Research trends in methods for controlling macro-micro motion platforms

With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machinery is expanding.The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform(M3P),which offers high speed,precision,and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components.Therefore,the design of the control system is crucial for the overall precision of the platform;conventional proportional–integral–derivative control cannot meet the system requirements,and so M3Ps are the subject of a growing range of modern control strategies.This paper begins by describing the development history of M3Ps,followed by their platform structure and motion control system components,and then in-depth assessments of the macro,micro,and macro-micro control systems.In addition to examining the advantages and disadvantages of current macro-micro motion control,recent technological breakthroughs are noted.Finally,based on existing problems,future directions for M3P control systems are given,and the present conclusions offer guidelines for future work on M3Ps.

基于Leap Motion手势交互技术的博物馆数字展示应用研究

随着科技的不断发展,博物馆数字展示已成为呈现文物与历史不可或缺的重要手段之一。在数字化潮流的推动下,Leap Motion技术凭借其卓越的手势交互能力引起了广泛的关注与兴趣。本研究旨在探索如何充分利用Leap Motion手势交互技术,设计并实现一种全新的博物馆数字展示交互系统,以提升观众的参与度和沉浸式体验。本研究采用实验研究方法,开发并实施了一套基于LeapMotion技术的手势交互系统。通过实验设计、设备选择与安装、手势识别与映射、展示内容的创建与集成、以及用户测试与优化等步骤完成研究。其结果表明,该系统能够准确捕捉观众的手部动作,并将其映射到超大屏幕的交互中,显著提升了展示效果和观众的互动体验。手势识别的误差率控制在5%以内,交互响应速度优秀,达到了预期目标。本研究验证了LeapMotion手势交互技术在博物馆数字展示中的有效性和可行性,提供了一种创新的展示方式,为公众呈现出更为丰富、引人入胜的文化体验,为未来博物馆展示的数字化发展方向提供有益的参考与借鉴,以促进整个行业的创新发展。

基于Leap Motion手势识别的三维交互系统

随着虚拟交互技术的发展,人们迈入了“体验式经济时代”,消费者越来越关注个性体验,因此,基于Leap Motion手势识别设备,设计了一种三维虚拟室内交互系统。该系统以Unity3D作为开发工具,Leap Motion作为硬件平台,结合C#语言进行脚本的编译,利用3ds Max平台对室内进行场景搭建,通过Unity3D工具将组件整合,设计了七种手势,使用Leap Motion硬件设备对场景中物体进行各种不同的操作。经试验表明,该系统实现了用户与场景中物体的交互能力,可以应用在室内装修和设计等方面,增强人们的体验感与趣味性。

Pulses in ground motions identified through surface partial matching and their impact on seismic rocking consequence

In seismology and earthquake engineering,it is fundamental to identify and characterize the pulse-like features in pulse-type ground motions.To capture the pulses that dominate structural responses,this study establishes congruence and shift relationships between response spectrum surfaces.A similarity search between spectrum surfaces,supplemented with a similarity search in time series,has been applied to characterize the pulse-like features in pulse-type ground motions.The identified pulses are tested in predicting the rocking consequences of slender rectangular blocks under the original ground motions.Generally,the prediction is promising for the majority of the ground motions where the dominant pulse is correctly identified.

Motion Planning for Autonomous Driving with Real Traffic Data Validation

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

基于Leap motion 的大学物理实验虚拟课堂设计

通过利用手势控制器(Leap Motion)技术,设计并实施一套创新的大学物理虚拟实验课程.通过在Unity3D软件中整合Leap Motion,创建一个大学物理实验测量杨氏模量实验场景,主要是利用C#语言进行开发,通过设计出多个模块,包括主界面设计和基本实验组件来完成物理实验的设计.在Leap Motion官网上下载关于Unity3D的SDK资源包并且导入Unity3D中,用其建立手部模型,实现Leap Motion控制器与Unity3D的手部交互实验系统的设计.人机交互技术的引入不仅可以丰富大学物理实验的教学手段,而且还能提高学生的学科理解和实际操作能力,同时培养其创新思维和科技素养.

