仿人面部表情机器人头部机构方案设计

为了赋予表情机器人更丰富的面部表情, 并最终实现与人之间更和谐的交互, 在对人类基本表情的形成与肌肉运动进行分析的基础上, 提出了一种仿人面部表情机器人头部的机械结构设计方案, 为后续研究提供了硬件平台支持. 并对该机器人头部机构, 包括眉毛、眼睑、眼球、能实现咀嚼动作的下颚以及颈部等的工作原理进行了详细说明, 对多种方案的选择作了对比. 最后, 确定了表情机器人头部的机构设计方案.     

表情机器人

本作品是基于人的头部结构而设计。其眼球是用2自由度可实现眼球的任意方位的转动。而嘴部和眉部以及眼球的运动是由单片机精确控制舵机来实现各种面部表情的变化。通过各种程序的控制能使机器人做各种动作．并且机器人发出的声音和表情的结合可以表达出各种神态。本作品的特点是能模仿人的各种表情动作以及摇头、点头等动作。     

仿人面部表情机器人SHFR-1样机

通过对人类实现不同面部表情时脸部肌肉运动情况的分析,设计仿人面部表情机器人的运动机构和控制系统.在仿真环境下,对所设计的虚拟样机进行运动分析,以所得到的数据为依据,研制仿人面部表情机器人样机SHFR-1.在SHFR-1机器人上进行面部表情演示实验,结果表明,该样机可以较好地实现高兴、悲伤、惊讶、害怕、愤怒和厌恶等6种人类基本表情.     

仿生甲虫六足机器人结构设计与步态分析

在分析仿生甲虫生物原型的特点及运动机能的基础上,进行了仿生甲虫六足机器人的结构设计与样机设计,运用机器人的结构仿生和功能仿生原理,基于甲虫原型设计了六足机器人,给出了每足3自由度的机器人结构。原型样机是以身体纵向中心线为对称的八边形设计,6条腿均布身体两侧,所有腿关节均由伺服电机驱动,关节间连接构件采用性能良好的合成塑料代替金属构件,设计从结构上保证了仿生机器人能够有效地模拟甲虫的运动能力。通过对仿生甲虫机器人三足运动步态,特别是直线行走步态和定点转弯步态的分析,给出了直行和转弯动作时6条腿的末端位置矢量表达式,利用SOLIDWORKS和ADAMS软件进行了机器人运动仿真,结果证明仿生甲虫机器人运动平稳,满足设计要求。     

基于生物力学结构的咀嚼机器人建模

基于咀嚼系统生物力学基础提出了一种面向人类咀嚼系统的咀嚼机器人机构.首先,对其进行了运动学建模,分析了机构的运动自由度;然后,根据咀嚼运动的特点给出一段运动轨迹,在ADAMS中对咀嚼机器人进行运动特性分析,得到了线性驱动器对应的位移、速度、功率等重要参数,分析结果表明:咀嚼机器人能较好地满足模拟人类咀嚼运动的要求.在颞...     

核磁共振环境下六自由度穿刺定位机器人的研制

针对核磁共振环境下穿刺手术的定位难题,采用机器人串并联机构设计并运用气动驱动方式,研制出6自由度的穿刺定位机器人.结果表明,所研制的穿刺定位机器人能够满足穿刺机器人与核磁共振环境中结构和材料的兼容性,实现了核磁共振环境下穿刺手术的机器人定位.     

仿猎豹四足机器人结构设计与分析

为满足四足机器人高速奔跑运动性能所要求的脊椎具有柔性和腿结构具有良好的缓冲性能要求,在仿猎豹四足机器人上设计了一种液压驱动的柔性脊椎和腿结构.该脊椎是变截面梁,中间有柔性.该腿结构有髋关节和膝关节,有3个自由度,髋关节有2个主动自由度,即侧摆自由度和俯仰自由度,膝关节具有被动的俯仰自由度.对该脊椎进行了力学分析,对该腿结构进行了刚度特性分析和运动学分析,并对机器人进行了Bound步态仿真.仿真结果表明,这种具有柔性脊椎和非线性刚度变化的腿结构的仿猎豹四足机器人,能够以Bound步态实现较快的稳定奔跑,且足端接触力较小,由此验证了柔性仿猎豹四足机器人脊椎和腿结构的设计是有效的.      

基于协同交互的面部表情实时分析

通过设计面部表情分析的个体模型,研究模型间的协同交互机制.改进个体模型中面部表情聚类的分析方法,优化聚类类中心的选取和结构分布,设计实现了基于协同交互的面部表情分析模型.进行了多模型问协同交互的实时分析实验,验证了分析模型可以有效的提高面部表情识别的效率和准确度.     

