The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legg...The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots.展开更多
This research presents a novel way of labelling human activities from the skeleton output computed from RGB-D data from vision-based motion capture systems. The activities are labelled by means of a Compound Hidden Ma...This research presents a novel way of labelling human activities from the skeleton output computed from RGB-D data from vision-based motion capture systems. The activities are labelled by means of a Compound Hidden Markov Model. The linkage of several Linear Hidden Markov Models to common states, makes a Compound Hidden Markov Model. Each separate Linear Hidden Markov Model has motion information of a human activity. The sequence of most likely states, from a sequence of observations, indicates which activities are performed by a person in an interval of time. The purpose of this research is to provide a service robot with the capability of human activity awareness, which can be used for action planning with implicit and indirect Human-Robot Interaction. The proposed Compound Hidden Markov Model, made of Linear Hidden Markov Models per activity, labels activities from unknown subjects with an average accuracy of 59.37%, which is higher than the average labelling accuracy for activities of unknown subjects of an Ergodic Hidden Markov Model (6.25%), and a Compound Hidden Markov Model with activities modelled by a single state (18.75%).展开更多
The main objectives were to (1) calculate the total volatile organic compounds (TVOCs) inhalation dose, (2) analyze the proportions of human’s inhaled contaminant dose from different sources, and (3) present a newly ...The main objectives were to (1) calculate the total volatile organic compounds (TVOCs) inhalation dose, (2) analyze the proportions of human’s inhaled contaminant dose from different sources, and (3) present a newly defined ratio of relative inhalation dose level (RIDL) to assess indoor air quality (IAQ). A user defined function based on CFD (computational fluid dynamics) was developed, which integrated human motion model with TVOCs emission model in a high sidewall air supply ventilation mode. Based on simulation results of 10 cases, it is shown that the spatial concentration distribution of TVOCs is affected by human motion. TVOCs diffusion characteristic of building material is the most effective way to impact the TVOCs inhalation dose. From the RIDL index, case A-2 has the most serious IAQ problem, while case D-1 is of the best IAQ.展开更多
A compound option is simply an option on an option. In this short paper, by using a martingale technique, we obtain an analytical formula for pricing compound European call options. Numerical results are given to expl...A compound option is simply an option on an option. In this short paper, by using a martingale technique, we obtain an analytical formula for pricing compound European call options. Numerical results are given to explain some economic phenomenon.展开更多
This article is the continuation of article [1] where the experimental facts of observation of the electroscalar radiation in the spectrum of the Sun have been presented [2]. This radiation comes into the world having...This article is the continuation of article [1] where the experimental facts of observation of the electroscalar radiation in the spectrum of the Sun have been presented [2]. This radiation comes into the world having a long wavelength, being longitudinal and extraordinarily penetrating. In accordance with the principle of least action, the Lagrangian of the electroscalar field and the tensor of energy-moment are determined using the variation the potential and coordinates. The equation of motion the charged particle in electroscalar field is determined and the energy of particle has the negative sign with respect to the mechanical energy of particle and the energy of electromagnetic field. So, this is decreasing the electrical potential of particle during the propagation. The electroscalar energy of charged particle and field’s force acting on the particle during their motion change the particle’s electrical status which, in its turn, may trigger the transition of the particle into a compound state during interaction with any object. Due to the continuity this process can lead the particle to the state which enters into a compound state with a negative energy for a different particle’s velocity. This state is the physical vacuum’s state. Analysis of the solar spectrum demonstrates that scattering and absorption of electroscalar wave go on the cavities of solids. The spreading out of electroscalar field obeys to the law of plane wave and the transfer the energy and information can occur in vacuum and any medium.展开更多
基金supported by the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(1005-IZD23002-25).
文摘The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots.
文摘This research presents a novel way of labelling human activities from the skeleton output computed from RGB-D data from vision-based motion capture systems. The activities are labelled by means of a Compound Hidden Markov Model. The linkage of several Linear Hidden Markov Models to common states, makes a Compound Hidden Markov Model. Each separate Linear Hidden Markov Model has motion information of a human activity. The sequence of most likely states, from a sequence of observations, indicates which activities are performed by a person in an interval of time. The purpose of this research is to provide a service robot with the capability of human activity awareness, which can be used for action planning with implicit and indirect Human-Robot Interaction. The proposed Compound Hidden Markov Model, made of Linear Hidden Markov Models per activity, labels activities from unknown subjects with an average accuracy of 59.37%, which is higher than the average labelling accuracy for activities of unknown subjects of an Ergodic Hidden Markov Model (6.25%), and a Compound Hidden Markov Model with activities modelled by a single state (18.75%).
基金Projects(2006BAJ02A08, 2006BAJ02A05) supported by the National Science and Technology Pillar Program Project during the 11th Five-Year Plan PeriodProject(2007-209) supported by the Excellent Youth Teacher of Ministry of Education of China
文摘The main objectives were to (1) calculate the total volatile organic compounds (TVOCs) inhalation dose, (2) analyze the proportions of human’s inhaled contaminant dose from different sources, and (3) present a newly defined ratio of relative inhalation dose level (RIDL) to assess indoor air quality (IAQ). A user defined function based on CFD (computational fluid dynamics) was developed, which integrated human motion model with TVOCs emission model in a high sidewall air supply ventilation mode. Based on simulation results of 10 cases, it is shown that the spatial concentration distribution of TVOCs is affected by human motion. TVOCs diffusion characteristic of building material is the most effective way to impact the TVOCs inhalation dose. From the RIDL index, case A-2 has the most serious IAQ problem, while case D-1 is of the best IAQ.
基金The research is supported by the research grant RG081/04-05S/JXQ/FST from University of Macauthe grant 050/2005/A from FDCT
文摘A compound option is simply an option on an option. In this short paper, by using a martingale technique, we obtain an analytical formula for pricing compound European call options. Numerical results are given to explain some economic phenomenon.
文摘This article is the continuation of article [1] where the experimental facts of observation of the electroscalar radiation in the spectrum of the Sun have been presented [2]. This radiation comes into the world having a long wavelength, being longitudinal and extraordinarily penetrating. In accordance with the principle of least action, the Lagrangian of the electroscalar field and the tensor of energy-moment are determined using the variation the potential and coordinates. The equation of motion the charged particle in electroscalar field is determined and the energy of particle has the negative sign with respect to the mechanical energy of particle and the energy of electromagnetic field. So, this is decreasing the electrical potential of particle during the propagation. The electroscalar energy of charged particle and field’s force acting on the particle during their motion change the particle’s electrical status which, in its turn, may trigger the transition of the particle into a compound state during interaction with any object. Due to the continuity this process can lead the particle to the state which enters into a compound state with a negative energy for a different particle’s velocity. This state is the physical vacuum’s state. Analysis of the solar spectrum demonstrates that scattering and absorption of electroscalar wave go on the cavities of solids. The spreading out of electroscalar field obeys to the law of plane wave and the transfer the energy and information can occur in vacuum and any medium.
