This paper presents an algorithmic proposal of a movements' planner for a robotic manipulator. Its application is the planning of trajectories from wooden cuttings in a band saw. This algorithm is based on heuristics...This paper presents an algorithmic proposal of a movements' planner for a robotic manipulator. Its application is the planning of trajectories from wooden cuttings in a band saw. This algorithm is based on heuristics. A simulator was developed in order to allow the user to define the table's shape and figure that you want to trim. The simulator was developed in Java from Sun Microsystems, and next it will be applied in TM Cyberbotics Webots.展开更多
The UAVs (unmanned aerial vehicles) and the use of graphical data files of extension KML (keyhole markup language) have become popular nowadays. The KML files are associated to the Google Earth applications. Devel...The UAVs (unmanned aerial vehicles) and the use of graphical data files of extension KML (keyhole markup language) have become popular nowadays. The KML files are associated to the Google Earth applications. Developed by Microdrone company for planning, overflight simulation and data flight analysis, the program mdCockpit was used in this experiment. The UAV Microdrone's flight path was programmed in two ways: using geo referenced images from Google Earth and entering points coordinates into the program. These points have had their geographical decimal coordinates collected by GPS (global positioning system) (RTK (real time kinematic)) method. The aim here is to describe a way of evaluating the difference between the alternatives of flight planning. A flight path, defined a route with 22 points, was also simulated in the program mdCockpit. The points were collected and saved, while the images captured by the program went automatically forming a georeferenced mosaic. A comparison between the differences of coordinates to each point was made by choosing on the images and also by a RTK positioning. The result was up to 14.20 m to a 100 m flight height. There is a significant change of position and this can result in unwanted over flights in locations or even jeopardizing the safety of air activity.展开更多
This study proposes a real time 3D virtual model controll and a virtual dressing room application to enable users to try virtual garments and shoes on in front of a virtual mirror. A virtual representation of the user...This study proposes a real time 3D virtual model controll and a virtual dressing room application to enable users to try virtual garments and shoes on in front of a virtual mirror. A virtual representation of the user appears in a virtual changing room and the user's hand motions select the clothes from a list on the screen. Afterwards, the selected virtual clothes appear on a humanoid model in the virtual mirror. For the purpose of aligning the 3D garments and shoes with the model, 3D locations of the joints are used for positioning, scaling and rotating. By using our developed algorithm, small, medium, large or xlarge garment size is selected automatically and this information is shown on the screen. Then, we apply skin color detection to handle the unwanted occlusions between the user and the model. To create a more realistic effect, the system takes into account different images of the clothes according to different human poses and movements. Optional mirror selection buttons make it possible to have multiple viewing angles on the model. Additionally, we developed an algorithm for matching up all motions between the model and garments. In this study, we benefit from the Microsoft Kinect SDK (software development kit) in order to follow the user's movements, coordinate the suitable clothe try-ons and provide depth sort effect to the human body and clothes. In order to use the rapid calculation attributes of game engines, we used unity 3D game engine.展开更多
Interactions between disruptive colouration and the match between prey and background spot size were manipulated in two experiments that used time taken by human 'predators' to find artificial prey (virtual crab mo...Interactions between disruptive colouration and the match between prey and background spot size were manipulated in two experiments that used time taken by human 'predators' to find artificial prey (virtual crab morphs) against heterogeneous backgrounds as a measure of the their camouflage. Experiment 1, in which the spots and their placement imitated the arrangement on the crab Carcinus maenas, tested whether high and low contrast spots touching the body outline (disruptive 'edge' morphs) made the artificial prey more difficult to detect than when the spots did not touch the outline (non-disruptive 'inner' morphs) against three different backgrounds: 'small', 'middle' and 'large' spot size. In Experiment 2, the range of spot sizes and their positions ('edge' and 'inner') on the crab morphs were varied to determine the most effective combination against the 'mid- dle' background. Altogether, 640 volunteers participated in these computer trials, representing a high degree of independent replication. All patterned morphs were significantly harder to detect than plain morphs, indicating that possessing at least some degree of background matching can provide camouflage. Both experiments demonstrated that various morphs, though not having the same spot sizes as the background, had similar or better survivorship as those with matching spot sizes--indicating that opti- mal camouflage did not come from background matching alone. In Experiment 2, edge-disrupted morphs consistently took longer to find than their non-disruptive counterparts. The relative effects of edge disruption, contrast, and background/prey spot size are clearly context-dependent, highlighting the complexity of prey concealment [Current Zoology 61 (4): 718-728, 2015].展开更多