网络遥操作新型七自由度数据臂的设计

为了改善数据臂的操作性能,采用面向手臂关节的设计思想,设计了一种用于网络遥操作的新型七自由度数据臂.利用ADAMS构建了右手臂结构模型,分析了腕关节和肩关节的自由度,并建立数学模型.利用该数据臂控制虚拟机器人在虚拟场景中完成抓取棒料实验,结果表明:该数据臂既可以检测人手臂各关节变化,又可以获得手臂各关节角度和腕部的位置变化,具有部分关节力反馈功能.该数据臂成功应用于网络遥操作主从臂控制仿真平台,取得了良好的效果.     

基于ADAMS与MATLAB的关节型机器人联合仿真研究

针对关节型机器人的动力学联合仿真问题,在ADAMS中建立机器人的三维模型,并进行运动学与动力学仿真。根据所得参数简化机器人模型,以2自由度机器人模型为依托,通过ADAMS/Control模块将机器人动力学模型与MATLAB/Simulink控制系统模型组合起来,建立联合仿真系统,实现机器人的位置控制。仿真结果表明,机器人模型具有较好的动态响应特性与轨迹跟踪能力。     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

A computer generator for randomly layered structures

AcomputergeneratorforrandomlylayeredstructuresYUJia shun1,2,HEZhen hua2(1.TheInstituteofGeologicalandNuclearSciences,NewZealand;2.StateKeyLaboratoryofOilandGasReservoirGeologyandExploitation,ChengduUniversityofTechnology,China)Abstract:Analgorithmisintrod…     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

海南岛地体及其毗邻陆缘晚中生代—新生代古地磁研究和构造演化

本文叙述了对海南岛及其毗邻大陆边缘白垩纪到第四纪地层岩石进行古地磁研究的全部工作过程。通过分析岩石中剩余磁矢量的磁偏角及磁倾角的变化,提出海南岛白垩纪以来经历的构造演化模式如下:早期伴随顺时针旋转而向南迁移,后期伴随逆时针转动并向北运移。联系该地区及邻区的地质、地球物理资料,对海南岛上述的构造地体运动提出以下认识:北部湾内早期有一拉张作用,主要是该作用使湾内地壳显著伸长减薄,形成北部湾盆地。从而导致了海南岛的早期构造运动,而海南岛后期的构造运动则主要是受南海海底扩张的影响。海南地体运动规律的阐明对于了解北部湾油气盆地的形成演化有重要的理论和实际意义。     

An Index mechanism for multi-scale view in spatial databases

There are numerous geometric objects stored in the spatial databases. An importance function in a spatial database is that users can browse the geometric objects as a map efficiently. Thus the spatial database should display the geometric objects users concern about swiftly onto the display window. This process includes two operations:retrieve data from database and then draw them onto screen. Accordingly, to improve the efficiency, we should try to reduce time of both retrieving object and displaying them. The former can be achieved with the aid of spatial index such as R-tree, the latter require to simplify the objects. Simplification means that objects are shown with sufficient but not with unnecessary detail which depend on the scale of browse. So the major problem is how to retrieve data at different detail level efficiently. This paper introduces the implementation of a multi-scale index in the spatial database SISP (Spatial Information Shared Platform) which is generalized from R-tree. The difference between the generalization and the R-tree lies on two facets: One is that every node and geometric object in the generalization is assigned with a importance value which denote the importance of them, and every vertex in the objects are assigned with a importance value,too. The importance value can be use to decide which data should be retrieve from disk in a query. The other difference is that geometric objects in the generalization are divided into one or more sub-blocks, and vertexes are total ordered by their importance value. With the help of the generalized R-tree, one can easily retrieve data at different detail levels.Some experiments are performed on real-life data to evaluate the performance of solutions that separately use normal spatial index and multi-scale spatial index. The results show that the solution using multi-scale index in SISP is satisfying.     

《Chinese Science Bulletin》SUBJECT INDEX TO VOLUME 59(2014)

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Achieving Unusual States of Matter Under High Pressure

The elongation method,originally proposed by Imamura was further developed for many years in our group.As a method towards O(N)with high efficiency and high accuracy for any dimensional systems.This treatment designed for one-dimensional(ID)polymers is now available for three-dimensional(3D)systems,but geometry optimization is now possible only for 1D-systems.As an approach toward post-Hartree-Fock,it was also extended to