In this paper, the Kalman filter is used to predict image feature positionaround which an image-processing window is then established to diminish feature-searching area andto heighten the image-processing speed. Accor...In this paper, the Kalman filter is used to predict image feature positionaround which an image-processing window is then established to diminish feature-searching area andto heighten the image-processing speed. According to the fundamentals of image-based visual servoing(IBVS), the cerebellar model articulation controller (CMAC) neural network is inserted into thevisual servo control loop to implement the nonlinear mapping from the error signal in the imagespace to the control signal in the input space instead of the iterative adjustment and complicatedinverse solution of the image Jacobian. Simulation results show that the feature point can bepredicted efficiently using the Kalman filter and on-line supervised learning can be realized usingCMAC neural network; end-effector can track the target object very well.展开更多
A novel volumetric three-dimensional（3-D） display system is developed based on the human eye persistence and the system fuses a time-series of image slices into a single hologram like 3-D aerial image. The system de...A novel volumetric three-dimensional（3-D） display system is developed based on the human eye persistence and the system fuses a time-series of image slices into a single hologram like 3-D aerial image. The system design is introduced and key components are described. Experimental results show that the 3-D system can guide people freely walk around the display to inspect the true 3-D image without goggles.展开更多
The structure of 3 D range sensor system for unmanned vehicle is introduced.Several key technologies are described in detail.The ultrasonic signal is processed from different angles.Image edges are extracted by the m...The structure of 3 D range sensor system for unmanned vehicle is introduced.Several key technologies are described in detail.The ultrasonic signal is processed from different angles.Image edges are extracted by the multiple scale method.Image noises are recognized and cleared by using multilayer forward neural network with fuzzy logic.The method of information fusion for multiple sensors is discussed.This paper also gives some ultrasonic signal curves and image results.展开更多
The methods of visual recognition,positioning and orienting with simple 3 D geometric workpieces are presented in this paper.The principle and operating process of multiple orientation run le...The methods of visual recognition,positioning and orienting with simple 3 D geometric workpieces are presented in this paper.The principle and operating process of multiple orientation run length coding based on general orientation run length coding and visual recognition method are described elaborately.The method of positioning and orientating based on the moment of inertia of the workpiece binary image is stated also.It has been applied in a research on flexible automatic coordinate measuring system formed by integrating computer aided design,computer vision and computer aided inspection planning,with a coordinate measuring machine.The results show that integrating computer vision with measurement system is a feasible and effective approach to improve their flexibility and automation.展开更多
Objective To investigate the involvement of transient receptor potential vanilloid receptor 1 （TRPV1） in the facial inflammatory pain in relation to thermal hyperalgesia and cold pain sensation. Methods Facial infla...Objective To investigate the involvement of transient receptor potential vanilloid receptor 1 （TRPV1） in the facial inflammatory pain in relation to thermal hyperalgesia and cold pain sensation. Methods Facial inflammatory pain model was developed by subcutaneous injection of turpentine oil （TO） into rat facial area. Head withdrawal thermal latency （HWTL） and head withdrawal cold latency （HWCL） were measured once a day for 21 d after TO treatment using thermal and cold measurement apparatus. The immunohistochemical staining, cell-size frequency analysis and the survey of average optical density （OD） value were used to observe the changes of TRPV1 expression in the neurons of the trigeminal ganglion （TG）, peripheral nerve fibers in the vibrissal pad, and central projection processes in the trigeminal sensory nuclei caudalis （Vc） on day 3, 5, 7, 14, and 21 after TO injection. Results HWTL and HWCL decreased significantly from day 1 to day 14 after TO injection with the lowest value on day 5 and day 3, respectively, and both recovered on day 21. The number of TRPV1-labeled neurons increased remarkably from day 1 to day 14 with a peak on day 7, and returned back to the normal level on day 21. In control rats, only small and medium-sized TG neurons were immunoreactive （IR） to TRPV1, and the TRPV1-IR terminals were abundant in both the vibrissal pad and the Vc. Within 2 weeks of inflammation, the expression of TRPV1 in small and medium-sized TG neurons increased obviously. Also the TRPV1 stained terminals and fibers appeared more frequent and denser in both the vibrissal pad skin and throughout laminae Ⅰ and the outer zone of laminae Ⅱ （Ⅱo） of Vc. Conclusion Facial inflammatory pain could induce hyperalgesia to noxious heat and cold stimuli, and result in increase of the numbers of TRPV1 positive TG neurons and the peripheral and central terminals of TG. These results suggest that the phenotypic changes of TRPV1 expression in small and medium-sized TG neurons and terminals might play an important role in the development and maintenance of TO-induced inflammatory thermal hyperalgesia and cold pain sensation.展开更多
