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The article is devoted to the modeling of multiarc welding in ESI SYSWELD. Functionality of the program allows modelling MMA, MIG, MAG welding processes, submerged arc welding, multi-pass and hybrid welding. However, there is no mathematical model for multiarc welding. The use of multi-pass welding does not reflect the physical essence of the multiarc welding, because the bead joints in multipass...
In this preliminary study we aim to extract muscle synergies in spiral tracking task when performed with the non-dominant hand, and investigate the effect of training on muscle synergies. Three young subjects who were university students (all Females, 21±1 years old, right-handed) volunteered to participate in this study. The subjects were healthy with no history of neuromuscular disease. Each subject...
This paper describes the use of two dimensional (2-D) laser scanner for locating badminton shuttlecock in real playing environment. It proposes a method to predict the end point of shuttlecock trajectory. The system is designed using two 2-D laser scanners to locate shuttlecock in midst of air in its trajectory. It helps to calculate shuttlecock's speed, orientation and hence, to predict an end point...
This paper presents a new robust path planning and execution methodology for constrained linear systems, using reachable sequences of sets denoted funnels. Constraint tightening is used to guarantee the existence of a combined feedforward and affine disturbance-feedback policy to guide the system trajectory from anywhere within a set of initial states to a target set, through a sequence of intermediate...
The skill succession method is almost oral. It is not quantitative but qualitative. Quantitative succession is difficult. In this research, after tracking of a subject's motion using RGBD camera, a subject's motion is visualized as the motion curved surface. Expert and beginner perform the sports and entertainment motion, and the character of the surface is analyzed. The character is the maximum curvature...
With the rapid development of robotic technologies and their extensive applications in human life, human robot interaction via human motion is a fundamental topic in robotics. The critical problem in this topic is recognizing human motion in real time. In this paper, we propose a new method to represent 3D motion trajectory for fast recognizing complex motion trajectory. 3D trajectory is segmented...
Motion trajectories provide a meaningful clue in motion characterization of humans, robots, and moving objects. This paper addresses motion trajectory recognition by exploring local self-similarities of motion trajectories over time. Such temporal self-similarities within a motion trajectory are observed by building a Self-Similarity Matrix (SSM) based on the sigmoid distances between all pairs of...
This paper analyzed the physical structure of the planar inverted pendulum system, established the nonlinear dynamic model of the system with Lagrange equation. The same linear model and state-space expression in each direction is obtained, by decoupling the nonlinear model around the system's equilibrium position. On the basis of the linear optimal control theory, designs LQR controller, which the...
As a result of computational and experimental study the regularities of wear of the grinding wheel working surfaces in the process of double disk grinding of bearing rings ends have been established. Adequacy of mathematical and computer models has been confirmed by a satisfactory agreement of computer simulation results and experimental data. The established regularities have laid the basis for a...
Many scenes that we would like to reconstruct contain articulated objects, and are often captured by only a single, non-fixed camera. Existing techniques for reconstructing articulated objects either require templates, which can be challenging to acquire, or have difficulties with perspective effects and missing data. In this paper, we present a novel reconstruction pipeline that first treats each...
In this paper, we propose a prior-free approach to estimate non-rigid object from 2D image trajectories assuming the affine camera model. As mentioned in some recent works [7, 8], most low- rank methods are unable to recover objects with complex motion. We identify the small deformation condition as the condition fundamental to the triple column metric upgrade algorithm commonly used in many low-rank...
Trajectories extracted by previous methods for human action recognition contain irrelevant changes, and the Orientation-Magnitude descriptors of their shapes lack the robustness to camera motion. To solve these problems, action recognition by tracking salient relative motion points is proposed in this paper. Firstly, motion boundary detector which suppresses the camera constant motion is utilized...
Sequential, predominantly temporal nature of the vast amounts of big data released every day from many different sources could potentially be linked, aligned along the time and deliver new evidence for the next generation predictive systems or knowledge discovery engines. However, big data owners are reluctant to share their data due to legally binding privacy and identity protection concerns, thereby...
In this study, an attempt to produce vowel sounds by means of an eye-gaze interface system was made. A vocal tract mapping interface which can configure the vocal tract shape and produce vowel sounds was combined with an eye-gaze interface system using socket connection. Taking advantage of one-click operation for configuring the vocal tract shape, a user can produce continuous change in the vocal...
Trajectories obtained from low level tracking algorithm provide an opportunity for us to analyze meaningful behaviors and monitor adverse or malicious events. How to abstract meaningful features from the raw data of trajectories is a challenge due to the high dimensionality and noise. In this paper, a novel approach, stacked denoising autoencoder(SDA) is applied to address this problem. This method...
3D model is normally designed by 3D-CAD software or animation software, but a 3D direct drawing method is still a developing research. In a previous study, we suggest a 3D direct drawing method for polygonal/curved surface model using Microsoft Kinect. In this study, some subjects performe the gesture expressing a solid, analyzed the gesture trajectory. And we construct the creating solid algorithm...
We present an approach that uses combinatorial optimization to decide which spatial relations between objects are relevant to accurately describe an indoor scene, made up of objects. We extract scene models from object configurations that are acquired during demonstration of actions, characteristic for a certain scene. We model scenes as graphs with Implicit Shape Models (ISMs), a Generalized Hough...
Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of a planar object lying on a frictional surface, and being pushed by a frictional probe. The probe, when...
Manipulation of deformable objects is a widely applicable but challenging task in robotics. One promising nonparametric approach for this problem is trajectory transfer, in which a non-rigid registration is computed between the starting scene of the demonstration and the scene at test time. This registration is extrapolated to find a function from ℝ3 to ℝ3, which is then used to warp the demonstrated...
This paper reports on a system for dynamic obstacle tracking for autonomous vehicles. In this work, we seek to simultaneously estimate both the trajectory of the obstacle and the obstacle's shape. These two tasks are inherently coupled—given only noisy partial views, one cannot accurately estimate the trajectory of an obstacle if its shape is unknown, nor can one estimate its shape without knowing...
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