The paper gives a new approach to statistical simulation and resampling by the use of numbertheoretic methods and representative points. Resempling techniques take samples from an approximate population. The bootstrap...The paper gives a new approach to statistical simulation and resampling by the use of numbertheoretic methods and representative points. Resempling techniques take samples from an approximate population. The bootstrap suggests to use a random sample to form an approximate population. We propose to construct some approximate population distribution by the use of two kinds of representative points, and samples are taken from these approximate distributions. The statistical inference is based on those samples. The statistical inference in this paper involves estimation of mean, variance, skewness, kurtosis, quantile and density of the population distribution. Our results show that the new method can significantly improve the results by the use of Monte Carlo methods.展开更多
The concept of artificial enzymes has been proposed for a long time and a large variety of materials have been exploited in enzyme-like catalytic field for decades. The emergence of nanotechnology provides increasing ...The concept of artificial enzymes has been proposed for a long time and a large variety of materials have been exploited in enzyme-like catalytic field for decades. The emergence of nanotechnology provides increasing opportu- nities for the development of artificial enzymes. Conducting polymer-based nanocomposites are a new type of burgeoning functional materials as enzyme mimics owing to their nu- merous functional groups, excellent electrical conductivity and redox properties. This review summarizes the recent progress of the synthesis of conducting polymers and their nanocomposites, as well as their applications as efficient peroxidase mimics. After a brief description of the develop- ment of conducting polymers, we specifically introduce the fabrication of conducting polymers and their nanocomposites via diverse approaches and show the enhanced peroxidase-like catalytic properties. In addition, the mechanism of the en- hanced catalytic efficiency of the conducting polymer-based nanocomposites has been proposed. Finally, we highlight the applications of such conducting polymer-based nanocompo- sites in the sensitive detection of different types of substances. It is anticipated that this review will pave the way for devel- oping more intriguing functional nanomaterials as enzyme mimics, which shows promising applications in a great many technological fields.展开更多
文摘This paper presents an algorithmic proposal of a movements' planner for a robotic manipulator. Its application is the planning of trajectories from wooden cuttings in a band saw. This algorithm is based on heuristics. A simulator was developed in order to allow the user to define the table's shape and figure that you want to trim. The simulator was developed in Java from Sun Microsystems, and next it will be applied in TM Cyberbotics Webots.
文摘The UAVs (unmanned aerial vehicles) and the use of graphical data files of extension KML (keyhole markup language) have become popular nowadays. The KML files are associated to the Google Earth applications. Developed by Microdrone company for planning, overflight simulation and data flight analysis, the program mdCockpit was used in this experiment. The UAV Microdrone's flight path was programmed in two ways: using geo referenced images from Google Earth and entering points coordinates into the program. These points have had their geographical decimal coordinates collected by GPS (global positioning system) (RTK (real time kinematic)) method. The aim here is to describe a way of evaluating the difference between the alternatives of flight planning. A flight path, defined a route with 22 points, was also simulated in the program mdCockpit. The points were collected and saved, while the images captured by the program went automatically forming a georeferenced mosaic. A comparison between the differences of coordinates to each point was made by choosing on the images and also by a RTK positioning. The result was up to 14.20 m to a 100 m flight height. There is a significant change of position and this can result in unwanted over flights in locations or even jeopardizing the safety of air activity.
