redundant information for high-dimensional and continuous predictors. We demonstrate this on high-dimensional image classification and motor-neuroscience tasks.