13589437
Effect of energy feedbacks on Virtual Slope Walking: I. Complementary Energy Feedback
This paper presents our study over the effect of Complementary Energy Feedback on Virtual Slope Walking, while Virtual Slope Walking is our new biped gait generation method inspired by Passive Dynamic Walking. The energy feedback strength is defined and the walking is modeled as a step-to-step function. The Jacobi Matrix eigenvalues of the function are calculated together with the basin of attraction. From the analysis, we find the characteristic of Complementary Energy Feedback is being effective on a fast gait but weak on a slow one. By making use of the Complementary Energy Feedback in walking experiment, our robot achieves speed change from 1.5leg/s to 4.1leg/s.
6870535
Humanoid Robot Gait Generation Based on Limit Cycle Stability
This paper presents the gait generation and mechanical design of a humanoid robot based on a limit cycle walking method-Virtual Slope Control. This method is inspired by Passive Dynamic Walking. By shortening the swing leg, the robot walking on level ground can be considered as on a virtual slope. Parallel double crank mechanisms and elastic feet are introduced to the 5 DoF robot leg, to make the heelstrike of the swing leg equivalent to the point-foot collision used in Virtual Slope Control. In practical walking, the gait is generated by connecting the two key frames in the sagittal and lateral plane with sinusoids. With the addition of leg rotational movement, the robot achieves a fast forward walking of 2.0leg/s and accomplishes omnidirectional walking favorably.
18770919
Adaptive Noise Reduction for Engineering Drawings Based on Primitives and Noise Assessment
In this paper, a novel adaptive noise reduction method for engineering drawings is proposed based on the assessment of both primitives and noise. Unlike the current approaches, our method takes into account the special features of engineering drawings and assesses the characteristics of primitives and noise such that adaptive procedures and parameters are applied for noise reduction. For this purpose, we first analyze and categorize various types of noise in engineering drawings. The algorithms for average linewidth assessment, noise distribution assessment and noise level assessment are then proposed. These three assessments are combined to describe the features of the noise of each individual engineering drawing. Finally, median filters and morphological filters, which can adjust their template size and structural element adaptively according to different noise level and type, are used for adaptive noise reduction. Preliminary experimental results show that our approach is effective for noise reduction of engineering drawings.
1821709
A Hand-Eye Robotic Model for Total Knee Replacement Surgery
This paper presents a hand-eye robotic model for total knee replacement (TKR) surgery. Unlike existent robot assisted TKR surgery, the proposed model is a surgical robot that combines with a movable hand-eye navigation system, which would use the full potential of both computer-assisted systems. Without using CT images and landmark pins in the patient's bones, it can directly measure the mechanical axis with high precision. This system provides a new approach of the minimally invasive surgery. Experiment results show that the proposed model is promising in the future application.
6731171
Applying Virtual Reality to Web-based Education
With the development of computer and Internet technology, virtual reality based on Web becomes more and more fashionable. What is more, it also shows to be an increasingly effective way in teaching, learning and solving problems in education. This paper does the research on the application of virtual reality in Web-based education. Namely, we give a totally analysis on the techniques of VR and SVR which is based on Web, especially, VR Web-based education is described in detail
13353635
Research group on digital government in North America: developing a comparative and transnational agenda
This poster describes the second year's progress of the research group on Comparative and Transnational Digital Government in North America. This group was formed in 2007 to advance electronic government research across geographic and political boundaries in the region, with the support of the National Science Foundation Digital Government Research Program and the home institutions of the members in Canada, Mexico, and the United States. During the second year of activities, the group members joined their expertise and interests in two face-to-face meetings in Canada. During the second year of work, group members advanced research proposals and developed preliminary products on two topical areas as well as a first draft of a Research Agenda for North America. The group members will continue the discussion of this research agenda in Cholula, Mexico as part of the activities of the 10th Annual International Conference on Digital Government Research (dg.o 2009).
1312444
A Novel Approach Using Edge Detection Information for Texture Based Image Retrieval
Most texture-based image retrieval system just consider an original image of coarseness, contrast and roughness, actually there are many texture information in the edge image. In this paper, a method combining both edge information and gray level co-occurrence matrix properties is proposed to improve the retrieval performance. The proposed method gives encouraging results when comparing its retrieval performance to that of the Yao's method, in the same image database.