Search results for: Ma Bojun
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An iterative-strategy-based motion planning scheme for overhead cranes is proposed in this paper. First of all, an S reference trajectory is chosen according to practical constraints and operating experiences, for which an anti-swing component is introduced based on the kinematic equation of overhead cranes; subsequently, an ideal trajectory, whose stability is proved by Lyapunov techniques, is planned...
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A fast homography decomposition algorithm for visual servo of mobile robots is presented. Motion constraints of the mobile robot are exploited and thus the complexity of the algorithm decreases significantly by avoiding the singular value decomposition (SVD) step in most cases, which is potentially competitive in such applications as visual servo task executed at the video rate. Moreover, the ambiguity...
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In this paper, a new method for camera calibration is presented based on 2D homography. First, intrinsic parameters are separated into two parts which are then solved out respectively using the least squares method. Compared with other techniques, the proposed method can obtain a much better initial guess which will subsequently improve the efficiency of the nonlinear-optimization algorithm and the...
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A mobile manipulator is a manipulator mounted on a mobile robot. This paper proposed an inverse kinematics analysis method for a mobile manipulator with redundant degrees of freedom (DOFs). The DOFs of the end-effecter are assigned properly among the mobile robot's 3 DOFs and the manipulator's 5 DOFs: the rotation freedoms of the mobile robot and the manipulator's 1st, 4th and 5th joint contribute...
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Chinese Science Bulletin > 2000 > 45 > 19 > 1779-1782
An F2 population developed from theXa-4 near isogenic lines, IR24 and IRBB4, was used for fine mapping of the rice bacterial blight resistance gene,Xa-4. Some restriction fragment length polymorphism (RFLP) markers on the high-density map constructed by Harushima et al. and the amplified DNA fragments homologous to the conserved domains of plant disease resistance (R) genes were used to construct...
