The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are ...The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.展开更多
Low collateral damage weapons achieve controlled personnel injury through the coupling of shock waves and particle swarms,where the particle swarms arise from the high-explosive dispersion of compacted metal particle ...Low collateral damage weapons achieve controlled personnel injury through the coupling of shock waves and particle swarms,where the particle swarms arise from the high-explosive dispersion of compacted metal particle ring.To investigate the dynamic response of the human target under combined shock waves and particle swarms loading,a physical human surrogate torso model(HSTM)was developed,and the dynamic response test experiment was conducted under the combined loading.The effects of particle size on the loading parameters,the damage patterns of the ballistic plate and HSTM,and the dynamic response parameters of the HSTM with and without protection are mainly analyzed.Our findings revealed that particle swarms can effectively delay the shock wave attenuation,especially the best effect when the particle size was 0.28–0.45 mm.The ballistic plate mainly exhibited dense perforation of the outer fabric and impacted crater damage of ceramic plates,whereas the unprotected HSTM was mainly dominated by high-density and small-size ballistic cavity group damage.The peak values of the dynamic response parameters for the HSTM under combined loading were significantly larger than those under bare charge loading,with multiple peaks observed.Under unprotected conditions,the peak acceleration of skeletons and peak pressure of organs increased with the particle size.Under protected conditions,the particle size,the number of particles hit,and the fit of the ballistic plate to the HSTM together affected the dynamic response parameters of the HSTM.展开更多
A cardiac vector model is presented and verified, and then the forward problem for cardiac magnetic fields and electric potential are discussed based on this model and the realistic human torso volume conductor model,...A cardiac vector model is presented and verified, and then the forward problem for cardiac magnetic fields and electric potential are discussed based on this model and the realistic human torso volume conductor model, including lungs. A torso-cardiac vector model is used for a 12-lead electrocardiographic （ECG） and magneto-cardiogram （MCG） simulation study by using the boundary element method （BEM）. Also, we obtain the MCG wave picture using a compound four-channel HTc.SQUID system in a magnetically shielded room. By comparing the simulated results and experimental results, we verify the cardiac vector model and then do a preliminary study of the forward problem of MCG and ECG. Therefore, the results show that the vector model is reasonable in cardiac electrophysiology.展开更多
Human-robot collaboration is a promising means to promote orchard intelligence and reduce the over-reliance on manual work for complex agronomic practices such as fruit tree pruning,flower and fruit thinning,and harve...Human-robot collaboration is a promising means to promote orchard intelligence and reduce the over-reliance on manual work for complex agronomic practices such as fruit tree pruning,flower and fruit thinning,and harvesting.Accurate target detection and recognition of robots on humans are the basis and prerequisite for subsequent autonomous human-robot collaboration.In this study,detection and recognition of following robots for human torso were carried out in a standardized hilly orchard.A LiDAR-based human torso detection method was proposed based on the actual orchard environment.Breakpoint detection was used to cluster and segment the point clouds,and the segmentation thresholds were determined based on experimental results.The geometric attributes of the human torso were trained in the classification detection model,resulting in the extraction of six geometric attributes of the human torso.The classification model was then trained with various combinations to obtain the optimal feature combination[girth-depth-average curvature(G-D-k)]for human torso recognition in an orchard environment.Practical experiments were carried out to validate the feasibility and accuracy of the G-D-k feature combination.The experimental results demonstrate that the G-D-k feature combination can accurately recognize human bodies in orchards.The LiDAR-based detection method can achieve relatively accurate human detection and recognition in complex orchard environments,providing a reference for target detection in human-robot collaboration in orchards.展开更多
文摘The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.
文摘Low collateral damage weapons achieve controlled personnel injury through the coupling of shock waves and particle swarms,where the particle swarms arise from the high-explosive dispersion of compacted metal particle ring.To investigate the dynamic response of the human target under combined shock waves and particle swarms loading,a physical human surrogate torso model(HSTM)was developed,and the dynamic response test experiment was conducted under the combined loading.The effects of particle size on the loading parameters,the damage patterns of the ballistic plate and HSTM,and the dynamic response parameters of the HSTM with and without protection are mainly analyzed.Our findings revealed that particle swarms can effectively delay the shock wave attenuation,especially the best effect when the particle size was 0.28–0.45 mm.The ballistic plate mainly exhibited dense perforation of the outer fabric and impacted crater damage of ceramic plates,whereas the unprotected HSTM was mainly dominated by high-density and small-size ballistic cavity group damage.The peak values of the dynamic response parameters for the HSTM under combined loading were significantly larger than those under bare charge loading,with multiple peaks observed.Under unprotected conditions,the peak acceleration of skeletons and peak pressure of organs increased with the particle size.Under protected conditions,the particle size,the number of particles hit,and the fit of the ballistic plate to the HSTM together affected the dynamic response parameters of the HSTM.
基金supported by the State Key Development Program for Basic Research of China (Grant No. 2011CBA00106)the National Natural Science Foundation of China (Grant Nos. 10674006, 81171421, and 61101046)the National High Technology Research and Development Program of China (Grant No. 2007AA03Z238)
文摘A cardiac vector model is presented and verified, and then the forward problem for cardiac magnetic fields and electric potential are discussed based on this model and the realistic human torso volume conductor model, including lungs. A torso-cardiac vector model is used for a 12-lead electrocardiographic （ECG） and magneto-cardiogram （MCG） simulation study by using the boundary element method （BEM）. Also, we obtain the MCG wave picture using a compound four-channel HTc.SQUID system in a magnetically shielded room. By comparing the simulated results and experimental results, we verify the cardiac vector model and then do a preliminary study of the forward problem of MCG and ECG. Therefore, the results show that the vector model is reasonable in cardiac electrophysiology.
基金funded by the Agricultural Machinery Equipment Weak Core Technology Application Project of Hubei Province,China(Grant No.HBSNYT202219)Nature Science Foundation of Hubei Province,China(Grant No.2021CFB471)the National Key Research and Development Program of China(Grant No.2020YFD1000100).
文摘Human-robot collaboration is a promising means to promote orchard intelligence and reduce the over-reliance on manual work for complex agronomic practices such as fruit tree pruning,flower and fruit thinning,and harvesting.Accurate target detection and recognition of robots on humans are the basis and prerequisite for subsequent autonomous human-robot collaboration.In this study,detection and recognition of following robots for human torso were carried out in a standardized hilly orchard.A LiDAR-based human torso detection method was proposed based on the actual orchard environment.Breakpoint detection was used to cluster and segment the point clouds,and the segmentation thresholds were determined based on experimental results.The geometric attributes of the human torso were trained in the classification detection model,resulting in the extraction of six geometric attributes of the human torso.The classification model was then trained with various combinations to obtain the optimal feature combination[girth-depth-average curvature(G-D-k)]for human torso recognition in an orchard environment.Practical experiments were carried out to validate the feasibility and accuracy of the G-D-k feature combination.The experimental results demonstrate that the G-D-k feature combination can accurately recognize human bodies in orchards.The LiDAR-based detection method can achieve relatively accurate human detection and recognition in complex orchard environments,providing a reference for target detection in human-robot collaboration in orchards.
