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模糊先验引导的高效强化学习移动机器人导航 被引量:1
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作者 刘浚嘉 付庄 +2 位作者 谢荣理 张俊 费健 《机械与电子》 2021年第8期72-76,共5页
针对移动机器人仅使用RGB D相机在室内场景下执行坐标点主动视觉导航任务,提出了一种基于模糊先验引导的高效强化学习控制算法,设计了一种先验与强化学习的融合控制方式。结果表明,所提出的融合控制方法能够在确保较好的导航准确率基础... 针对移动机器人仅使用RGB D相机在室内场景下执行坐标点主动视觉导航任务,提出了一种基于模糊先验引导的高效强化学习控制算法,设计了一种先验与强化学习的融合控制方式。结果表明,所提出的融合控制方法能够在确保较好的导航准确率基础上,避免训练中无意义的探索并缩短强化学习训练时长,实现强化学习策略的高效学习。 展开更多
关键词 移动机器人主动视觉导航 坐标点导航 数据高效强化学习
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4R1P型平面五杆并联机构的可动性与特征图表示 被引量:10
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作者 郭为忠 黄其高 +2 位作者 邹慧君 高峰 杜如虚 《机械工程学报》 EI CAS CSCD 北大核心 2005年第8期42-49,共8页
针对4R1P型平面五杆并联机构,引入虚杆概念。基于Grashof定理,将滑块可达空间分割为若干可动性不同的子域。根据三根RR型构件的杆长关系,将运动链与机构划分为三类和若干子类,给出其可动性的特征图表示。在此基础上,根据移动副参数、滑... 针对4R1P型平面五杆并联机构,引入虚杆概念。基于Grashof定理,将滑块可达空间分割为若干可动性不同的子域。根据三根RR型构件的杆长关系,将运动链与机构划分为三类和若干子类,给出其可动性的特征图表示。在此基础上,根据移动副参数、滑块位置、构件结构约束以及移动副的主动与否,具体得出运动链与机构的可动性。特征图分析方法适合于4R1P型所有平面机构和3R型平面开链机构。 展开更多
关键词 4R1P型平面五杆并联机构 可动性 特征图表示 主动移动 从动移动
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无线胶囊式内窥镜的最新进展 被引量:1
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作者 叶福丽 杨玉星 《咸宁学院学报》 2010年第12期6-8,共3页
无线胶囊式内窥镜是一个具有革命性的医疗方法,因为它第一次将无痛检查小肠成为现实.它是靠一个维他命片大小的内窥镜来拍摄消化道的图像的,肠道的蠕动迫使内窥镜向前移动.该装置由一个图像传感器、照明模块、射频发射器和电池组成.无... 无线胶囊式内窥镜是一个具有革命性的医疗方法,因为它第一次将无痛检查小肠成为现实.它是靠一个维他命片大小的内窥镜来拍摄消化道的图像的,肠道的蠕动迫使内窥镜向前移动.该装置由一个图像传感器、照明模块、射频发射器和电池组成.无线胶囊式内窥镜在生物医疗领域是一种全新的突破,而且关键技术的进展将会推进新一代这类装置的产生.因此,这篇综述旨在对近几年一些领域中的最新和最重大的发明进行一个论述,这些领域涉及人体生理参数的测量、先进的图像特征、定位、能量消耗监控、以及动力推进. 展开更多
关键词 无线胶囊式内窥镜 机器人胶囊 主动移动式胶囊 自我推进式胶囊
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混合自行车流多值元胞自动机模型及仿真分析 被引量:3
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作者 李玉清 张生 王正武 《长沙理工大学学报(自然科学版)》 CAS 2018年第2期8-15,共8页
为了研究混合自行车流的交通特性,在现有的多值元胞自动机模型中引入两步骤运行机制,将每一个移动过程分为主动移动和跟随移动来表达相邻车辆的瞬间反应,模拟了普通自行车和电动自行车最大速度分别为2元胞/s和3元胞/s的混合自行车流的... 为了研究混合自行车流的交通特性,在现有的多值元胞自动机模型中引入两步骤运行机制,将每一个移动过程分为主动移动和跟随移动来表达相邻车辆的瞬间反应,模拟了普通自行车和电动自行车最大速度分别为2元胞/s和3元胞/s的混合自行车流的运行情况。试验结果表明,改进后的模型仿真精度更高。不同参数模拟输出的流密图显示,随着电动自行车比例或车道宽度的增加,自行车道的通行能力相应提高。在三车道试验中,当电动自行车比例从0变为1时,单位宽度车道通行能力增加约29.4%;当车道数从2提高到3时,单位宽度车道通行能力增加22%。 展开更多
关键词 交通流微观仿真 多值元胞自动机 混合自行车流 通行能力 主动移动 跟随移动
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概念迁移视角下的日语学习者移动表达实证研究——以主动、致使、虚拟移动事件为例 被引量:4
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作者 张丽虹 《日语学习与研究》 CSSCI 2020年第2期37-47,共11页
本文基于移动事件类型学理论,运用概念迁移的验证方法和概念变化理论,对日语学习者的主动、致使、虚拟移动事件中的概念迁移表现和原因进行了分析。研究结果表明,学习者的移动事件表达体现出了明显的附加语构架语言特征,不倾向于使用包... 本文基于移动事件类型学理论,运用概念迁移的验证方法和概念变化理论,对日语学习者的主动、致使、虚拟移动事件中的概念迁移表现和原因进行了分析。研究结果表明,学习者的移动事件表达体现出了明显的附加语构架语言特征,不倾向于使用包含路径要素的单纯动词,并且路径要素难以拓展到虚拟移动表达中。学习者的主动移动和致使移动事件中发生了概念挪用,虚拟移动事件中涉及到了概念重组。学习者的概念迁移现象是汉日语类型学异同、汉日语移动动词概念差异以及认知识解倾向共同作用的结果。 展开更多
关键词 主动移动 致使移动 虚拟移动 概念迁移
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Motion Geometric Active Contours: Tracking Nonrigid Objects in Clutter Background 被引量:1
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作者 岑峰 Qi Feihu 《High Technology Letters》 EI CAS 2003年第3期19-23,共5页
