Constrained Delaunay triangulated irregular network is one kind of dynamic data structures used in geosciences. The research on point and edges insertion in CD-TIN is the basis of its application. Comparing with the a...Constrained Delaunay triangulated irregular network is one kind of dynamic data structures used in geosciences. The research on point and edges insertion in CD-TIN is the basis of its application. Comparing with the algorithms of points and constrained edge insertion, there are very a few researches on constrained edge deletion in CD-TIN. Based on the analysis of the polymorphism of constrained edge, virtual points are used to describe the intersection of constrained edges. A new algorithm is presented, called as influence domain retriangulating for virtual point （IDRVP）, to delete constrained edges with virtual points. The algorithm is complete in topology. Finally, the algorithm is tested by some applications cases.展开更多
In this study,a virtual-point concept was introduced into fiber-laser photoacoustic tomography to improve the elevational image resolution.The flexible fiber laser was bent into an arc shape to conform to the ultrasou...In this study,a virtual-point concept was introduced into fiber-laser photoacoustic tomography to improve the elevational image resolution.The flexible fiber laser was bent into an arc shape to conform to the ultrasound wavefront,which formed an ultrasound focus at the center of the arc.The synthetic aperture focusing technique was utilized to reconstruct the images;as a result,the elevational resolution particularly within the out-of-focus region was considerably improved compared to the resolution of an image retrieved by multiplexing the PA time-resolved signals with sound velocity.The all-optical fiber-laser photoacoustic tomography system with a high spatial resolution has potential for various applications,including biomedical research and preclinical/clinical diagnosis.展开更多
This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based...This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.展开更多
The growing ubiquity of Wi-Fi networks combined with the integration of low-cost Wi-Fi chipsets in all devices makes Wi-Fi as the wireless technology the most used for accessing to internet [1]. This means that the de...The growing ubiquity of Wi-Fi networks combined with the integration of low-cost Wi-Fi chipsets in all devices makes Wi-Fi as the wireless technology the most used for accessing to internet [1]. This means that the development of a Wi-Fi strategy has become an imperative for almost all operators worldwide. In this context, APs (Access Points) have to become as secure as cellular networks. Furthermore, authentication process between a mobile device and an access point has to be automated, without user constraining configuration. For reaching this purpose, client must have different credentials depending on authentication method. Our goal is to create an architecture that is both ergonomic and flexible in order to meet the need for connection and client mobility. We use NFC technology as a radio channel for starting communication with the network. The communication initiation will instantiate a virtual Wi-Fi AP and distribute all policies and access certificates for an authentication based on EAP-TLS (it could be extended to any EAP method for 802.1X standard). The end result of our new topology is to allow access to services through a virtual Wi-Fi AP with an enterprise-grade in a public hotspot.展开更多
The contact point configuration should be carefully chosen to ensure a stable capture,especially for the non-cooperative target capture mission using multi-armed spacecraft.In this work scenario,the contact points on ...The contact point configuration should be carefully chosen to ensure a stable capture,especially for the non-cooperative target capture mission using multi-armed spacecraft.In this work scenario,the contact points on the base and on the arms are distributed on the opposite side of the target.Otherwise,large forces will be needed.To cope with this problem,an uneven-oriented distribution union criterion is proposed.The union criterion contains a virtual symmetrical criterion and a geometry criterion.The virtual symmetrical contact point criterion is derived from the proof of the force closure principle using computational geometry to ensure a stable grasp,and the geometry criterion is calculated by the volume of the minimum polyhedron formed by the contact points to get a wide-range distribution.To further accelerate the optimization rate and enhance the global search ability,a line array modeling method and a continuous-discrete global search algorithm are proposed.The line array modeling method reduces the workload of calculating the descent direction and the gradient available,while the continuous-discrete global search algorithm reducing the optimization dimension.Then a highly efficient grasping is achieved and the corresponding contact point is calculated.Finally,an exhaustive verification is conducted to numerically analyze the disturbance resistance ability,and simulation results demonstrate the effectiveness of the proposed algorithms.展开更多
With the development of virtual reality (VR) technology, more and more industries are beginning to integrate with VR technology. In response to the problem of not being able to directly render the lighting effect of C...With the development of virtual reality (VR) technology, more and more industries are beginning to integrate with VR technology. In response to the problem of not being able to directly render the lighting effect of Caideng in digital Caideng scenes, this article analyzes the lighting model. It combines it with the lighting effect of Caideng scenes to design an optimized lighting model algorithm that fuses the bidirectional transmission distribution function (BTDF) model. This algorithm can efficiently render the lighting effect of Caideng models in a virtual environment. And using image optimization processing methods, the immersive experience effect on the VR is enhanced. Finally, a Caideng roaming interactive system was designed based on this method. The results show that the frame rate of the system is stable during operation, maintained above 60 fps, and has a good immersive experience.展开更多
文摘Constrained Delaunay triangulated irregular network is one kind of dynamic data structures used in geosciences. The research on point and edges insertion in CD-TIN is the basis of its application. Comparing with the algorithms of points and constrained edge insertion, there are very a few researches on constrained edge deletion in CD-TIN. Based on the analysis of the polymorphism of constrained edge, virtual points are used to describe the intersection of constrained edges. A new algorithm is presented, called as influence domain retriangulating for virtual point （IDRVP）, to delete constrained edges with virtual points. The algorithm is complete in topology. Finally, the algorithm is tested by some applications cases.
