Zuo ye xi feng diao bi shu: nan xiang feng hua
Saved in:
| Main Author: | |
|---|---|
| Format: | Electronic Musical Score Book |
| Language: | English |
| Published: |
[Place of publication not identified]
Dye Wu
2012
|
| Subjects: | |
| Online Access: | BSB01 Volltext Inhaltsverzeichnis |
| Item Description: | For gao hu, yang qin, er hu, zhong hu, cello, bass Includes program notes in Chinese Title from resource description page (viewed August 31, 2020) Written in 2011 |
| Physical Description: | 1 Online-Ressource (1 score (18 Seiten)) |
Staff View
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| 100 | 1 | |a Wu, Die |d 1952- |4 cmp | |
| 242 | 0 | 0 | |a The being, the state, the dream |y eng |
| 245 | 1 | 0 | |a Zuo ye xi feng diao bi shu |b nan xiang feng hua |c Wu Die |
| 264 | 1 | |a [Place of publication not identified] |b Dye Wu |c 2012 | |
| 264 | 4 | |c ©2011 | |
| 300 | |a 1 Online-Ressource (1 score (18 Seiten)) | ||
| 336 | |b ntm |2 rdacontent | ||
| 337 | |b c |2 rdamedia | ||
| 338 | |b cr |2 rdacarrier | ||
| 500 | |a For gao hu, yang qin, er hu, zhong hu, cello, bass | ||
| 500 | |a Includes program notes in Chinese | ||
| 500 | |a Title from resource description page (viewed August 31, 2020) | ||
| 500 | |a Written in 2011 | ||
| 650 | 4 | |a String sextets (Yang qin, gao hu, er hu, zhong hu, cello, double bass) |v Scores | |
| 653 | 6 | |a Scores | |
| 653 | 6 | |a Chamber music | |
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| 912 | |a ZDB-1-MOS | ||
| 999 | |a oai:aleph.bib-bvb.de:BVB01-033807588 | ||
| 382 | 1 | |a yang qin |n 1 |a gao hu |n 1 |a er hu |n 1 |a zhong hu |n 1 |a cello |n 1 |a double bass |n 1 |s 6 |2 lcmpt | |
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Record in the Search Index
| _version_ | 1804184348051636224 |
|---|---|
| adam_text | TABLE
OF
CONTENTS
1
INTRODUCTION
.......................................................................................................................................
-1
-
1.1
PROBLEM
STATEMENT
....................................................................................................................
-1
-
1.1.1
FLEXIBLE
MANIPULATION
..........................................................................................................
-1
-
1.1.2
TACTUAL
PERCEPTION
FOR
FLEXIBLE
PART
HANDLING
OPERATIONS
.................................................
-
3
-
1.1.3
FROM
HUMAN-INSPIRED
PERCEPTION
TOWARDS
ROBOTICS
FLEXIBLE
PART
HANDLING
......................
-
4
-
1.2
OBJECTIVES
OF
THE
DISSERTATION
....................................................................................................
-
6
-
1.3
ORGANIZATION
OF
THE
RESEARCH
.....................................................................................................
-
8
-
2
ONTOLOGIES
AND
STATE-OF-THE-ART
ANALYSIS
.........................................................................................
-11
-
2.1
TACTILE
SENSING
...........................................................................................................................
-11
2.2
TACTILE
SENSORS
...........................................................................................................................
-13
2.3
SENSITIVE
OBJECT
MANIPULATION
..................................................................................................
-
21
-
2.4
REACTIVE
GRASPING
......................................................................................................................
-23
2.5
GRASP
AND
DEPOSIT
CONTROL
........................................................................................................
25
-
2.6
MONITORED
PART
SITUATION
..........................................................................................................
-
26
-
2.7
SUMMARY
....................................................................................................................................
-29
3
RESISTIVE
SENSORS
...............................................................................................................................
-
31
-
3.1
WORKING
PRINCIPLE
......................................................................................................................
-31
3.2
SENSOR
DESIGN
............................................................................................................................
-
33
-
3.3
DOUBLE-SIDED
ELECTRODE
CONTACT
VS.
ONE-SIDED
ELECTRODE
CONTACT
...........................................
-
34
-
3.4
PRESSURE-SENSITIVE
MATERIAL
COMPOSITE
....................................................................................
-
36
-
3.5
CONDUCTIVE
EFFECT
-
PERCOLATION
THEORY
....................................................................................
-
38
-
3.6
ELECTRICAL
EQUIVALENT
CIRCUIT
.......................................................................................................
-
41
-
3.7
SUMMARY
...................................................................................................................................
-46
4
SENSOR
SPECIFICATIONS
AND
EVALUATION
OF
CONDUCTIVE
PROPERTIES
......................................................
-
47
-
4.1
SENSOR
SPECIFICATIONS
.................................................................................................................
-47
4.2
CAUSES
OF
UNEQUAL
SIGNAL
READINGS
...........................................................................................
