The aim of this paper is to create an interface for humanrobot interaction. Specifically, musical performance parameters （i. e. vibrato expression） of the Waseda Flutist Robot No. 4 Refined IV （WF-4RIV） are to be ...The aim of this paper is to create an interface for humanrobot interaction. Specifically, musical performance parameters （i. e. vibrato expression） of the Waseda Flutist Robot No. 4 Refined IV （WF-4RIV） are to be manipulated. This research focused on enabling the WF-4RIV to interact with human players （musicians） in a natu- ral way. In this paper, as the first approach, a vision processing algorithm, which is able to track the 3Dorientation and position of a musical instrument, was developed. In particular, the robot acquires image data through two catneras attached to its head. Using color histogram matching and a particle filter, the position of the musician＇s hands on the inset are tracked. Analysis of this data determines orientation and location of the iustnment. These pa- rameters are mapped to manipulate the musical expression of the WF- 4RIV, more specifically sound vibrato and volume values. The authors present preliminary experiments to determine if the robot may dynamically change musical parameters while interacting with a human player （i.e. vibrato etc. ）. From the experirnental results, they may confirm the feasibility of the interaction during the performance, although further research must be carried out to consider the physical constraints of the flutist robot.展开更多
为了促进智能物流系统的不断进步,设计了一款基于Arduino的智能运动控制系统。选用Arduino Mega 2560控制板为主控板,配置陀螺仪姿态调整模块、OLED显示模块、电机及驱动模块、OpenMV视觉识别模块等组成硬件系统;采用PID算法调节小车运...为了促进智能物流系统的不断进步,设计了一款基于Arduino的智能运动控制系统。选用Arduino Mega 2560控制板为主控板,配置陀螺仪姿态调整模块、OLED显示模块、电机及驱动模块、OpenMV视觉识别模块等组成硬件系统;采用PID算法调节小车运行速度和行进方向,融合了速度解算与全向移动算法,实现了小车全场定位的功能。测试结果表明:融合机器视觉算法的智能运动控制系统的物流小车能够实现自动搬运功能,抓取并放置一个物料耗时仅约6 s,物料摆放精度达到±2 mm。系统可准确操控速度和方向,且具有成本低、操控便捷等优势。展开更多
The non-Markov process exists widely in thermodymanic process,while it usually requires the packing of many transistors and memories with great system complexity in a traditional device structure to minic such functio...The non-Markov process exists widely in thermodymanic process,while it usually requires the packing of many transistors and memories with great system complexity in a traditional device structure to minic such functions.Two-dimensional(2D)material-based resistive random access memory(RRAM)devices have the potential for next-generation computing systems with much-reduced complexity.Here,we achieve a non-Markov chain in an individual RRAM device based on 2D mineral material mica with a vertical metal/mica/metal structure.We find that the potassium ions(K+)in 2D mica gradually move in the direction of the applied electric field,making the initially insulating mica conductive.The accumulation of K+is changed by an electric field,and the 2D-mica RRAM has both single and double memory windows,a high on/off ratio,decent stability,and repeatability.This is the first time a non-Markov chain process has been established in a single RRAM,in which the movement of K+is dependent on the stimulated voltage as well as their past states.This work not only uncovers an intrinsic inner ionic conductivity of 2D mica,but also opens the door for the production of such RRAM devices with numerous functions and applications.展开更多
文摘The aim of this paper is to create an interface for humanrobot interaction. Specifically, musical performance parameters （i. e. vibrato expression） of the Waseda Flutist Robot No. 4 Refined IV （WF-4RIV） are to be manipulated. This research focused on enabling the WF-4RIV to interact with human players （musicians） in a natu- ral way. In this paper, as the first approach, a vision processing algorithm, which is able to track the 3Dorientation and position of a musical instrument, was developed. In particular, the robot acquires image data through two catneras attached to its head. Using color histogram matching and a particle filter, the position of the musician＇s hands on the inset are tracked. Analysis of this data determines orientation and location of the iustnment. These pa- rameters are mapped to manipulate the musical expression of the WF- 4RIV, more specifically sound vibrato and volume values. The authors present preliminary experiments to determine if the robot may dynamically change musical parameters while interacting with a human player （i.e. vibrato etc. ）. From the experirnental results, they may confirm the feasibility of the interaction during the performance, although further research must be carried out to consider the physical constraints of the flutist robot.
文摘为了促进智能物流系统的不断进步,设计了一款基于Arduino的智能运动控制系统。选用Arduino Mega 2560控制板为主控板,配置陀螺仪姿态调整模块、OLED显示模块、电机及驱动模块、OpenMV视觉识别模块等组成硬件系统;采用PID算法调节小车运行速度和行进方向,融合了速度解算与全向移动算法,实现了小车全场定位的功能。测试结果表明:融合机器视觉算法的智能运动控制系统的物流小车能够实现自动搬运功能,抓取并放置一个物料耗时仅约6 s,物料摆放精度达到±2 mm。系统可准确操控速度和方向,且具有成本低、操控便捷等优势。
基金This work was supported by the National Natural Science Foundation of China(51920105002,51991340,51722206,and 51991343)Guangdong Innovative and Entrepreneurial Research Team Program(2017ZT07C341)+1 种基金the Bureau of Industry and Information Technology of Shenzhen for the“2017 Graphene Manufacturing Innovation Center Project”(201901171523)the Shenzhen Basic Research Program(JCYJ20200109144620815 and JCYJ20200109144616617).
文摘The non-Markov process exists widely in thermodymanic process,while it usually requires the packing of many transistors and memories with great system complexity in a traditional device structure to minic such functions.Two-dimensional(2D)material-based resistive random access memory(RRAM)devices have the potential for next-generation computing systems with much-reduced complexity.Here,we achieve a non-Markov chain in an individual RRAM device based on 2D mineral material mica with a vertical metal/mica/metal structure.We find that the potassium ions(K+)in 2D mica gradually move in the direction of the applied electric field,making the initially insulating mica conductive.The accumulation of K+is changed by an electric field,and the 2D-mica RRAM has both single and double memory windows,a high on/off ratio,decent stability,and repeatability.This is the first time a non-Markov chain process has been established in a single RRAM,in which the movement of K+is dependent on the stimulated voltage as well as their past states.This work not only uncovers an intrinsic inner ionic conductivity of 2D mica,but also opens the door for the production of such RRAM devices with numerous functions and applications.
