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Contour is an important cue for object recognition. In this paper, built upon the concept of torque in image space, we propose a new contour-related feature to detect and describe local contour information in images. There are two components for our proposed feature: One is a contour patch detector for detecting image patches with interesting information of object contour, which we call the Maximal/Minimal...
Robot's blind tracking of an unknown surface with high speed is a critical problem of force control, to avoid damage to breakable objects, such as a bulb. It must deal with a typical action-based intelligence directly from force sensing to action in robot tracking and understanding of unknown external environments. Bio-inspired by human finger tracking, the realization of high-speed tracking relies...
A novel method of active tracking unknown surface based on force control is proposed. This method uses differential geometry as its main analysis tool. Its main idea is that get the geometric properties of surface near the contact point through a six-dimensional force sensor and then give the prediction of trajectory and the compensation of force simultaneously on the basis of the previous force and...
While point contact kinematics has been recognized as the standard kinematics in ultra-precision grinding of off-axis aspheric optics, its modeLing which is the prerequisite for grinding force, energy and thermal modeLing in this kinematics has not been fully explored. It is by no means an easy task due to the lack of mathematic model for freeform wheel-work piece conformity. This paper presents a...
This paper reports the preliminary development of a capacitive accelerometer that possesses high sensitivity and broad dynamic range simultaneously. Our idea of improving these two conflicting requirements is to incorporate positive and negative feedbacks into the system, inspired by the operation mechanisms of the inner ear hair cells. The positive feedback selectively amplifies small inputs but...
Chongqing Chaotianmen Yangtze River Bridge with the main span of 552m is an urban bridge of double deck bridges for highway and rail, which need to verify fatigue security performance of the node on bottom chord . Through the calculation of the full bridge's space finite element, the node for study is determined as the M29 and calculate and calculate the internal force influence line of M29. Load...
This paper reports the study of the air-spaced piezoresistive cantilever for atomic force microscopy (AFM). The cantilever is composed of a bottom mechanical layer and a top piezoresistive layer separated by a gap. Analytical models for the mechanical properties of the air-spaced cantilever are established. To evaluate the performance of AFM, the minimum detectable force gradient is expressed as the...
Chongqing Chaotianmen Yangtze Bridge with the main span of 552m is the steel truss continuous tied arch bridge. Track cross beams of the lower layer and nodes of main truss are connected by high-strength bolts. To verify fatigue security performance of this node connection, large-scale model of 1/2 is applied in node fatigue test. In the 2 million fatigue tests during design life, the high-strength...
According to a new horizontal moving mechanism called `Side-Wheel Operating Simultaneously', the moving process of the high-speed & high acceleration stacker for starting and accelerating was simulated and analyzed with multi-body system method. The result showed that the stacker is able to accelerate stably and fast with the designed maximum acceleration and speed.
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