文摘This study proposes a real time 3D virtual model controll and a virtual dressing room application to enable users to try virtual garments and shoes on in front of a virtual mirror. A virtual representation of the user appears in a virtual changing room and the user's hand motions select the clothes from a list on the screen. Afterwards, the selected virtual clothes appear on a humanoid model in the virtual mirror. For the purpose of aligning the 3D garments and shoes with the model, 3D locations of the joints are used for positioning, scaling and rotating. By using our developed algorithm, small, medium, large or xlarge garment size is selected automatically and this information is shown on the screen. Then, we apply skin color detection to handle the unwanted occlusions between the user and the model. To create a more realistic effect, the system takes into account different images of the clothes according to different human poses and movements. Optional mirror selection buttons make it possible to have multiple viewing angles on the model. Additionally, we developed an algorithm for matching up all motions between the model and garments. In this study, we benefit from the Microsoft Kinect SDK (software development kit) in order to follow the user's movements, coordinate the suitable clothe try-ons and provide depth sort effect to the human body and clothes. In order to use the rapid calculation attributes of game engines, we used unity 3D game engine.
文摘Interactions between disruptive colouration and the match between prey and background spot size were manipulated in two experiments that used time taken by human 'predators' to find artificial prey (virtual crab morphs) against heterogeneous backgrounds as a measure of the their camouflage. Experiment 1, in which the spots and their placement imitated the arrangement on the crab Carcinus maenas, tested whether high and low contrast spots touching the body outline (disruptive 'edge' morphs) made the artificial prey more difficult to detect than when the spots did not touch the outline (non-disruptive 'inner' morphs) against three different backgrounds: 'small', 'middle' and 'large' spot size. In Experiment 2, the range of spot sizes and their positions ('edge' and 'inner') on the crab morphs were varied to determine the most effective combination against the 'mid- dle' background. Altogether, 640 volunteers participated in these computer trials, representing a high degree of independent replication. All patterned morphs were significantly harder to detect than plain morphs, indicating that possessing at least some degree of background matching can provide camouflage. Both experiments demonstrated that various morphs, though not having the same spot sizes as the background, had similar or better survivorship as those with matching spot sizes--indicating that opti- mal camouflage did not come from background matching alone. In Experiment 2, edge-disrupted morphs consistently took longer to find than their non-disruptive counterparts. The relative effects of edge disruption, contrast, and background/prey spot size are clearly context-dependent, highlighting the complexity of prey concealment [Current Zoology 61 (4): 718-728, 2015].
基金supported by the Special Research Foundation from the Chinese Academyof Sciencesthe Beijing Normal University-Hong Kong Baptist University United International College Research(Grant No.R201409)National Natural Science Foundation of China(Grant No.11261016)
文摘The paper gives a new approach to statistical simulation and resampling by the use of numbertheoretic methods and representative points. Resempling techniques take samples from an approximate population. The bootstrap suggests to use a random sample to form an approximate population. We propose to construct some approximate population distribution by the use of two kinds of representative points, and samples are taken from these approximate distributions. The statistical inference is based on those samples. The statistical inference in this paper involves estimation of mean, variance, skewness, kurtosis, quantile and density of the population distribution. Our results show that the new method can significantly improve the results by the use of Monte Carlo methods.
基金supported by the National Natural Science Foundation of China (51473065, 51773075 and 21474043)
文摘The concept of artificial enzymes has been proposed for a long time and a large variety of materials have been exploited in enzyme-like catalytic field for decades. The emergence of nanotechnology provides increasing opportu- nities for the development of artificial enzymes. Conducting polymer-based nanocomposites are a new type of burgeoning functional materials as enzyme mimics owing to their nu- merous functional groups, excellent electrical conductivity and redox properties. This review summarizes the recent progress of the synthesis of conducting polymers and their nanocomposites, as well as their applications as efficient peroxidase mimics. After a brief description of the develop- ment of conducting polymers, we specifically introduce the fabrication of conducting polymers and their nanocomposites via diverse approaches and show the enhanced peroxidase-like catalytic properties. In addition, the mechanism of the en- hanced catalytic efficiency of the conducting polymer-based nanocomposites has been proposed. Finally, we highlight the applications of such conducting polymer-based nanocompo- sites in the sensitive detection of different types of substances. It is anticipated that this review will pave the way for devel- oping more intriguing functional nanomaterials as enzyme mimics, which shows promising applications in a great many technological fields.