There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

다중혈관 관상동맥 환자에서 y-문합을 이용하여 양쪽 내흉동맥만을 사용한 우회술의 조기 성적

Data Mining - Concepts and Techniques.

We propose an independence criterion based on the eigen-spectrum of covariance operators in reproducing kernel Hilbert spaces (RKHSs), consisting of an empirical estimate of the Hilbert-Schmidt norm of the cross-covariance operator (we term this a Hilbert-Schmidt Independence Criterion, or HSIC). This approach has several advantages, compared with previous kernel-based independence criteria. First, the empirical estimate is simpler than any other kernel dependence test, and requires no user-defined regularisation. Second, there is a clearly defined population quantity which the empirical estimate approaches in the large sample limit, with exponential convergence guaranteed between the two: this ensures that independence tests based on HSIC do not suffer from slow learning rates. Finally, we show in the context of independent component analysis (ICA) that the performance of HSIC is competitive with that of previously published kernel-based criteria, and of other recently published ICA methods.

Measuring statistical dependence with Hilbert-Schmidt norms

Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.

Modelling and Control of Robot Manipulators

Feature matching is one of the most important steps in the location technology of zooming images. According to the scale-invariant feature transform matching algorithm, several improved false matches elimination algorithms are proposed and compared in this article. First, features of zooming images and ranging models are introduced in detail in the theory framework of the scale-invariant feature transform feature detection and matching algorithm. The key role of the feature matching algorithm and false matches elimination in the ranging technology of zooming images is discussed and addressed. Second, false matches are eliminated by the proposed approach based on geometry constraint in zooming images with a higher accuracy. Third, false matches are removed by an elimination algorithm based on properties of the scale-invariant feature transform features. Finally, an iterative false matches elimination algorithm based on distance from epipole to epipolar line is proposed and this algorithm can also solve the...

Zooming image based false matches elimination algorithms for robot navigation

Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.

Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

Robot trajectory tracking control based on differential-algebraic equation (DAE) models is still a thorny issue, because the DAEs of such systems are inherently complex and unstable, such as the high-index problem. In this paper, a symplectic instantaneous optimal control (IOC) method for robot trajectory tracking with input saturation based on controlled DAEs is proposed. Based on the discrete variational principle and the canonical transformation, a symplectic discretization form for the controlled DAEs is first constructed. Then, the continuous trajectory tracking problem is approximated for a series of IOC problems at every time step, and the linear complementarity problem (LCP) can be derived for solving the IOC problems. Finally, the control inputs can be obtained by solving the corresponding standard LCP. The proposed method provides a unified framework for solving the trajectory tracking control problems of robot multibody dynamic systems. Numerical simulations and virtual experiments are conducted to verify the robustness and the efficiency of the proposed method, i.e., the input saturation constraints are satisfied at the discrete time points, and high accuracy tracking control results can be obtained at low computational cost.

A Symplectic Instantaneous Optimal Control for Robot Trajectory Tracking With Differential-Algebraic Equation Models

In this paper, a parallel network based on hand detection and body pose estimation is proposed to detect and distinguish human's right and left hands. The network is employed for human–robot interaction (HRI) based on hand gestures. This method fully uses hand feature information and hand information in the human body structure. One channel in the network uses a ResNet-Inception-Single Shot MultiBox Detector to extract hand feature information for human's hand detection. The other channel estimates human body pose first and then estimates the positions of the left and right hands using the forward kinematic tree of the human skeleton structure. Thereafter, the results of the two channels are fused. In the fusion module, the human body structure can be utilized to correct hand detection results and distinguish between the right and left hands. Experimental results verify that the parallel deep neural network can effectively improve the accuracy of hand detection and distinguish between the right and left hands effectively. This method is also used for the hand-gesture-based interaction between astronauts and an astronaut assistant robot. Our method can be suitably used in this HRI system.

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Dual-Hand Detection for Human–Robot Interaction by a Parallel Network Based on Hand Detection and Body Pose Estimation

Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positio...

/pdf/geometric-constraint-based-modeling-and-analysis-of-a-novel-jflll7lj0x.pdf

Jinguo Liu

Papers

Zooming image based false matches elimination algorithms for robot navigation

Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

A Symplectic Instantaneous Optimal Control for Robot Trajectory Tracking With Differential-Algebraic Equation Models

Dual-Hand Detection for Human–Robot Interaction by a Parallel Network Based on Hand Detection and Body Pose Estimation

Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness: