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| 1 | 基于动态系统稳定估计器的机器人变刚度轨迹规划显示文摘针对现有基于动态系统稳定估计器(SEDS)的机械臂轨迹规划中无法兼顾运动精度和能量消耗的问题,提出变刚度轨迹规划的方法。首先,采用SEDS对示教轨迹进行拟合,得到从空间任一起点到终点的收敛轨迹。然后,基于人体上肢刚度模型,通过实验得到肌电信号与上肢末端刚度的映射关系,并使用高斯混合模型GMM和高斯混合回归GMR学习示教的刚度。最后,结合学习到的轨迹和刚度进行阻抗控制,然后进行抗干扰和变刚度实验。研究结果表明:与定刚度轨迹规划方法相比,本文所提方法位置误差减小了78.1%,能耗降低16.1%。机械臂能在到达目标点的位置精度与能量消耗之间取得较好的平衡,且当其受到外界干扰后,会根据控制器发出的期望位置调整自身运动,最终仍能收敛到目标点,具有较强的抗干扰能力。 | 谢啸 张涵 汤自林 高霄 肖晓晖 | 2022 | 中南大学学报(自然科学版)2022，53，4： | 6 |
| 2 | A New Calibration Method for an Inertial and Visual Sensing System显示文摘The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method. | Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min | 2012 | International Journal of Automation and computing2012，9，3： | 1 |
| 3 | A Partitioning Methodology That Optimizes the Communication Cost for Reconfigurable Computing Systems显示文摘This paper focuses on the design process for reconfigurable architecture. Our contribution focuses on introducing a new temporal partitioning algorithm. Our algorithm is based on typical mathematic flow to solve the temporal partitioning problem. This algorithm optimizes the transfer of data required between design partitions and the reconfiguration overhead. Results show that our algorithm considerably decreases the communication cost and the latency compared with other well known algorithms. | Ramzi Ayadi Bouraoui Ouni Abdellatif Mtibaa | 2012 | International Journal of Automation and computing2012，9，3： | 0 |
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