MGAC (Motion Geometric Active Contours), a new variational framework of geometric active contours to track multiple nonrigid moving objects in the clutter background in image sequences is presented. This framework, in... MGAC (Motion Geometric Active Contours), a new variational framework of geometric active contours to track multiple nonrigid moving objects in the clutter background in image sequences is presented. This framework, incorporating with the motion edge information, consists of motion detection and tracking stages. At the motion detection stage, the motion edge map provides an approximate edge map of the moving objects. Then, a tracking stage, merely using the static edge information, is considered to improve the motion detection result. Force field regularization method is used to extend the capture range of the edge attraction force field in both stages. Experiments demonstrate that the proposed framework is valid for tracking multiple nonrigid objects in the clutter background. 展开更多
关键词 object tracking active contours Level Set Theory clutter background
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Primary biliary cirrhosis after aortoiliac reconstruction surgery using a Y-graft: A case report
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作者 Tomoko Inoue Katsuya Shiraki +7 位作者 Hiroyuki Fuke Yutaka Yamanaka Kazumi Miyashita Keiichi Ito Masahiro Suzuki Kazushi Sugimoto Kazumoto Murata Takeshi Nakano 《World Journal of Gastroenterology》 SCIE CAS CSCD 2005年第39期6219-6220,共2页
Primary biliary cirrhosis (PBC) is an autoimmune disease characterized by anti-mitochondrial antibodies and destruction of intra-hepatic bile ducts. Though little is known about the etiology of PBC, some reports sugge... Primary biliary cirrhosis (PBC) is an autoimmune disease characterized by anti-mitochondrial antibodies and destruction of intra-hepatic bile ducts. Though little is known about the etiology of PBC, some reports suggest that xenobiotics and viral infections may induce PBC. We describe a case of PBC after the aortoiliac reconstruction surgery using a Y-graft. 展开更多
关键词 Gall bladder cancer METASTASIS Metastatic cardiac tumor
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Comparative study of notional passive in English and Chinese
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作者 WANG Yan-ting LI Xiao-feng 《Sino-US English Teaching》 2007年第12期47-52,共6页
This thesis is intended to give a contrastive study of the notional passive in English and Chinese, not merely analyzing the relationship between notional passive and passive voice, but summarizing the features and st... This thesis is intended to give a contrastive study of the notional passive in English and Chinese, not merely analyzing the relationship between notional passive and passive voice, but summarizing the features and status of the notional passives in English and Chinese, with an aim to cast some light on the main differences between English and Chinese concerning passive, and giving some insights to better understanding and bilingual transference between English and Chinese where the notional passive is involved. 展开更多
关键词 the notional passive comparative study bilingual transference
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Dyna-QUF:Dyna-Q based univector field navigation for autonomous mobile robots in unknown environments 被引量:1
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作者 VIET Hoang-huu CHOI Seung-yoon CHUNG Tae-choong 《Journal of Central South University》 SCIE EI CAS 2013年第5期1178-1188,共11页
