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机器人自主抓取的三维点云基本形体简化算法 被引量:5
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作者 曹雏清 刘汉伟 李瑞峰 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2020年第1期13-19,共7页
针对抓取任务的非结构化特性,提出一种基于非规则物体三维点云的基本形体简化算法,为抓取策略的选取提供思路,提高机器人自主抓取的准确率.将不规则的复杂物体简化为由基本形体组成的简单物体,基于三维网格分割算法将物体3D数据点进行分... 针对抓取任务的非结构化特性,提出一种基于非规则物体三维点云的基本形体简化算法,为抓取策略的选取提供思路,提高机器人自主抓取的准确率.将不规则的复杂物体简化为由基本形体组成的简单物体,基于三维网格分割算法将物体3D数据点进行分割,依据最优拟合算法将分割后各部分拟合为球体、椭球体、圆柱体和平行六面体中的一种,实现对复杂物体的简化.实验结果表明:本文算法可应用于不同形状及姿态的非规则物体抓取,具有较高的鲁棒性. 展开更多
关键词 自主抓取 非规则物体 三维点云 基本形体简化 网格分割 最优拟合算法
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试论文字合流
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作者 潘薇薇 《中国文字研究》 CSSCI 2014年第2期124-131,共8页
"文字合流"指两个或更多个原本不同的文字在文字应用、形体简化潮流中变得一样,词与词之间的同音关系是文字合流现象发生的根本原因,而形体简化则是文字合流的方向。本文通过个案考索概括出文字合流的七种情形,并探讨了文字... "文字合流"指两个或更多个原本不同的文字在文字应用、形体简化潮流中变得一样,词与词之间的同音关系是文字合流现象发生的根本原因,而形体简化则是文字合流的方向。本文通过个案考索概括出文字合流的七种情形,并探讨了文字合流现象在截断文字形义关联、造成古籍阅读障碍以及使文字所承载的文化信息流失等方面产生的影响。 展开更多
关键词 文字合流 同音替代 形体简化 理据中断 阅读障碍
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Influence of Ship Motion on Flow Field over Modified Simple Frigate Shapes 被引量:2
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作者 LI Tong WANG Yibin ZHAO Ning 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2021年第3期520-534,共15页
When the frigate moves forward,due to the ship motion such as pitching and rolling,the flow over the flight deck becomes very complex,which may seriously threaten the taking off and landing of the ship-borne helicopte... When the frigate moves forward,due to the ship motion such as pitching and rolling,the flow over the flight deck becomes very complex,which may seriously threaten the taking off and landing of the ship-borne helicopter.The flow fields over the different modified simple frigate shape(SFS)models,consisting of the hangar and flight deck,were numerically studied by changing the ratio of hangar height and length in the static state and pitching state.For different models,the contours of velocity and pressure above the flight deck,as well as the variations of velocity components of the observation points and line in static state and pitching state were compared and analyzed.The results show that the size of recirculation zone and the location of the reattachment point have distinct differences for diverse models,and reveal the tracks of recirculation zone’s center and reattachment position in a pitching period.In addition,the velocity components at two observation positions also change periodically with the periodic motion.Furthermore,the deviations of the velocity components in static state and pitching state are relatively large,therefore,the flow fields in static state cannot be used to simulate that in pitching state correctly. 展开更多
关键词 computational fluid dynamics simple frigate shape ship airwake PITCHING recirculation zone
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