A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the...A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.展开更多
To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using d...To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using different techniques,yet the proprioceptive mechanisms underlying human movement control are still unclear.In the current work we have reviewed understanding of proprioception and the three testing methods:threshold to detection of passive motion,joint position reproduction,and active movement extent discrimination,all of which have been used for assessing proprioception.The origin of the methods,the different testing apparatus,and the procedures and protocols used in each approach are compared and discussed.Recommendations are made for choosing an appropriate technique when assessing proprioceptive mechanisms in different contexts.展开更多
In order to recognize one＇s intention from the communication, both the meaning and the emotion are necessary to be interpreted correctly. But until now the study of fine-grained theory of emotion is still full of cha...In order to recognize one＇s intention from the communication, both the meaning and the emotion are necessary to be interpreted correctly. But until now the study of fine-grained theory of emotion is still full of challenges. This paper analy- zes emotion category according to the statistics of Affective Word （AW） hierarchy and descries an e- motion ontology from Chinese knowledge resource semi-automatically created for human machine in- teraction. The emotion hierarchy is called complex emotion. Firstly, over 7 000 AWs have been annota- ted and theft detailed explanations had been collected for an affective lexicon and then the consistent rela- tionships are automatically parsed and a serial of e- motion hierarchical structures are built up. More than 50 affective categories are extracted by a lexical clustering algorithm and about 5 000 nouns and ad- jectives and 2 000 verbs are categorized into the predicate hierarchy. The results have been evaluated to be valid by two metrics.展开更多
According to topography of Yemen,most areas and villages are located at obligated crest,toe of mountain and under cliffs.Therefore Al-Huwayshah consisting of Tawilah sandstone group is characterized by steep slope rea...According to topography of Yemen,most areas and villages are located at obligated crest,toe of mountain and under cliffs.Therefore Al-Huwayshah consisting of Tawilah sandstone group is characterized by steep slope reach to 90° in some areas.This area is affected by strong tectonic movements and faults that occurred during the geological epochs.This effect enhances to find out fractures and joints as well as the rocks become brittle and ready to slide depending on the position of area.And there are some fractures and joints on the surface of the areas due to tectonic movement associated with opening the Red Sea and Gulf of Aden.The rainfalls,fractures,joints,earthquakes,gravity,vegetations,temperatures and human activities play a big role in the processes of rockfalls and landslides in this area.All those factors are considered as the basic causes and catalyzed factors for occurrence of rockfall in the studide area.In addition,the authors carried out laboratory test for many rock samples to get the physical properties of the rocks.展开更多
In recent years,the assessment of proprioceptive function has received increased attention in clinical and motor skill research.This is not surprising given the growing body of scientific evidence on the importance of...In recent years,the assessment of proprioceptive function has received increased attention in clinical and motor skill research.This is not surprising given the growing body of scientific evidence on the importance of proprioceptive information for controlling nearly all facets of human movement;from standing to performing highly skilled movement patterns展开更多
基金Project(60234030) supported by the National Natural Science Foundation of China
文摘A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
基金the University of Canberra,Key Laboratory of Exercise and Health Sciences of Ministry of Education,Shanghai University of Sport and Shanghai Municipal Science and Technology Commission (No.13490503800)supported by Shanghai Pujiang Program (No.15PJ1407600)
文摘To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using different techniques,yet the proprioceptive mechanisms underlying human movement control are still unclear.In the current work we have reviewed understanding of proprioception and the three testing methods:threshold to detection of passive motion,joint position reproduction,and active movement extent discrimination,all of which have been used for assessing proprioception.The origin of the methods,the different testing apparatus,and the procedures and protocols used in each approach are compared and discussed.Recommendations are made for choosing an appropriate technique when assessing proprioceptive mechanisms in different contexts.
基金supported by the Ministry of Education,Science,Sports and Culture,Grant-in-Aid for Scientific Research under Grant No.22240021the Grant-in-Aid for Challenging Exploratory Research under Grant No.21650030
文摘In order to recognize one＇s intention from the communication, both the meaning and the emotion are necessary to be interpreted correctly. But until now the study of fine-grained theory of emotion is still full of challenges. This paper analy- zes emotion category according to the statistics of Affective Word （AW） hierarchy and descries an e- motion ontology from Chinese knowledge resource semi-automatically created for human machine in- teraction. The emotion hierarchy is called complex emotion. Firstly, over 7 000 AWs have been annota- ted and theft detailed explanations had been collected for an affective lexicon and then the consistent rela- tionships are automatically parsed and a serial of e- motion hierarchical structures are built up. More than 50 affective categories are extracted by a lexical clustering algorithm and about 5 000 nouns and ad- jectives and 2 000 verbs are categorized into the predicate hierarchy. The results have been evaluated to be valid by two metrics.
文摘According to topography of Yemen,most areas and villages are located at obligated crest,toe of mountain and under cliffs.Therefore Al-Huwayshah consisting of Tawilah sandstone group is characterized by steep slope reach to 90° in some areas.This area is affected by strong tectonic movements and faults that occurred during the geological epochs.This effect enhances to find out fractures and joints as well as the rocks become brittle and ready to slide depending on the position of area.And there are some fractures and joints on the surface of the areas due to tectonic movement associated with opening the Red Sea and Gulf of Aden.The rainfalls,fractures,joints,earthquakes,gravity,vegetations,temperatures and human activities play a big role in the processes of rockfalls and landslides in this area.All those factors are considered as the basic causes and catalyzed factors for occurrence of rockfall in the studide area.In addition,the authors carried out laboratory test for many rock samples to get the physical properties of the rocks.
基金supported by the Deutsche Forschungsgemeinschaft (No.KR 4595/1-1)
文摘In recent years,the assessment of proprioceptive function has received increased attention in clinical and motor skill research.This is not surprising given the growing body of scientific evidence on the importance of proprioceptive information for controlling nearly all facets of human movement;from standing to performing highly skilled movement patterns
