闭环检测是同时定位与建图(Simultaneous localization and mapping,SLAM)的重要组成部分,能够有效减小SLAM系统中的累积误差,并且如果在定位与建图过程中跟踪丢失,还可以利用闭环检测进行重定位。与传统的手动设计的特征(hand-crafted ...闭环检测是同时定位与建图(Simultaneous localization and mapping,SLAM)的重要组成部分,能够有效减小SLAM系统中的累积误差,并且如果在定位与建图过程中跟踪丢失,还可以利用闭环检测进行重定位。与传统的手动设计的特征(hand-crafted feature)相比,从神经网络中学习到的图像特征具有更好的环境不变性和语义识别能力。考虑到基于陆标(landmark)的卷积特征能够克服整个图像特征对视点变化敏感的缺陷,文中提出了一种新的闭环检测算法。其首先通过卷积神经网络的卷积层直接识别出图像的感兴趣区域生成陆标,然后对图像中识别出的每个陆标提取卷积特征,生成图像的最终表示以检测闭环。为了验证算法的有效性,在典型的数据集上进行了对比实验,结果表明所提算法具有优异的性能,且即使是在极端的视点和外观变化的情况下仍然具有高鲁棒性。展开更多
Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic ...Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic model, which provides the status of the joints according to the desired position for the tool of the robot, is typically taught and described in robotics classes through an algebraic way. However, the algebraic representation of this model is often difficult to obtain. Thus, although it is unquestionable the need for the accurate determination of the inverse kinematic model of a robot, the use of ANNs （artificial neural networks） in the design stage can be very attractive, because it allows us to predict the behavior of the robot before the formal development of its model. In this way, this paper presents a relatively quick way to simulate the inverse kinematic model of a robot, thereby allowing the student to have an overview of the model, coming to identify points that should be corrected, or that can be optimized in the structure of a robot.展开更多
The aim of this paper is to analyze the album covers of English band Depeche Mode after 80＇s according to the principles of graphic design. Established in 1980, the musical style of the band was turned from synth-pop...The aim of this paper is to analyze the album covers of English band Depeche Mode after 80＇s according to the principles of graphic design. Established in 1980, the musical style of the band was turned from synth-pop to new wave, from new wave to electronic, dance, and alternative-rock in decades, but their message stayed as it was： A non-hypocritical, humanist, and decent manner against what is wrong and in love sincerely. As a graphic design product, album covers are pre-print design solutions of two dimensional surfaces. Graphic design, as a design field, has its own elements and principles. Visual elements and typography are the two components which should unite with the help of the six main principles which are： unity/harmony; balance; hierarchy; scale/proportion; dominance/emphasis; and similarity and contrast. All album covers of Depeche Mode after 80＇s were designed in a simple but dominant way in order to form a unique style. On every album cover, there are huge color, size, tone, and location contrasts which concluded in simple domination; domination of a non-hypocritical, humanist, and decent manner against what is wrong and in love sincerely.展开更多
With the development of mechanization popularity in rural area, agricultural machinery product not only needs to meet the production goals, and also requires the simple operation and human-centered. Human-centered des...With the development of mechanization popularity in rural area, agricultural machinery product not only needs to meet the production goals, and also requires the simple operation and human-centered. Human-centered design is always, on the basis of the user＇ s requirement and usage, to think over the issues by regarding operator as the center, and to design the products by emphasizing the ease of use and understandability during design and manufacture. In this study, Stubble-Mulch Rotocultivator for Boat Tractor （SMRBT） is chosen as the design object. The coordination approach of the user, machine and environment is discussed by deeply investigating their relationship, which is an empirical study of the human-centered technology of agricultural machinery.展开更多
Objective： To assess the medical community＇s awareness and practice regarding delirium in the intensive care unit （ICU）. Methods： One hundred and ten predesigned questionnaires were distributed to ICU practition...Objective： To assess the medical community＇s awareness and practice regarding delirium in the intensive care unit （ICU）. Methods： One hundred and ten predesigned questionnaires were distributed to ICU practitioners in the affiliated hospitals of Zhejiang University. Results： A total of 105 valid questionnaires were collected. Totally, 55.3% of the clinicians considered that delirium was common in the ICU. Delirium was believed to be a significant or serious problem by 70.5% of respondents, and under-diagnosis was acknowledged by 56.2% of the respondents. The incidence of ICU delirium is even more under-estimated by the pediatric doctors compared with their counterparts in adult ICU （P〈0.05）. Primary disease of the brain （agreed by 82.1% of the respondents） was believed to be the most common risk factor for delirium. None of the ICU professionals screened delirium or used a specific tool for delirium assessment routinely. The vast majority （92.4%） of respondents had little knowledge on the diagnosis and the standard treatment of delirium. Conclusions： Although delirium is considered as a serious problem by a majority of the surveyed ICU professionals, it is still under-recognized in routine critical care practice. Data from this survey show a disconnection between the perceived significance of delirium and the current practices of monitoring and treatment in ICU in China.展开更多