The lateral resistance of sleeper plays an important role in ensuring the stability of a railway track, which may change in the operation of railway, due to the fouling in the ballast bed. In this work, discrete eleme...The lateral resistance of sleeper plays an important role in ensuring the stability of a railway track, which may change in the operation of railway, due to the fouling in the ballast bed. In this work, discrete element method was adopted to investigate the effect of fouling on the lateral resistance of sleeper. The shape information of ballast was captured by method of three-dimensional vision reconstruction. In order to calibrate the mechanical parameters and verify the models, a lateral resistance field test was carried out by using a custom-made device. The contact force distributions in the different parts of sleeper as well as the interaction between ballast and sleeper were discussed in depth. The results show that fouling of ballast bed evidently reduces the lateral resistance of sleeper and the decreasing degree is also related to the fouled position of ballast bed, in the order of shoulder > bottom > side.Therefore, the effect of fouling, especially the fouling in the ballast shoulder, on the lateral resistance of sleeper, should be taken into account in ballast track maintenance work.展开更多
Single-camera mobile-vision coordinate measurement is one of the primary methods of 3D-coordinate vision measurement, and coded target plays an important role in this system. A multifunctional coded target and its rec...Single-camera mobile-vision coordinate measurement is one of the primary methods of 3D-coordinate vision measurement, and coded target plays an important role in this system. A multifunctional coded target and its recognition algorithm is developed, which can realize automatic match of feature points, calculation of camera initial exterior orientation and space scale factor constraint in measurement system. The uniqueness and scalability of coding are guaranteed by the rational arrangement of code bits. The recognition of coded targets is realized by cross-ratio invariance restriction, space coordinates transform of feature points based on spacial pose estimation algorithm, recognition of code bits and computation of coding values. The experiment results demonstrate the uniqueness of the coding form and the reliability of recognition.展开更多
The heterogeneity of unconventional reservoir rock tremendously affects its hydrofracturing behavior. A visual representation and accurate characterization of the three-dimensional （3D） growth and distribution of hy...The heterogeneity of unconventional reservoir rock tremendously affects its hydrofracturing behavior. A visual representation and accurate characterization of the three-dimensional （3D） growth and distribution of hydrofracturing cracks within heterogeneous rocks is of particular use to the design and implementation of hydrofracturing stimulation of unconventional reservoirs. However, because of the difficulties involved in visually representing and quantitatively characterizing a 3D hydrofracturing crack-network, this issue remains a challenge. In this paper, a novel method is proposed for physically visualizing and quantitatively characterizing the 3D hydrofracturing crack-network distributed through a heterogeneous structure based on a natural glutenite sample. This method incorporates X-ray microfocus computed tomography （μCT）, 3D printing models and hydrofracturing triaxial tests to represent visually the heterogeneous structure, and the 3D crack growth and distribution within a transparent rock model during hydrofracturing. The coupled effects of material heterogeneity and confining geostress on the 3D crack initiation and propagation were analyzed. The results indicate that the breakdown pressure of a heterogeneous rock model is significantly affected by material heterogeneity and confining geostress. The measured breakdown pressures of heterogeneous models are apparently different from those predicted by traditional theories. This study helps to elucidate the quantitative visualization and characterization of the mechanism and influencing factors that determine the hydrofracturing crack initiation and propagation in heterogeneous reservoir rocks.展开更多
This paper deals with the applicability of human rights in general and of third-generation human right in particular. It offers an explanation of the pathetic status of human rights and suggests an alternative approac...This paper deals with the applicability of human rights in general and of third-generation human right in particular. It offers an explanation of the pathetic status of human rights and suggests an alternative approach towards ＂third-generation＂ human rights, i.e., the rights of communities. It argues that since an immanent dichotomy exists between the political aspect of human rights--the fact that their addressee is the state government--and their universal aspect, i.e., the fact that they belong to everyone and their fulfillment is demanded by international bodies, very often their possessors cannot capitalize them. Third-generation human rights encounter additional problems. Very often their respondent--the state government----cannot comply with their demands, and according to the Kantian principle ＂Ought Implies Can,＂ they should be addressed towards someone who can in fact fulfill them. This article thus suggests addressing third-generation human rights towards the international community. This may exclude them from the current category of human rights, and create the need to establish a new category such as Community Rights. Such classification may bear the advantage of making these rights more applicable and accessible than they are at present.展开更多
基金The National Natural Science Foundation of China (59990470).