Positron Emission Tomography Lung Image Respiratory Motion Correcting with Equivariant Transformer

In addressing the challenge of motion artifacts in Positron Emission Tomography (PET) lung scans, our studyintroduces the Triple Equivariant Motion Transformer (TEMT), an innovative, unsupervised, deep-learningbasedframework for efficient respiratory motion correction in PET imaging. Unlike traditional techniques,which segment PET data into bins throughout a respiratory cycle and often face issues such as inefficiency andoveremphasis on certain artifacts, TEMT employs Convolutional Neural Networks (CNNs) for effective featureextraction and motion decomposition.TEMT’s unique approach involves transforming motion sequences into Liegroup domains to highlight fundamental motion patterns, coupled with employing competitive weighting forprecise target deformation field generation. Our empirical evaluations confirm TEMT’s superior performancein handling diverse PET lung datasets compared to existing image registration networks. Experimental resultsdemonstrate that TEMT achieved Dice indices of 91.40%, 85.41%, 79.78%, and 72.16% on simulated geometricphantom data, lung voxel phantom data, cardiopulmonary voxel phantom data, and clinical data, respectively. Tofacilitate further research and practical application, the TEMT framework, along with its implementation detailsand part of the simulation data, is made publicly accessible at https://github.com/yehaowei/temt.

Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

A HEVC Video Steganalysis Method Using the Optimality of Motion Vector Prediction

Among steganalysis techniques,detection against MV(motion vector)domain-based video steganography in the HEVC(High Efficiency Video Coding)standard remains a challenging issue.For the purpose of improving the detection performance,this paper proposes a steganalysis method that can perfectly detectMV-based steganography in HEVC.Firstly,we define the local optimality of MVP(Motion Vector Prediction)based on the technology of AMVP(Advanced Motion Vector Prediction).Secondly,we analyze that in HEVC video,message embedding either usingMVP index orMVD(Motion Vector Difference)may destroy the above optimality of MVP.And then,we define the optimal rate of MVP as a steganalysis feature.Finally,we conduct steganalysis detection experiments on two general datasets for three popular steganographymethods and compare the performance with four state-ofthe-art steganalysis methods.The experimental results demonstrate the effectiveness of the proposed feature set.Furthermore,our method stands out for its practical applicability,requiring no model training and exhibiting low computational complexity,making it a viable solution for real-world scenarios.

Multiparameter Numerical Investigation of Two Types of Moving Interactions Between the Deep-Sea Mining Vehicle Track Plate and Seabed Soil:Digging and Rotating Motions

To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.

Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

Quantitative analysis of the morphing wing mechanism of raptors:IMMU-based motion capture system and its application on gestures of a Falco peregrinus

This paper presented a novel tinny motion capture system for measuring bird posture based on inertial and magnetic measurement units that are made up of micromachined gyroscopes, accelerometers, and magnetometers. Multiple quaternion-based extended Kalman filters were implemented to estimate the absolute orientations to achieve high accuracy.Under the guidance of ornithology experts, the extending/contracting motions and flapping cycles were recorded using the developed motion capture system, and the orientation of each bone was also analyzed. The captured flapping gesture of the Falco peregrinus is crucial to the motion database of raptors as well as the bionic design.

Bioinspired Polarized Optical Flow Enables Turbid Underwater Target Motion Estimation

Underwater target motion estimation is a challenge for ocean military and scientific research.In this work,we propose a method based on the combination of polarization imaging and optical flow for turbid underwater target detection.Polarization imaging can reduce the influence of backscattered light and obtain high-quality images underwater.The optical flow shows the motion and structural information of the target.We use polarized optical flow to obtain the optical flow field and estimate the target motion.The experimental results of different targets under varying water turbidity levels illustrate that our method is realizable and robust.The precision is verified by comparing the results with the precise displacement data and calculating two error measures.The proposed method based on polarized optical flow can obtain accurate displacement information and a good recognition effect.Moving target segmentation based on the Otsu method further proves the superiority of the polarized optical flow under turbid water.This study is valuable for target detection and motion estimation in scattering environments.

