A hybrid Jacobian control for uncalibrated robot visual servoing

This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.     

Ultrafast Optical Kerr Effect of ConjugatedSilver Phenylacetylide Complex Oligomer

Conjugatedpolymerswithlargethird-orderopticalnonlinearityhavebeedfocusedfortheirpromisingpotentialsforadvancedmaterialsapplications'.Recently,investigationsoftransitionmetalwithorganicligandsystemshavebeengreatlyintensifiedduetothedelectronsincorporatedintheconjugatedsystem,whichareexpectedtoellhancethehyperpolarizability.Phenylacetyleneandthemetalphenylacetylidesplayimportantrolesinformationofuniquecoordinatedc-lusters',butitseamsthatthestudyofmetalphenylacetylides,particularlyofthesilverphen…     

一类半线性双曲系统的状态观测问题

本文考虑一类半线性双曲系统的状态观测问题,给出了一个(求解)算法并证明了其在某种相当强的意义上的有效性.     

关于一类不可微规划问题的对偶性

作者构造了一类不可微规划问题的一阶和二阶对偶模型,其目标函数含有紧凸集的支撑函数项.利用Fritz John最优性必要条件,在适当条件下建立了这两类一阶和二阶对偶模型的弱和逆对偶性定理.     

FEM modelling of single-core sandwich and 2-core multilayer beams containing foam aluminum core and metallic face sheets under monolithic bending

This present paper dealt with bending deformation and failure behavior of sandwich and multilayer beams composed of aluminum foam core and metallic face sheets by finite element method(FEM) and four-point bending test.Results revealed that collapse of the multilayer beams is dominated by two basic modes:indentation(ID) and core shear(CS).ID is dominated by the maximum compressive strain and CS by the maximum shear strain.The failure of the sandwich beams depends on if the face sheets show ID mode in the ...     

High-resolution FTIR spectroscopy of the v11 and v2 + v7 bands of ethylene-d4

The Fourier transform infrared spectrum of the v₁₁ band of ethylene-d₄ (C₂D₄) has been recorded with an unapodized resolution of 0.006 cm^?1 in the frequency range 2150 to 2250cm^?1. The v₁₁ band, with a band centre of about 2201 cm^?1, was found to be perturbed by the nearby v₂ + v₇ band centred at about 2235 cm^?1 by a b-type Coriolis interaction. By fitting a total of 772 infrared transitions of v₁₁ using a Watson's A-reduced Hamiltonian in the I^r representation with the inclusion of b-type Coriolis interaction term, two sets of constants, up to quartic distortion constants for the v₁₁ = 1 state, and principal rotational constants for the v₂ + v₇ = 1 dark state, were derived. The inertia defect of the v₁₁ state was found to be 0.0693 ± 0.0004u Ų.     

A hybrid Jacobian control for uncalibrated robot visual servoing

Visualservocontrolhasbeenanactiveareaofre searchformanyyears.Since1973,therehasbeen significantprogressonvisualservoingcontrol[1],and severalspecialissuesonvisualservoinghavebeen published[2,3].Therearetwobasicapproachestovi sualservocontrol[1]:Position BasedVisualServoing(PBVS)andImage BasedVisualServoing(IBVS).InPBVSsystem,theobject’s3Dposeisrecovered throughcomputervisionandtheerrorbetweenthe currentposeandthedesiredposeiscomputedinthe Cartesiantaskspace.Estimationof3Dmotionsfrom…