A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is en... A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is ensured to reach the goal position with the desired posture by following the univector field. Contrariwise, the univector field cannot guarantee that the robot will avoid obstacles in environments. In order to create an intelligent mobile robot being able to perform the obstacle avoidance task while following the univector field, Dyna-Q algorithm is developed to train the robot in learning moving directions to attain a collision-free path for its navigation. Simulations on the computer as well as experiments on the real world prove that the proposed algorithm is efficient for training the robot in reaching the goal position with the desired final orientation. 展开更多
关键词 Dyna-Q mobile robot reinforcement learning univector field
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Improved area-difference-based recovery information placement
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作者 慈轶为 《High Technology Letters》 EI CAS 2010年第4期401-406,共6页
In mobile computing systems,message logging can be used to provide fault tolerance for mobilehosts.Due to the mobility of mobile hosts,their recovery information,including logged messages andcheckpoints,may spread thr... In mobile computing systems,message logging can be used to provide fault tolerance for mobilehosts.Due to the mobility of mobile hosts,their recovery information,including logged messages andcheckpoints,may spread throughout mobile support stations.During recovery,there will be a considerablecost for the collection of recovery information.To speed up recovery and to reduce the failure-freeoverhead,an improved area-difference-based scheme is proposed.It tries to keep recovery informationevenly spreading over an area.Only part of recovery information needs to be migrated for controlling thedistribution of recovery information.To reduce the migration cost,a light-weight migration is also proposed.In the performance study,we give an analysis of the probability that the light-weight migrationtakes place. 展开更多
关键词 FAULT-TOLERANCE recovery information placement message logging
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Development of Independent Moving Puppet Robot
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作者 Byeong-yeol KIM Hwan-ik CHUNG Hern-soo HAHN 《Journal of Measurement Science and Instrumentation》 CAS 2010年第4期364-367,共4页
This paper is about the automation of the marionette performance. A method to solve the problem on the mobility of the automated marionette performance is proposed. Since it is difficult to control the marionette by h... This paper is about the automation of the marionette performance. A method to solve the problem on the mobility of the automated marionette performance is proposed. Since it is difficult to control the marionette by hands, as an alternative, the automated marionette is studied. However, the automtic marionette performance is limited in the silence and mobility. Therefore, an independent shifter to move freely on the stage is required. The magnetic device which connects the movable robot and the marionette controlling robot is conceived. The magnetic device is improved and applied by considering the features of the marionette robot, which is the irregular movement of the marionette controller and of the parallel limited area. The burden of being trapped on the magnet is minimized by dividing the robot to the upper and lower parts of the marionette performance stage. The direction of the magnet is considered to make the mobile robot to move freely. Thus, the efficiency and safety of the device is confirmed by balancing the strength with the permanent magnet. 展开更多
关键词 MARIONETTE MAGNET mobile robot PUPPET
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