Algorithm of Skin-tone Detection Based on Parameter Look-up Table

针对现有模型对肤色空间刻画的不足,提出了一种基于参数查找表的肤色检测算法。该方法将肤色和非肤色看作两类模式,通过在YCbCr颜色空间统计,计算样本在不同色度下沿亮度的概率分布,分类采用贝叶斯判别规则,查找表用于存储模型参数,实现了快速查找和计算。实验中,从像素样本分类和彩色图片分割两个方面对算法的检测性能进行对比,说明其有较高的检测率和较强的鲁棒性

Energy-based Motion Control for Pneumatic Artificial Muscle-Actuated Robots With Experiments

The pneumatic artificial muscle is a kind of flexible actuators used to simulate the characteristics of human muscles. Robots actuated by PAMs possess compliance and safety, which can achieve satisfactory man-machine interaction control. Nevertheless, such robots actuated by PAMs have lots of control problems due to the inherent characteristics, such as hysteresis, creep, high nonlinearities, and so on. Moreover, most existing control methods do not consider constraining overshoots, etc., however, based on safety requirements and actual physical constraints, systems with unconstrained overshoots may have potential risks. A new energy-based nonlinear control method is proposed for 2-link PAM-actuated robots to realize accurate positioning control. First, the dynamic model of 2-link PAM-actuated robots is presented. Further, a new energy storage function is constructed. The overshoots and the terms coupled with control inputs are constrained, which can reduce the unnecessary energy loss while improving the system safety. To our knowledge, the proposed method is the first nonlinear control approach for 2-link PAM-actuated robots, designed and analyzed based upon the original nonlinear dynamics without any linearization, to provide high-performance positioning control with constrained overshoots and eliminated residual oscillations simultaneously. By rigorous analysis, asymptotic stability of the system is proven. Hardware experimental results are presented.</p

JUNO Sensitivity on Proton Decay p→νˉK+p\to \bar\nu K^+ Searches

The Jiangmen Underground Neutrino Observatory (JUNO) is a large liquid scintillator detector designed to explore many topics in fundamental physics. In this paper, the potential on searching for proton decay in $p\to \bar\nu K^+$ mode with JUNO is investigated.The kaon and its decay particles feature a clear three-fold coincidence signature that results in a high efficiency for identification. Moreover, the excellent energy resolution of JUNO permits to suppress the sizable background caused by other delayed signals. Based on these advantages, the detection efficiency for the proton decay via $p\to \bar\nu K^+$ is 36.9% with a background level of 0.2 events after 10 years of data taking. The estimated sensitivity based on 200 kton-years exposure is $9.6 \times 10^{33}$ years, competitive with the current best limits on the proton lifetime in this channel

JUNO sensitivity on proton decay p → ν K + searches*

The Jiangmen Underground Neutrino Observatory (JUNO) is a large liquid scintillator detector designed to explore many topics in fundamental physics. In this study, the potential of searching for proton decay in the $p\to \bar{\nu} K^+$ mode with JUNO is investigated. The kaon and its decay particles feature a clear three-fold coincidence signature that results in a high efficiency for identification. Moreover, the excellent energy resolution of JUNO permits suppression of the sizable background caused by other delayed signals. Based on these advantages, the detection efficiency for the proton decay via $p\to \bar{\nu} K^+$ is 36.9% ± 4.9% with a background level of $0.2\pm 0.05({\rm syst})\pm$$0.2({\rm stat})$ events after 10 years of data collection. The estimated sensitivity based on 200 kton-years of exposure is $9.6 \times 10^{33}$ years, which is competitive with the current best limits on the proton lifetime in this channel and complements the use of different detection technologies