A Novel Locomotion Rule Rmbedding Long Short-Term Memory Network with Attention for Human Locomotor Intent Classification Using Multi-Sensors Signals

Locomotor intent classification has become a research hotspot due to its importance to the development of assistive robotics and wearable devices.Previous work have achieved impressive performance in classifying steady locomotion states.However,it remains challenging for these methods to attain high accuracy when facing transitions between steady locomotion states.Due to the similarities between the information of the transitions and their adjacent steady states.Furthermore,most of these methods rely solely on data and overlook the objective laws between physical activities,resulting in lower accuracy,particularly when encountering complex locomotion modes such as transitions.To address the existing deficiencies,we propose the locomotion rule embedding long short-term memory(LSTM)network with Attention(LREAL)for human locomotor intent classification,with a particular focus on transitions,using data from fewer sensors(two inertial measurement units and four goniometers).The LREAL network consists of two levels:One responsible for distinguishing between steady states and transitions,and the other for the accurate identification of locomotor intent.Each classifier in these levels is composed of multiple-LSTM layers and an attention mechanism.To introduce real-world motion rules and apply constraints to the network,a prior knowledge was added to the network via a rule-modulating block.The method was tested on the ENABL3S dataset,which contains continuous locomotion date for seven steady and twelve transitions states.Experimental results showed that the LREAL network could recognize locomotor intents with an average accuracy of 99.03%and 96.52%for the steady and transitions states,respectively.It is worth noting that the LREAL network accuracy for transition-state recognition improved by 0.18%compared to other state-of-the-art network,while using data from fewer sensors.

Monitoring absolute vertical land motions and absolute sea-level changes from GPS and tide gauges data over French Polynesia

In this study,we estimate the absolute vertical land motions at three tidal stations with collocated Global Navigation Satellite System(GNSS)receivers over French Polynesia during the period 2007-2020,and obtain,as ancillary results,estimates of the absolute changes in sea level at the same locations.To verify our processing approach to determining vertical motion,we first modeled vertical motion at the International GNSS Service(IGS)THTI station located in the capital island of Tahiti and compared our estimate with previous independent determinations,with a good agreement.We obtained the following estimates for the vertical land motions at the tide gauges:Tubuai island,Austral Archipelago-0.92±0.17 mm/yr,Vairao village,Tahiti Iti:-0.49±0.39 mm/yr,Rikitea,Gambier Archipelago-0.43±0.17 mm/yr.The absolute variations of the sea level are:Tubuai island,Austral Archipelago 5.25±0.60 mm/yr,Vairao village,Tahiti Iti:3.62±0.52 mm/yr,Rikitea,Gambier Archipelago 1.52±0.23 mm/yr.We discuss these absolute values in light of the values obtained from altimetric measurements and other means in French Polynesia.

A progressive framework for rotary motion deblurring

The rotary motion deblurring is an inevitable procedure when the imaging seeker is mounted in the rotating missiles.Traditional rotary motion deblurring methods suffer from ringing artifacts and noise,especially for large blur extents.To solve the above problems,we propose a progressive rotary motion deblurring framework consisting of a coarse deblurring stage and a refinement stage.In the first stage,we design an adaptive blur extents factor(BE factor)to balance noise suppression and details reconstruction.And a novel deconvolution model is proposed based on BE factor.In the second stage,a triplescale deformable module CNN(TDM-CNN)is designed to reduce the ringing artifacts,which can exploit the 2D information of an image and adaptively adjust spatial sampling locations.To establish a standard evaluation benchmark,a real-world rotary motion blur dataset is proposed and released,which includes rotary blurred images and corresponding ground truth images with different blur angles.Experimental results demonstrate that the proposed method outperforms the state-of-the-art models on synthetic and real-world rotary motion blur datasets.The code and dataset are available at https://github.com/JinhuiQin/RotaryDeblurring.

