A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the...A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.展开更多
This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global posit...This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.展开更多
A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism prop...A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.展开更多
In this paper,we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system.Design and implementation of the localization s...In this paper,we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system.Design and implementation of the localization system comes from the usage of beacon systems each of which is composed of an RF single receiver and an ultrasonic transmitter.The RF single receiver gets the synchronization signal from the mobile robot,and the ultrasonic transmitter sends ultrasonic signal,thus the distance from the beacon to the ultrasonic receiver can be measured.The position of a beacon in coordinate system of robot can be calculated according to distance information from the beacons to two ultrasonic receivers which are mounted on the robot.Based on the coordinate transformation,the position of a mobile robot can be calculated from the beacon＇s absolute position information in the global coordinate system.Experiments demonstrate the effectiveness of the proposed method in real world applications.展开更多
The timing dynamics of regulating negative emotion with expressive suppression and cognitive reappraisal were investigated in a Chinese sample. Event-Related Potentials were recorded while subjects were required to vi...The timing dynamics of regulating negative emotion with expressive suppression and cognitive reappraisal were investigated in a Chinese sample. Event-Related Potentials were recorded while subjects were required to view, suppress emotion expression to, or reappraise emotional pictures. The results showed a similar reduction in self-reported negative emotion during both strategies. Additionally, expressive suppression elicited larger amplitudes than reappraisal in central-frontal P3 component(340–480 ms). More importantly, the Late Positive Potential(LPP) amplitudes were decreased in each 200 ms of the 800–1600 ms time intervals during suppression vs. viewing conditions. In contrast, LPP amplitudes were similar for reappraisal and viewing conditions in all the time windows, except for the decreased amplitudes during reappraisal in the 1400–1600 ms. The LPP(but not P3) amplitudes were positively related to negative mood ratings, whereas the amplitudes of P3, rather than LPP, predict self-reported expressive suppression. These results suggest that expressive suppression decreases emotion responding more rapidly than reappraisal, at the cost of greater cognitive resource involvements in Chinese individuals.展开更多
In modern society, educational achievement＇s impact on individual lives is reflected not only in economic benefits in the labor market but also in various ＂intangible returns.＂ Based on national data from the Chine...In modern society, educational achievement＇s impact on individual lives is reflected not only in economic benefits in the labor market but also in various ＂intangible returns.＂ Based on national data from the Chinese General Social Survey of 2010, our analysis of the urbanrural disparity and mediating factors in the health benefits of educational achievement shows that education has positive returns in terms of health for both urban and rural residents, but the returns to compulsory education and senior middle school differ for the two groups. This difference may be caused by the gap in the quality of compulsory education between urban and rural areas. Therefore, a linchpin of the relevant education policies should be encouragement of ＂urban-rural integration＂ in terms of the quality rather than just the quantity of education and the universalizing of senior middle school education in rural areas.展开更多
基金Project(60234030) supported by the National Natural Science Foundation of China
文摘A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
文摘This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.
基金Supported by the National Natural Science Foundation of China (No. 60875055)Natural Science Foundation of Tianjin (No. 07JCY-BJC05400)Program for New Century Excellent Talents in University (No. NCET-06-0210)
文摘A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.
基金supported by the MKE(The Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2010-C1090-1021-0010)
文摘In this paper,we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system.Design and implementation of the localization system comes from the usage of beacon systems each of which is composed of an RF single receiver and an ultrasonic transmitter.The RF single receiver gets the synchronization signal from the mobile robot,and the ultrasonic transmitter sends ultrasonic signal,thus the distance from the beacon to the ultrasonic receiver can be measured.The position of a beacon in coordinate system of robot can be calculated according to distance information from the beacons to two ultrasonic receivers which are mounted on the robot.Based on the coordinate transformation,the position of a mobile robot can be calculated from the beacon＇s absolute position information in the global coordinate system.Experiments demonstrate the effectiveness of the proposed method in real world applications.
基金supported by National Natural Science Foundation of China(NSFC3117098931371042)+1 种基金the Keygrant Project of Chinese Ministry of Education(NO.311032)the Special Grant for Postdoctoral Research in Chongqing(Xm2014059)
文摘The timing dynamics of regulating negative emotion with expressive suppression and cognitive reappraisal were investigated in a Chinese sample. Event-Related Potentials were recorded while subjects were required to view, suppress emotion expression to, or reappraise emotional pictures. The results showed a similar reduction in self-reported negative emotion during both strategies. Additionally, expressive suppression elicited larger amplitudes than reappraisal in central-frontal P3 component(340–480 ms). More importantly, the Late Positive Potential(LPP) amplitudes were decreased in each 200 ms of the 800–1600 ms time intervals during suppression vs. viewing conditions. In contrast, LPP amplitudes were similar for reappraisal and viewing conditions in all the time windows, except for the decreased amplitudes during reappraisal in the 1400–1600 ms. The LPP(but not P3) amplitudes were positively related to negative mood ratings, whereas the amplitudes of P3, rather than LPP, predict self-reported expressive suppression. These results suggest that expressive suppression decreases emotion responding more rapidly than reappraisal, at the cost of greater cognitive resource involvements in Chinese individuals.
基金supported by the Youth Fund Project of the Humanities and Social Sciences Study"The Impact of Contemporary Chinese Educational Achievement on Individuals'State of Health"(13YJC840014)the Key Breakthrough Project in Philosophy and the Social Sciences,"A Study of Contemporary Chinese Social Strata"(08JZD0024)the Ministry of Education,and by Fudan University's Social Science Project(2011SHKXZD008)under"Project 985"
文摘In modern society, educational achievement＇s impact on individual lives is reflected not only in economic benefits in the labor market but also in various ＂intangible returns.＂ Based on national data from the Chinese General Social Survey of 2010, our analysis of the urbanrural disparity and mediating factors in the health benefits of educational achievement shows that education has positive returns in terms of health for both urban and rural residents, but the returns to compulsory education and senior middle school differ for the two groups. This difference may be caused by the gap in the quality of compulsory education between urban and rural areas. Therefore, a linchpin of the relevant education policies should be encouragement of ＂urban-rural integration＂ in terms of the quality rather than just the quantity of education and the universalizing of senior middle school education in rural areas.