文摘In this paper, the Kalman filter is used to predict image feature positionaround which an image-processing window is then established to diminish feature-searching area andto heighten the image-processing speed. According to the fundamentals of image-based visual servoing(IBVS), the cerebellar model articulation controller (CMAC) neural network is inserted into thevisual servo control loop to implement the nonlinear mapping from the error signal in the imagespace to the control signal in the input space instead of the iterative adjustment and complicatedinverse solution of the image Jacobian. Simulation results show that the feature point can bepredicted efficiently using the Kalman filter and on-line supervised learning can be realized usingCMAC neural network; end-effector can track the target object very well.
文摘A novel volumetric three-dimensional（3-D） display system is developed based on the human eye persistence and the system fuses a time-series of image slices into a single hologram like 3-D aerial image. The system design is introduced and key components are described. Experimental results show that the 3-D system can guide people freely walk around the display to inspect the true 3-D image without goggles.
文摘The structure of 3 D range sensor system for unmanned vehicle is introduced.Several key technologies are described in detail.The ultrasonic signal is processed from different angles.Image edges are extracted by the multiple scale method.Image noises are recognized and cleared by using multilayer forward neural network with fuzzy logic.The method of information fusion for multiple sensors is discussed.This paper also gives some ultrasonic signal curves and image results.
文摘The methods of visual recognition,positioning and orienting with simple 3 D geometric workpieces are presented in this paper.The principle and operating process of multiple orientation run length coding based on general orientation run length coding and visual recognition method are described elaborately.The method of positioning and orientating based on the moment of inertia of the workpiece binary image is stated also.It has been applied in a research on flexible automatic coordinate measuring system formed by integrating computer aided design,computer vision and computer aided inspection planning,with a coordinate measuring machine.The results show that integrating computer vision with measurement system is a feasible and effective approach to improve their flexibility and automation.
基金supported by the National Natural Science Foundation of China(No.30570629)China-Dutch Joint Research Project(No.05CDP030)
文摘Objective To investigate the involvement of transient receptor potential vanilloid receptor 1 （TRPV1） in the facial inflammatory pain in relation to thermal hyperalgesia and cold pain sensation. Methods Facial inflammatory pain model was developed by subcutaneous injection of turpentine oil （TO） into rat facial area. Head withdrawal thermal latency （HWTL） and head withdrawal cold latency （HWCL） were measured once a day for 21 d after TO treatment using thermal and cold measurement apparatus. The immunohistochemical staining, cell-size frequency analysis and the survey of average optical density （OD） value were used to observe the changes of TRPV1 expression in the neurons of the trigeminal ganglion （TG）, peripheral nerve fibers in the vibrissal pad, and central projection processes in the trigeminal sensory nuclei caudalis （Vc） on day 3, 5, 7, 14, and 21 after TO injection. Results HWTL and HWCL decreased significantly from day 1 to day 14 after TO injection with the lowest value on day 5 and day 3, respectively, and both recovered on day 21. The number of TRPV1-labeled neurons increased remarkably from day 1 to day 14 with a peak on day 7, and returned back to the normal level on day 21. In control rats, only small and medium-sized TG neurons were immunoreactive （IR） to TRPV1, and the TRPV1-IR terminals were abundant in both the vibrissal pad and the Vc. Within 2 weeks of inflammation, the expression of TRPV1 in small and medium-sized TG neurons increased obviously. Also the TRPV1 stained terminals and fibers appeared more frequent and denser in both the vibrissal pad skin and throughout laminae Ⅰ and the outer zone of laminae Ⅱ （Ⅱo） of Vc. Conclusion Facial inflammatory pain could induce hyperalgesia to noxious heat and cold stimuli, and result in increase of the numbers of TRPV1 positive TG neurons and the peripheral and central terminals of TG. These results suggest that the phenotypic changes of TRPV1 expression in small and medium-sized TG neurons and terminals might play an important role in the development and maintenance of TO-induced inflammatory thermal hyperalgesia and cold pain sensation.