-
50
-
4.3
INHOMOGENEOUS
CONDUCTIVITY
...................................................................................................
-
54
-
4.3.1 EXPERIMENTAL
SETUP
...........................................................................................................
-
54
-
INTRODUCTION
VIII
4.3.2
EVALUATION
...........................................................................................................................
-56
4.3.3
CONCLUSION
..........................................................................................................................
-58
4.4
THE
AREAL
EFFECT
-
FORCE-SENSING
VS.
PRESSURE-SENSING
.............................................................
-
59
-
4.4.1
TEST
BED
..............................................................................................................................
-60
4.4.2
DATA
EVALUATION
..................................................................................................................
-
61
-
4.4.3
IMPACTS
ON
THE
SENSOR
DESIGN
AND
THE
DATA
PROCESSING
....................................................
-
63
-
4.5
SIGNAL
DRIFTING
AND
HYSTERESIS....................................................................................................
-
66
-
4.5.1
SIGNAL
DRIFTING
.....................................................................................................................
-66
4.5.2
HYSTERESIS
...........................................................................................................................
-
70
-
4.6
ALTERING
EFFECTS
............................................................................
-71
4.7
SUMMARY
....................................................................................................................................
-73
5
PATTERN
RECOGNITION
ON
SPATIALLY
RESOLVED
PRESSURE
IMAGES
............................................................
-
75
-
5.1
IMAGE
DATA
PROCESSING
...............................................................................................................
-76
5.2
DATA
PRE-PROCESSING
...................................................................................................................
-
79
-
5.2.1
SIGNAL
EQUALIZATION
..............................................................................................................
-
79
-
5.2.2
OFFSET-CORRECTION
................................................................................................................
-
82
-
5.2.3
FILTERING
...............................................................................................................................
-85
5.3
SEGMENTATION
.............................................................................................................................
85
-
5.3.1
SCANLINE
GROUPING
..............................................................................................................
-86
5.3.2
CREATION
OF
SPATIAL
IMAGES
FROM
TACTILE
SENSORS
...............................................................
-
88
-
5.4
FEATURE
EXTRACTION
......................................................................................................................
-
89
-
5.5
CLASSIFICATION
OF
AN
OBJECT S
SUPPORT
AREA
..................................................................................
-
93
-
5.6
CORRESPONDENCE
OF
THE
LINE
SEGMENTS
......................................................................................
-
94
-
5.7
SUMMARY
....................................................................................................................................
-96
6
ROBOTICS
PART
HANDLING
FEATURING
IN-HAND
OBJECT
MONITORING
.........................................................
-
98
-
6.1
SETUP
..........................................................................................................................................
-98
6.2
GRIPPERS
....................................................................................................................................
-101
6.2.1
MAGNETIC
GRIPPER
............................................................................................................
-102
6.2.2
VACUUM
GRIPPER
..............................................................................................................
-117
INTRODUCTION
IX
6.3
HAPTICS
FEATURING
ROBOTICS
CONTROL
-
AN
OVERVIEW
.................................................................
-123
-
6.4
A
MULTI-MODAL
GRASPING
APPROACH
...........................................................................................
-129
-
6.5
EXPERIMENTAL
RESULTS
OF
THE
PICK
AND
PLACE
SYSTEM
................................................................
-132
-
6.5.1
TACTILE
VACUUM
GRIPPING
SYSTEM
OPERATED
ON
TRANSPARENT
CYLINDRICAL
OBJECTS
............
-133
-
6.5.2
TACTILE
MAGNETIC
GRIPPER
OPERATED
ON
A
SHINY
CYLINDRICAL
AND
BLACKENED
WASHER
........
-135
-
6.5.3
IMPACTS
ON
GRASPING
........................................................................................................
-139
6.6
SUMMARY
.................................................................................................................................
-140
7
SUMMARY
AND
CONCLUSION
...............................................................................................................
-142
-
8
APPENDIX
.........................................................................................................................................
-147
8.1.
GENESIS
OF
TACTILE
SENSORS
AT
FRAUNHOFER
IFF
.........................................................................
-147
-
8.2.
HOW
HUMANS
USE
THE
TOUCH
SENSE
AND
THE
TRANSFER
OF
CAPABILITIES
TO
AUTONOMOUS
SYSTEMS
151
8.3.
DYNAMIC
PRESSURE
SENSING:
REACTIVE
GRASPING
.......................................................................
-153
-
9
PUBLICATION
BIBLIOGRAPHY
.................................................................................................................
-158
-
|
| adam_txt |
TABLE
OF
CONTENTS
1
INTRODUCTION
.
-1
-
1.1
PROBLEM
STATEMENT
.
-1
-
1.1.1
FLEXIBLE
MANIPULATION
.
-1
-
1.1.2
TACTUAL
PERCEPTION
FOR
FLEXIBLE
PART
HANDLING
OPERATIONS
.
