In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor...In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor, LeapMotion, to perform a non-contact demonstration for robotic systems. A Multi-LeapMotion hand tracking system is developed. The setup of the two sensors is analyzed to gain a optimal way for efficiently use the informations from the two sensors. Meanwhile, the coordinate systems of the Mult-LeapMotion hand tracking device and the robotic demonstration system are developed. With the recognition to the element actions and the delay calibration, the fusion principles are developed to get the improved and corrected gesture recognition. The gesture recognition and scenario experiments are carried out, and indicate the improvement of the proposed Multi-LeapMotion hand tracking system in tabletop object manipulation task for robotic demonstration.展开更多
针对无线传感网中分簇及路由过程中节点能量利用率较低、网络能耗不均衡以及网络的生命周期较短等问题,面向多Sink模式下的具有随机异构性能的传感器网络,为解决该问题,提出了一种基于随机多Sink模式下的异构网络组织策略NAHN(Networkin...针对无线传感网中分簇及路由过程中节点能量利用率较低、网络能耗不均衡以及网络的生命周期较短等问题,面向多Sink模式下的具有随机异构性能的传感器网络,为解决该问题,提出了一种基于随机多Sink模式下的异构网络组织策略NAHN(Networking Algorithm for Random Muti-Sink Heterogeneous Networks)。异构节点以自身能量、可达节点集、平均邻居节点距离以及距离信号集为簇首选举标准,提出了基于多Sink模式下的权值匹配策略,优化簇首能耗;以簇首单次中转损耗的能量为门限,综合考虑自身能量以及多Sink模式下距离信号集的影响,搭建出一条最优的通信链路,在保证链路质量的同时优化路由过程中的簇首节点的能量损耗。在与其他3种多Sink异构网络改进的路由算法的性能比较实验中,NAHR算法在提高节点能量利用率、延缓节点死亡、延长且稳定网络寿命等方面,优势均较为明显。展开更多
基金This research is funded by National Natural Science Foundation of China under Project no. 61210013, Science and Technology Planning Project of Guangdong Province under no. 2014A020215027.
文摘In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor, LeapMotion, to perform a non-contact demonstration for robotic systems. A Multi-LeapMotion hand tracking system is developed. The setup of the two sensors is analyzed to gain a optimal way for efficiently use the informations from the two sensors. Meanwhile, the coordinate systems of the Mult-LeapMotion hand tracking device and the robotic demonstration system are developed. With the recognition to the element actions and the delay calibration, the fusion principles are developed to get the improved and corrected gesture recognition. The gesture recognition and scenario experiments are carried out, and indicate the improvement of the proposed Multi-LeapMotion hand tracking system in tabletop object manipulation task for robotic demonstration.
文摘针对无线传感网中分簇及路由过程中节点能量利用率较低、网络能耗不均衡以及网络的生命周期较短等问题,面向多Sink模式下的具有随机异构性能的传感器网络,为解决该问题,提出了一种基于随机多Sink模式下的异构网络组织策略NAHN(Networking Algorithm for Random Muti-Sink Heterogeneous Networks)。异构节点以自身能量、可达节点集、平均邻居节点距离以及距离信号集为簇首选举标准,提出了基于多Sink模式下的权值匹配策略,优化簇首能耗;以簇首单次中转损耗的能量为门限,综合考虑自身能量以及多Sink模式下距离信号集的影响,搭建出一条最优的通信链路,在保证链路质量的同时优化路由过程中的簇首节点的能量损耗。在与其他3种多Sink异构网络改进的路由算法的性能比较实验中,NAHR算法在提高节点能量利用率、延缓节点死亡、延长且稳定网络寿命等方面,优势均较为明显。
