This paper proposes a framework for human action recognition based on procrustes analysis and Fisher vector coding(FVC).Firstly,we applied a pose feature extracted from silhouette image by employing Procrustes analysi...This paper proposes a framework for human action recognition based on procrustes analysis and Fisher vector coding(FVC).Firstly,we applied a pose feature extracted from silhouette image by employing Procrustes analysis and local preserving projection(LPP).Secondly,the extracted feature can preserve the discriminative shape information and local manifold structure of human pose and is invariant to translation,rotation and scaling.Finally,after the pose feature was extracted,a recognition framework based on FVC and multi-class supporting vector machine was employed to classify the human action.Experimental results on benchmarks demonstrate the effectiveness of the proposed method.展开更多
In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the...In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the ABF deviates slightly from nominal base frame( NBF). Using external precision measurement,the ABF can be established only through the three dimension(3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions,Procrustes Analysis is introduced,where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition(SVD). Furthermore,calibration experiment on a serial 6-DOF robot is performed,where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems,such as multi-robot coordination and robot hand-eye system calibration.展开更多
Orthogonal time frequency space(OTFS),as a novel 2-D modulation technique,has been proposed to achieve better BER performances over delayDoppler channels.In this paper,we propose two different power allocation(PA)algo...Orthogonal time frequency space(OTFS),as a novel 2-D modulation technique,has been proposed to achieve better BER performances over delayDoppler channels.In this paper,we propose two different power allocation(PA)algorithms in OTFS systems with zero forcing(ZF)or minimum mean square error(MMSE)equalization,where general formulas with PA are derived in advance under the condition of minimum BER(MBER)criterion.On one hand,a suboptimal MBER power allocation method is put forward to achieve better BER performances,and then analytical BER expressions are derived with proposed PA strategy.Considering the case of MMSE equalization,a combined subsymbol allocation(SA)and PA strategy is raised,where some subsymbols may be abandoned due to worse channel conditions,and then it is proven effectively to improve BER performances through theoretical and simulation results.Furthermore,BER performances with proposed joint SA and PA strategy are also investigated in delay-Doppler channels,where an improved message passing(MP)receiver based on equivalent channel matrix with PA is given.展开更多
WAXD and SAXS for PA1010+BMI system have been measured. The results obtained with the help of Ruland and ID EDCF. showed that Wc1x1, the long period L and the thickness of the crystal lamellae do decreased with BMI co...WAXD and SAXS for PA1010+BMI system have been measured. The results obtained with the help of Ruland and ID EDCF. showed that Wc1x1, the long period L and the thickness of the crystal lamellae do decreased with BMI content at PA10101+BMI system. Comparing both experimental and calculated densitl c values indicated thst the values were of better conformity. Adding BHI into PA1010 caused an increase in distortion.The results from SAXS analysis have also led to the conclusion that a crystal-amorphous interphase could exist in lamellae of Semicrystalline polymers and a three-phase model instead of traditional two-phase model should be used.展开更多
基金National Natural Science Foundation of China(No.61602148)Natural Science Foundation of Fujian Province,China(No.2016J01040)Xiamen University of Technology High Level Talents Project,China(No.YKJ15018R)
文摘This paper proposes a framework for human action recognition based on procrustes analysis and Fisher vector coding(FVC).Firstly,we applied a pose feature extracted from silhouette image by employing Procrustes analysis and local preserving projection(LPP).Secondly,the extracted feature can preserve the discriminative shape information and local manifold structure of human pose and is invariant to translation,rotation and scaling.Finally,after the pose feature was extracted,a recognition framework based on FVC and multi-class supporting vector machine was employed to classify the human action.Experimental results on benchmarks demonstrate the effectiveness of the proposed method.
基金Sponsored by the Applied Major Research Program of Science and Technology Commission Foundation of Beijing(Grant No.141100003514003)
文摘In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the ABF deviates slightly from nominal base frame( NBF). Using external precision measurement,the ABF can be established only through the three dimension(3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions,Procrustes Analysis is introduced,where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition(SVD). Furthermore,calibration experiment on a serial 6-DOF robot is performed,where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems,such as multi-robot coordination and robot hand-eye system calibration.
基金supported in part by the National Natural Science Foundation of China under Grant 62001138Heilongjiang Provincial Natural Science Foundation of China under Grant LH2021F009+1 种基金China Postdoctoral Science Foundation under Grant 2020M670885Hei Long Jiang Postdoctoral Foundation under Grant LBH-Z20049。
文摘Orthogonal time frequency space(OTFS),as a novel 2-D modulation technique,has been proposed to achieve better BER performances over delayDoppler channels.In this paper,we propose two different power allocation(PA)algorithms in OTFS systems with zero forcing(ZF)or minimum mean square error(MMSE)equalization,where general formulas with PA are derived in advance under the condition of minimum BER(MBER)criterion.On one hand,a suboptimal MBER power allocation method is put forward to achieve better BER performances,and then analytical BER expressions are derived with proposed PA strategy.Considering the case of MMSE equalization,a combined subsymbol allocation(SA)and PA strategy is raised,where some subsymbols may be abandoned due to worse channel conditions,and then it is proven effectively to improve BER performances through theoretical and simulation results.Furthermore,BER performances with proposed joint SA and PA strategy are also investigated in delay-Doppler channels,where an improved message passing(MP)receiver based on equivalent channel matrix with PA is given.
文摘WAXD and SAXS for PA1010+BMI system have been measured. The results obtained with the help of Ruland and ID EDCF. showed that Wc1x1, the long period L and the thickness of the crystal lamellae do decreased with BMI content at PA10101+BMI system. Comparing both experimental and calculated densitl c values indicated thst the values were of better conformity. Adding BHI into PA1010 caused an increase in distortion.The results from SAXS analysis have also led to the conclusion that a crystal-amorphous interphase could exist in lamellae of Semicrystalline polymers and a three-phase model instead of traditional two-phase model should be used.