基金This research was supported by the National Natural Science Foundation of China(NSFC)(61705082,U1701268)Natural Science Foundation of Guangdong Province(2018030310587)+1 种基金Fundamental Research Funds for the Central Universities(21617304)Guangdong Province High-Level Talents Introduction Plan(2017GC010420).
文摘In this study,a virtual-point concept was introduced into fiber-laser photoacoustic tomography to improve the elevational image resolution.The flexible fiber laser was bent into an arc shape to conform to the ultrasound wavefront,which formed an ultrasound focus at the center of the arc.The synthetic aperture focusing technique was utilized to reconstruct the images;as a result,the elevational resolution particularly within the out-of-focus region was considerably improved compared to the resolution of an image retrieved by multiplexing the PA time-resolved signals with sound velocity.The all-optical fiber-laser photoacoustic tomography system with a high spatial resolution has potential for various applications,including biomedical research and preclinical/clinical diagnosis.
基金This work was supported by the Touyan Innovation Program of Heilongjiang Province.
文摘This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.
文摘The growing ubiquity of Wi-Fi networks combined with the integration of low-cost Wi-Fi chipsets in all devices makes Wi-Fi as the wireless technology the most used for accessing to internet [1]. This means that the development of a Wi-Fi strategy has become an imperative for almost all operators worldwide. In this context, APs (Access Points) have to become as secure as cellular networks. Furthermore, authentication process between a mobile device and an access point has to be automated, without user constraining configuration. For reaching this purpose, client must have different credentials depending on authentication method. Our goal is to create an architecture that is both ergonomic and flexible in order to meet the need for connection and client mobility. We use NFC technology as a radio channel for starting communication with the network. The communication initiation will instantiate a virtual Wi-Fi AP and distribute all policies and access certificates for an authentication based on EAP-TLS (it could be extended to any EAP method for 802.1X standard). The end result of our new topology is to allow access to services through a virtual Wi-Fi AP with an enterprise-grade in a public hotspot.
基金supported by the National Natural Science Foundation of China(Nos.62003115,11972130)Shenzhen Natural Science Fund(the Stable Support Plan Program GXWD20201230155427003-20200821170719001).
文摘The contact point configuration should be carefully chosen to ensure a stable capture,especially for the non-cooperative target capture mission using multi-armed spacecraft.In this work scenario,the contact points on the base and on the arms are distributed on the opposite side of the target.Otherwise,large forces will be needed.To cope with this problem,an uneven-oriented distribution union criterion is proposed.The union criterion contains a virtual symmetrical criterion and a geometry criterion.The virtual symmetrical contact point criterion is derived from the proof of the force closure principle using computational geometry to ensure a stable grasp,and the geometry criterion is calculated by the volume of the minimum polyhedron formed by the contact points to get a wide-range distribution.To further accelerate the optimization rate and enhance the global search ability,a line array modeling method and a continuous-discrete global search algorithm are proposed.The line array modeling method reduces the workload of calculating the descent direction and the gradient available,while the continuous-discrete global search algorithm reducing the optimization dimension.Then a highly efficient grasping is achieved and the corresponding contact point is calculated.Finally,an exhaustive verification is conducted to numerically analyze the disturbance resistance ability,and simulation results demonstrate the effectiveness of the proposed algorithms.
文摘With the development of virtual reality (VR) technology, more and more industries are beginning to integrate with VR technology. In response to the problem of not being able to directly render the lighting effect of Caideng in digital Caideng scenes, this article analyzes the lighting model. It combines it with the lighting effect of Caideng scenes to design an optimized lighting model algorithm that fuses the bidirectional transmission distribution function (BTDF) model. This algorithm can efficiently render the lighting effect of Caideng models in a virtual environment. And using image optimization processing methods, the immersive experience effect on the VR is enhanced. Finally, a Caideng roaming interactive system was designed based on this method. The results show that the frame rate of the system is stable during operation, maintained above 60 fps, and has a good immersive experience.