基于Unity和Leap Motion的虚拟课堂系统

针对现有虚拟课堂交互性不足的问题,设计并实现了基于Unity和Leap Motion的虚拟课堂系统。基于Unity构建不同的虚拟场景,实现了场景漫游和交互功能;设计了合理的UI交互界面,引导学生自主学习,从而极大地调动了学生学习的主动性;基于Leap Motion和深度学习算法开发手势交互功能,将手势识别加入到虚拟课堂当中,丰富了交互体验,有效提高了课堂沉浸感和参与感。经调研,系统能够有效解决现有虚拟课堂存在的问题,从而提高学习效率和学习趣味性,同时具有较好的交互体验感。

A new method for deriving broad-band polar motion geodetic excitations

While the geodetic excitationχ(t)of polar motion p(t)is essential to improve our understanding of global mass redistributions and relative motions with respect to the terrestrial frame,the widely adopted method to deriveχ(t)from p(t)has biases in both amplitude and phase responses.This study has developed a new simple but more accurate method based on the combination of the frequency-and time-domain Liouville's equation(FTLE).The FTLE method has been validated not only with 6-h sampled synthetic excitation series but also with daily and 6-h sampled polar motion measurements as well asχ(t)produced by the interactive webpage tool of the International Earth Rotation and Reference Systems Service(IERS).Numerical comparisons demonstrate thatχ(t)derived from the FTLE method has superior performances in both the time and frequency domains with respect to that obtained from the widely adopted method or the IERS webpage tool,provided that the input p(t)series has a length around or more than 25 years,which presents no practical limitations since the necessary polar motion data are readily available.The FTLE code is provided in the form of Mat Lab function.

Generative adversarial networks based motion learning towards robotic calligraphy synthesis

Robot calligraphy visually reflects the motion capability of robotic manipulators.While traditional researches mainly focus on image generation and the writing of simple calligraphic strokes or characters,this article presents a generative adversarial network(GAN)-based motion learning method for robotic calligraphy synthesis(Gan2CS)that can enhance the efficiency in writing complex calligraphy words and reproducing classic calligraphy works.The key technologies in the proposed approach include:(1)adopting the GAN to learn the motion parameters from the robot writing operation;(2)converting the learnt motion data into the style font and realising the transition from static calligraphy images to dynamic writing demonstration;(3)reproducing high-precision calligraphy works by synthesising the writing motion data hierarchically.In this study,the motion trajectories of sample calligraphy images are firstly extracted and converted into the robot module.The robot performs the writing with motion planning,and the writing motion parameters of calligraphy strokes are learnt with GANs.Then the motion data of basic strokes is synthesised based on the hierarchical process of‘stroke-radicalpart-character’.And the robot re-writes the synthesised characters whose similarity with the original calligraphy characters is evaluated.Regular calligraphy characters have been tested in the experiments for method validation and the results validated that the robot can actualise the robotic calligraphy synthesis of writing motion data with GAN.

Towards trustworthy multi-modal motion prediction:Holistic evaluation and interpretability of outputs

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning.This task is very complex,as the behaviour of road agents depends on many factors and the number of possible future trajectories can be consid-erable(multi-modal).Most prior approaches proposed to address multi-modal motion prediction are based on complex machine learning systems that have limited interpret-ability.Moreover,the metrics used in current benchmarks do not evaluate all aspects of the problem,such as the diversity and admissibility of the output.The authors aim to advance towards the design of trustworthy motion prediction systems,based on some of the re-quirements for the design of Trustworthy Artificial Intelligence.The focus is on evaluation criteria,robustness,and interpretability of outputs.First,the evaluation metrics are comprehensively analysed,the main gaps of current benchmarks are identified,and a new holistic evaluation framework is proposed.Then,a method for the assessment of spatial and temporal robustness is introduced by simulating noise in the perception system.To enhance the interpretability of the outputs and generate more balanced results in the proposed evaluation framework,an intent prediction layer that can be attached to multi-modal motion prediction models is proposed.The effectiveness of this approach is assessed through a survey that explores different elements in the visualisation of the multi-modal trajectories and intentions.The proposed approach and findings make a significant contribution to the development of trustworthy motion prediction systems for autono-mous vehicles,advancing the field towards greater safety and reliability.