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Image segmentation is an important step in image processing, but contemporary segmentation algorithms have problems such as poor anti-noise performance, over-segmentation, and imprecise results. To solve these problems, the authors proposed an adaptive image segmentation algorithm under the constraint of edge posterior probability. This algorithm first resolves the problem of over-segmentation by...
To solve the trajectory tracking control problem of underwater vehicle-manipulator system (UVMS) under strong nonlinear couplings and complex parametric uncertainties and unknown external disturbance, a nonlinear robust control method based on time delay estimation (TDE) was proposed and investigated in this paper. The core idea of this method is that builds the basic architecture of the controller...
A 1000V, high-voltage planar micro-supercapacitor directly fabricated on a flexible polymer substrate has been demonstrated to successfully power an electrostatic cantilever microresonator for more than 1 minute. Direct-write laser engraving of Kapton tape (polyimide) was used to fabricate each 200V micro-supercapacitor rapidly in a single step at ambient condition for the first time. To actuate the...
A new nonlinear robust control scheme is proposed and investigated for the trajectory tracking control problem of an underwater vehicle-manipulator system (UVMS) using the discrete time delay estimation (DTDE) technique. The proposed control scheme mainly has two parts: the DTDE part and the desired dynamics part. The former one is applied to properly estimate and compensate the complex unknown lumped...
Recently, camera anomaly detection has attracted increasing interest in order to generate real-time alerts of camera malfunction for video surveillance systems. The existing camera anomaly detection methods still haven't enough ability to detect comprehensive types of anomaly, and lack the self-improvement ability in the case of miscarriage of justice by self-learning. So, this paper proposes a morphological...
Aimed at the coordinated workspace and motion trajectory of the redundant dual-arm robot, the corresponding methods of workspace analysis and trajectory planning are proposed in this paper. Firstly, forward kinematics model of redundant dual-arm robot was established by D-H parameter method, and its inverse kinematics analytic solutions were given according to the decoupling configuration of robot...
This paper proposes an untethered self-folding locomotive paper robot. Its self-folding locomotion is similar to the opening and folding of the Chinese hand-held fan. We achieve this fan-like self-folding motion by the special design of paper cases and utilization of a novel 3D sticky pneumatic actuator. The actuator is a bladder with adhesive backs. Its inflation and contraction are controlled by...
By observing the bacterial flagellum, this paper proposed four types of bio-inspiration flagellum: cylindrical helix with round cross-section, conical helix with round cross-section, cylindrical helix with rectangular cross-section, and conical helix with rectangular cross-section. The resistance force theory (RFT) is applied to establish the theoretical models of each kind of flagellum. The maximum...
A novel vascular interventional robot (VIR) which was propelled by four rigid flagella was designed. Flagella were located on the two poles of the robot. By controlling the combination of speed and rotate-direction, the robot will be able to swim forward or backward, turn, dive or rise in the pipe with non-contact. Quaternion method was utilized to establish kinematic model according to the structural...
Effects, which are knowledge of scientific principles, can be used to transform inputs to outputs and achieve corresponding functions. To resolve a technical problem in innovative design, designers usually try to find the appropriate effects relevant to the required function. So it is very important to retrieve effect in terms of its function. This paper explores ontology-based functional semantic...
In concept design, function of system is usually described with a verb and a noun. The verb describes the operation that the system applies on the object which is represented by the noun. The functional verbs are commonly expanded with its synonyms and antonyms, troponyms and hypernyms to use as design stimuli in engineering problems. To reuse previous design resolution, this paper presents a function...
In this paper, the position control problem of the underactuated space robot is addressed, and a new sliding mode control scheme is proposed. The underactuated system was hierarchically divided into active subsystem and passive subsystem, and combining with the subsystems’ sliding planes constructed by terminal sliding mode method a new global sliding plane is constructed, then using the Lyapunov...
In this paper, the position control problem of the underactuated space robot with the effect of unknown external disturbance is addressed, and a new sliding mode control scheme is proposed. The underactuated system was divided into active subsystem and passive subsystem, and the Lyapunov functions and adaptive laws were designed for both subsystems by the adaptive backstepping algorithm which backstepping...
In this paper, we study the dynamics and kinematics of serial flexible link manipulators using the finite segment method. In our analysis the flexible manipulators are divided into a set of rigid bodies coupled with springs and dampers. The dynamic equations of multibody system with flexible manipulators are developed by means of spatial operator algebra which expression forms are the basis for a...
Conformal Geometric Algebra is a kind of new geometric representation and geometric computation tool. In this paper, an approach to the inverse kinematics of a serial manipulator is presented based on the Conformal Geometric Algebra. First, the basics of the Conformal Geometric Algebra are introduced. Then, an algorithm for the inverse kinematics of a 5-dof serial manipulator is presented, which can...
"Green Water" was disregarded in traditional water resource researches, which has been the subject of much interest in recent years in the world. By now, most of the green water evaluation methods only focus on large scale (e.g. global scale) area, which is lack of precision. In this study, a hydrological model, SWAT (Soil and Water Assessment Tool), is introduced to quantitatively evaluate...
In this paper, an image-based fast 3D facial modeling algorithm is presented. Different from traditional complex stereo vision procedure, our new method needs only one frontal image for fast 3D modeling without any camera calibration. To extract frontal feature points effectively, we propose an improved Active Shape Models (ASM) method. We can calculate the lateral parameters and estimate the depth...
The present investigates the architecture singularity of a class of parallel manipulators. In general, singularity of parallel manipulators can be categorized into inverse and forward kinematic singularities. Based on the kinematics, the inverse Jacobian matrix of the parallel manipulator is factorized into three parts as: limb length diagonal matrix, structure parameter matrix and the motion parameter...
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