文摘闭环检测是同时定位与建图(Simultaneous localization and mapping,SLAM)的重要组成部分,能够有效减小SLAM系统中的累积误差,并且如果在定位与建图过程中跟踪丢失,还可以利用闭环检测进行重定位。与传统的手动设计的特征(hand-crafted feature)相比,从神经网络中学习到的图像特征具有更好的环境不变性和语义识别能力。考虑到基于陆标(landmark)的卷积特征能够克服整个图像特征对视点变化敏感的缺陷,文中提出了一种新的闭环检测算法。其首先通过卷积神经网络的卷积层直接识别出图像的感兴趣区域生成陆标,然后对图像中识别出的每个陆标提取卷积特征,生成图像的最终表示以检测闭环。为了验证算法的有效性,在典型的数据集上进行了对比实验,结果表明所提算法具有优异的性能,且即使是在极端的视点和外观变化的情况下仍然具有高鲁棒性。
文摘Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic model, which provides the status of the joints according to the desired position for the tool of the robot, is typically taught and described in robotics classes through an algebraic way. However, the algebraic representation of this model is often difficult to obtain. Thus, although it is unquestionable the need for the accurate determination of the inverse kinematic model of a robot, the use of ANNs （artificial neural networks） in the design stage can be very attractive, because it allows us to predict the behavior of the robot before the formal development of its model. In this way, this paper presents a relatively quick way to simulate the inverse kinematic model of a robot, thereby allowing the student to have an overview of the model, coming to identify points that should be corrected, or that can be optimized in the structure of a robot.
文摘The aim of this paper is to analyze the album covers of English band Depeche Mode after 80＇s according to the principles of graphic design. Established in 1980, the musical style of the band was turned from synth-pop to new wave, from new wave to electronic, dance, and alternative-rock in decades, but their message stayed as it was： A non-hypocritical, humanist, and decent manner against what is wrong and in love sincerely. As a graphic design product, album covers are pre-print design solutions of two dimensional surfaces. Graphic design, as a design field, has its own elements and principles. Visual elements and typography are the two components which should unite with the help of the six main principles which are： unity/harmony; balance; hierarchy; scale/proportion; dominance/emphasis; and similarity and contrast. All album covers of Depeche Mode after 80＇s were designed in a simple but dominant way in order to form a unique style. On every album cover, there are huge color, size, tone, and location contrasts which concluded in simple domination; domination of a non-hypocritical, humanist, and decent manner against what is wrong and in love sincerely.
文摘With the development of mechanization popularity in rural area, agricultural machinery product not only needs to meet the production goals, and also requires the simple operation and human-centered. Human-centered design is always, on the basis of the user＇ s requirement and usage, to think over the issues by regarding operator as the center, and to design the products by emphasizing the ease of use and understandability during design and manufacture. In this study, Stubble-Mulch Rotocultivator for Boat Tractor （SMRBT） is chosen as the design object. The coordination approach of the user, machine and environment is discussed by deeply investigating their relationship, which is an empirical study of the human-centered technology of agricultural machinery.
文摘Objective： To assess the medical community＇s awareness and practice regarding delirium in the intensive care unit （ICU）. Methods： One hundred and ten predesigned questionnaires were distributed to ICU practitioners in the affiliated hospitals of Zhejiang University. Results： A total of 105 valid questionnaires were collected. Totally, 55.3% of the clinicians considered that delirium was common in the ICU. Delirium was believed to be a significant or serious problem by 70.5% of respondents, and under-diagnosis was acknowledged by 56.2% of the respondents. The incidence of ICU delirium is even more under-estimated by the pediatric doctors compared with their counterparts in adult ICU （P〈0.05）. Primary disease of the brain （agreed by 82.1% of the respondents） was believed to be the most common risk factor for delirium. None of the ICU professionals screened delirium or used a specific tool for delirium assessment routinely. The vast majority （92.4%） of respondents had little knowledge on the diagnosis and the standard treatment of delirium. Conclusions： Although delirium is considered as a serious problem by a majority of the surveyed ICU professionals, it is still under-recognized in routine critical care practice. Data from this survey show a disconnection between the perceived significance of delirium and the current practices of monitoring and treatment in ICU in China.
