From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object by the external environment, using multifingered hand eq...From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object by the external environment, using multifingered hand equipped with force/torque sensors, is addressed. At first the problem is modeled mathematically by the concept of wrench, then gravitational effect of fingertips is taken into accounted to eliminate the biasing effect in real implementation. On experimental system HKUST HAND, some experiments are carried out to implement and verify the proposed approach. This is an introduction to real application of multifingered hand, such as assembly of parts.展开更多
The results of an investigation into the effects of various finishing processes on the propertiesof cotton rich mans shirting fabrics are presented and discussed.The KES-FB system was used forthe testing of fabric mec...The results of an investigation into the effects of various finishing processes on the propertiesof cotton rich mans shirting fabrics are presented and discussed.The KES-FB system was used forthe testing of fabric mechanical properties.It is concluded that mercerising cotton rich fabrics is nota cost effective finish process while the optimisation of the bleaching process may bring more bene-fit.The investigation is part of a long term program aimed at the development of an expert systemfor total fabric engineering.展开更多
Hand tracking is a challenging problem due to the complexity of searching in a 20 ＋ degrees of freedom （DOF） space for an optimal estimation of hand configuration. The feasible hand configurations are represented a...Hand tracking is a challenging problem due to the complexity of searching in a 20 ＋ degrees of freedom （DOF） space for an optimal estimation of hand configuration. The feasible hand configurations are represented as a discrete space, which avoids learning to find parameters as general configuration space representations do. Then, an extended simulated annealing method with particle filtering to search for optimal hand configuration in the proposed discrete space, in which simplex search running in multi-processor is designed to predict the hand motion instead of initializing the simulated annealing randomly, and particle filtering is employed to represent the state of the tracker at each layer for searching in high dimensional configuration space. Experimental results show that the proposed method makes the hand tracking more efficient and robust.展开更多
文摘From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object by the external environment, using multifingered hand equipped with force/torque sensors, is addressed. At first the problem is modeled mathematically by the concept of wrench, then gravitational effect of fingertips is taken into accounted to eliminate the biasing effect in real implementation. On experimental system HKUST HAND, some experiments are carried out to implement and verify the proposed approach. This is an introduction to real application of multifingered hand, such as assembly of parts.
文摘The results of an investigation into the effects of various finishing processes on the propertiesof cotton rich mans shirting fabrics are presented and discussed.The KES-FB system was used forthe testing of fabric mechanical properties.It is concluded that mercerising cotton rich fabrics is nota cost effective finish process while the optimisation of the bleaching process may bring more bene-fit.The investigation is part of a long term program aimed at the development of an expert systemfor total fabric engineering.
基金the National Natural Science Foundation of China (60473049)
文摘Hand tracking is a challenging problem due to the complexity of searching in a 20 ＋ degrees of freedom （DOF） space for an optimal estimation of hand configuration. The feasible hand configurations are represented as a discrete space, which avoids learning to find parameters as general configuration space representations do. Then, an extended simulated annealing method with particle filtering to search for optimal hand configuration in the proposed discrete space, in which simplex search running in multi-processor is designed to predict the hand motion instead of initializing the simulated annealing randomly, and particle filtering is employed to represent the state of the tracker at each layer for searching in high dimensional configuration space. Experimental results show that the proposed method makes the hand tracking more efficient and robust.
