For most hierarchical triple stars, the classical double two-body model of zeroth-order cannot describe the motions of the components under the current observational accuracy. In this paper, Marchal＇s first-order ana...For most hierarchical triple stars, the classical double two-body model of zeroth-order cannot describe the motions of the components under the current observational accuracy. In this paper, Marchal＇s first-order analytical solution is implemented and a more efficient simplified version is applied to real triple stars. The results show that, for most triple stars, the proposed first-order model is preferable to the zerothorder model both in fitting observational data and in predicting component positions.展开更多
To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The...To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos. 11178006 and 11203086
文摘For most hierarchical triple stars, the classical double two-body model of zeroth-order cannot describe the motions of the components under the current observational accuracy. In this paper, Marchal＇s first-order analytical solution is implemented and a more efficient simplified version is applied to real triple stars. The results show that, for most triple stars, the proposed first-order model is preferable to the zerothorder model both in fitting observational data and in predicting component positions.
基金National Natural Science Foundations of China ( No. 61105101,No. 61075086,No. 60875058 )Hi-Tech Research and Development Programs of China ( No. 2007AA041601,No. 2007AA041602,No. 2007AA041603 )+1 种基金State Key Laboratory of Robotics and System ( HIT) ,China ( No. SKLRS-2010-ZD-06)New Centrury Excellent Talents in University,China
文摘To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.