基金Projects(U1234211,61472029,51208034)supported by the National Natural Science Foundation of China
文摘The lateral resistance of sleeper plays an important role in ensuring the stability of a railway track, which may change in the operation of railway, due to the fouling in the ballast bed. In this work, discrete element method was adopted to investigate the effect of fouling on the lateral resistance of sleeper. The shape information of ballast was captured by method of three-dimensional vision reconstruction. In order to calibrate the mechanical parameters and verify the models, a lateral resistance field test was carried out by using a custom-made device. The contact force distributions in the different parts of sleeper as well as the interaction between ballast and sleeper were discussed in depth. The results show that fouling of ballast bed evidently reduces the lateral resistance of sleeper and the decreasing degree is also related to the fouled position of ballast bed, in the order of shoulder > bottom > side.Therefore, the effect of fouling, especially the fouling in the ballast shoulder, on the lateral resistance of sleeper, should be taken into account in ballast track maintenance work.
文摘Single-camera mobile-vision coordinate measurement is one of the primary methods of 3D-coordinate vision measurement, and coded target plays an important role in this system. A multifunctional coded target and its recognition algorithm is developed, which can realize automatic match of feature points, calculation of camera initial exterior orientation and space scale factor constraint in measurement system. The uniqueness and scalability of coding are guaranteed by the rational arrangement of code bits. The recognition of coded targets is realized by cross-ratio invariance restriction, space coordinates transform of feature points based on spacial pose estimation algorithm, recognition of code bits and computation of coding values. The experiment results demonstrate the uniqueness of the coding form and the reliability of recognition.
基金We gratefully acknowledge the financial support of the National Natural Science Foundation of China （Grants 51374213 and 51674251）, National Natural Science Fund for Distinguished Young Scholars of China （Grant 51125017）, Science Fund for Creative Research Groups of the National Natural Science Foundation of China （Grant 51421003）, Fund for Innovative Research and Development Group Program of Jiangsu Province （Grant 2014-27）, and the Priority Academic Program Development of Jiangsu Higher Education Institutions （Grant PAPD 2014）.
文摘The heterogeneity of unconventional reservoir rock tremendously affects its hydrofracturing behavior. A visual representation and accurate characterization of the three-dimensional （3D） growth and distribution of hydrofracturing cracks within heterogeneous rocks is of particular use to the design and implementation of hydrofracturing stimulation of unconventional reservoirs. However, because of the difficulties involved in visually representing and quantitatively characterizing a 3D hydrofracturing crack-network, this issue remains a challenge. In this paper, a novel method is proposed for physically visualizing and quantitatively characterizing the 3D hydrofracturing crack-network distributed through a heterogeneous structure based on a natural glutenite sample. This method incorporates X-ray microfocus computed tomography （μCT）, 3D printing models and hydrofracturing triaxial tests to represent visually the heterogeneous structure, and the 3D crack growth and distribution within a transparent rock model during hydrofracturing. The coupled effects of material heterogeneity and confining geostress on the 3D crack initiation and propagation were analyzed. The results indicate that the breakdown pressure of a heterogeneous rock model is significantly affected by material heterogeneity and confining geostress. The measured breakdown pressures of heterogeneous models are apparently different from those predicted by traditional theories. This study helps to elucidate the quantitative visualization and characterization of the mechanism and influencing factors that determine the hydrofracturing crack initiation and propagation in heterogeneous reservoir rocks.
文摘This paper deals with the applicability of human rights in general and of third-generation human right in particular. It offers an explanation of the pathetic status of human rights and suggests an alternative approach towards ＂third-generation＂ human rights, i.e., the rights of communities. It argues that since an immanent dichotomy exists between the political aspect of human rights--the fact that their addressee is the state government--and their universal aspect, i.e., the fact that they belong to everyone and their fulfillment is demanded by international bodies, very often their possessors cannot capitalize them. Third-generation human rights encounter additional problems. Very often their respondent--the state government----cannot comply with their demands, and according to the Kantian principle ＂Ought Implies Can,＂ they should be addressed towards someone who can in fact fulfill them. This article thus suggests addressing third-generation human rights towards the international community. This may exclude them from the current category of human rights, and create the need to establish a new category such as Community Rights. Such classification may bear the advantage of making these rights more applicable and accessible than they are at present.
