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改进的单特征点机器人手眼自标定方法 被引量:7
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作者 洪磊 嵇保健 +1 位作者 王玉国 凌超 《北京邮电大学学报》 EI CAS CSCD 北大核心 2016年第1期96-101,共6页
针对手眼标定过程要求机器人运动次数过多的缺点,提出了一种改进的单特征点手眼自标定方法.引入手眼关系矩阵的解耦运算,分别标定手眼旋转矩阵和平移向量.运算过程无需计算特征点位置,操作过程仅需机器人末端有5次以上平移运动和2次以... 针对手眼标定过程要求机器人运动次数过多的缺点,提出了一种改进的单特征点手眼自标定方法.引入手眼关系矩阵的解耦运算,分别标定手眼旋转矩阵和平移向量.运算过程无需计算特征点位置,操作过程仅需机器人末端有5次以上平移运动和2次以上旋转运动.实验与误差分析结果表明,所提方法满足工业机器人手眼视觉测量的需求. 展开更多
关键词 手眼关系 自标定 单特征点 机器人视觉
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Strength and failure characteristics of brittle jointed rock-like specimens under uniaxial compression:Digital speckle technology and a particle mechanics approach 被引量:11
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作者 Rihong Cao Hang Lin Ping Cao 《International Journal of Mining Science and Technology》 EI CSCD 2018年第4期662-670,共9页
The strength and failure characteristics of most natural rock mass are influenced by discontinues such as fissures, joints, and weak surfaces. In the present study, the strength and failure behavior of ubiquitous- joi... The strength and failure characteristics of most natural rock mass are influenced by discontinues such as fissures, joints, and weak surfaces. In the present study, the strength and failure behavior of ubiquitous- joint rock-l!ke specimens under uniaxial loading have been investigated by DIC (digital image correlation) and discrete element numerical method (PFC2D). The results are obtained. Firstly, the UCSJ of spec- imens with γ= 15° or 30° shows similar tendency while α goes from 0° to 75°. With γ= 45° or 60°, the UCSJ of specimens increases when α goes from 0° to 30° and decreases after α goes beyond 30°. With γ=75°, the peak UCSJ value is reached when α=0°. The UCSJ value shows an increasing trend when α goes from 60° to 75°. Secondly, the ubiquitous-joint specimens present different failure modes for various levels of α and γ(β-α). Based on the experimental results, the failure mode of ubiquitous-joint specimens can be classified into three categories: stepped path failure, failure through parallel plane, and failure through cross plane. 展开更多
关键词 Ubiquitous-joint Digital speckle correlation technique PFC2D STRENGTH Failure mode
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Distribution characteristics of China's key cultural relic tourism resources and suggestions to its development and protection
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作者 YU Zhong-yuan LI Bo BI Hua 《Ecological Economy》 2010年第4期447-456,共10页
SPSS13.0 was used to process the data of the 1-6 batch of key cultural relic conservation units promulgated by the State Administration of Cultural Heritage of China;and multi-element evaluation method was used to cal... SPSS13.0 was used to process the data of the 1-6 batch of key cultural relic conservation units promulgated by the State Administration of Cultural Heritage of China;and multi-element evaluation method was used to calculate the composite distribution index.The spatial distribution of cultural relics of provinces in China can be divided into four grades,namely:very rich areas,rich areas,poor areas and very poor areas;the article analyzes the characteristics of cultural resources in spatial and temporal distribution.The paper holds that(1)the distribution of China's cultural relic tourism resources is relatively concentrated,different sharply from region to region,with more Han nation's heritage,less relics of the ethnic minorities;(2) Henan,Hebei,Shaanxi,Shanxi Province are the main regions with heavy distribution of cultural resources;(3) relics appeared in specific time periods in China's history.Ming and Qing Dynasties,Sui,Tang and Five Dynasties,Song,Liao and Jin,the Western Han,Shang and Zhou dynasties,the New Stone Age are the major periods producing more cultural relics.This paper also analyzes relationships of the emergence of cultural relics with production technology,specific historical process,specific geographical location,political system,religion,national culture,customs,architectural styles and techniques of the traditional cultural educational system.Finally,the paper discusses the development and protection of heritage. 展开更多
关键词 Cultural relic resources Distributional characteristics Development and protection
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A NOTE ON THE STABILITY OF A CLASS OF DEGENERATE PLANAR CRITICAL POINTS
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作者 Tusen HUANG Qi ZHANG 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2007年第3期461-469,共9页
A computable expression of the asymptotic expansion of the return map for a degenerate singular point of a class of planar differential system is given, and hence the stability and the type of the singular point can b... A computable expression of the asymptotic expansion of the return map for a degenerate singular point of a class of planar differential system is given, and hence the stability and the type of the singular point can be decided. These results generalize the corresponding results in [Nonlinearity, 13 (2000), p.709]. 展开更多
关键词 Isolated singular point monodromy singular point characteristic direction return map stability.
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A stereo matching algorithm based on SIFT feature and homography matrix 被引量:4
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作者 李宗艳 宋丽梅 +3 位作者 习江涛 郭庆华 朱新军 陈明磊 《Optoelectronics Letters》 EI 2015年第5期390-394,共5页
Aiming at the low speed of traditional scale-invariant feature transform(SIFT) matching algorithm, an improved matching algorithm is proposed in this paper. Firstly, feature points are detected and the speed of featur... Aiming at the low speed of traditional scale-invariant feature transform(SIFT) matching algorithm, an improved matching algorithm is proposed in this paper. Firstly, feature points are detected and the speed of feature points matching is improved by adding epipolar constraint; then according to the matching feature points, the homography matrix is obtained by the least square method; finally, according to the homography matrix, the points in the left image can be mapped into the right image, and if the distance between the mapping point and the matching point in the right image is smaller than the threshold value, the pair of matching points is retained, otherwise discarded. Experimental results show that with the improved matching algorithm, the matching time is reduced by 73.3% and the matching points are entirely correct. In addition, the improved method is robust to rotation and translation. 展开更多
关键词 matching stereo invariant rotation constraint camera neighborhood otherwise entirely histogram
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