-
3
-
1.1.3
FROM
HUMAN-INSPIRED
PERCEPTION
TOWARDS
ROBOTICS
FLEXIBLE
PART
HANDLING
.
-
4
-
1.2
OBJECTIVES
OF
THE
DISSERTATION
.
-
6
-
1.3
ORGANIZATION
OF
THE
RESEARCH
.
-
8
-
2
ONTOLOGIES
AND
STATE-OF-THE-ART
ANALYSIS
.
-11
-
2.1
TACTILE
SENSING
.
-11
2.2
TACTILE
SENSORS
.
-13
2.3
SENSITIVE
OBJECT
MANIPULATION
.
-
21
-
2.4
REACTIVE
GRASPING
.
-23
2.5
GRASP
AND
DEPOSIT
CONTROL
.
25
-
2.6
MONITORED
PART
SITUATION
.
-
26
-
2.7
SUMMARY
.
-29
3
RESISTIVE
SENSORS
.
-
31
-
3.1
WORKING
PRINCIPLE
.
-31
3.2
SENSOR
DESIGN
.
-
33
-
3.3
DOUBLE-SIDED
ELECTRODE
CONTACT
VS.
ONE-SIDED
ELECTRODE
CONTACT
.
-
34
-
3.4
PRESSURE-SENSITIVE
MATERIAL
COMPOSITE
.
-
36
-
3.5
CONDUCTIVE
EFFECT
-
PERCOLATION
THEORY
.
-
38
-
3.6
ELECTRICAL
EQUIVALENT
CIRCUIT
.
-
41
-
3.7
SUMMARY
.
-46
4
SENSOR
SPECIFICATIONS
AND
EVALUATION
OF
CONDUCTIVE
PROPERTIES
.
-
47
-
4.1
SENSOR
SPECIFICATIONS
.
-47
4.2
CAUSES
OF
UNEQUAL
SIGNAL
READINGS
.
-
50
-
4.3
INHOMOGENEOUS
CONDUCTIVITY
.
-
54
-
4.3.1 EXPERIMENTAL
SETUP
.
-
54
-
INTRODUCTION
VIII
4.3.2
EVALUATION
.
-56
4.3.3
CONCLUSION
.
-58
4.4
THE
AREAL
EFFECT
-
FORCE-SENSING
VS.
PRESSURE-SENSING
.
-
59
-
4.4.1
TEST
BED
.
-60
4.4.2
DATA
EVALUATION
.
-
61
-
4.4.3
IMPACTS
ON
THE
SENSOR
DESIGN
AND
THE
DATA
PROCESSING
.
-
63
-
4.5
SIGNAL
DRIFTING
AND
HYSTERESIS.
-
66
-
4.5.1
SIGNAL
DRIFTING
.
-66
4.5.2
HYSTERESIS
.
-
70
-
4.6
ALTERING
EFFECTS
.
-71
4.7
SUMMARY
.
-73
5
PATTERN
RECOGNITION
ON
SPATIALLY
RESOLVED
PRESSURE
IMAGES
.
-
75
-
5.1
IMAGE
DATA
PROCESSING
.
-76
5.2
DATA
PRE-PROCESSING
.
-
79
-
5.2.1
SIGNAL
EQUALIZATION
.
-
79
-
5.2.2
OFFSET-CORRECTION
.
-
82
-
5.2.3
FILTERING
.
-85
5.3
SEGMENTATION
.
85
-
5.3.1
SCANLINE
GROUPING
.
-86
5.3.2
CREATION
OF
SPATIAL
IMAGES
FROM
TACTILE
SENSORS
.
-
88
-
5.4
FEATURE
EXTRACTION
.
-
89
-
5.5
CLASSIFICATION
OF
AN
OBJECT'S
SUPPORT
AREA
.
-
93
-
5.6
CORRESPONDENCE
OF
THE
LINE
SEGMENTS
.
-
94
-
5.7
SUMMARY
.
-96
6
ROBOTICS
PART
HANDLING
FEATURING
IN-HAND
OBJECT
MONITORING
.
-
98
-
6.1
SETUP
.
-98
6.2
GRIPPERS
.
-101
6.2.1
MAGNETIC
GRIPPER
.
-102
6.2.2
VACUUM
GRIPPER
.
-117
INTRODUCTION
IX
6.3
HAPTICS
FEATURING
ROBOTICS
CONTROL
-
AN
OVERVIEW
.
-123
-
6.4
A
MULTI-MODAL
GRASPING
APPROACH
.
-129
-
6.5
EXPERIMENTAL
RESULTS
OF
THE
PICK
AND
PLACE
SYSTEM
.
-132
-
6.5.1
TACTILE
VACUUM
GRIPPING
SYSTEM
OPERATED
ON
TRANSPARENT
CYLINDRICAL
OBJECTS
.
-133
-
6.5.2
TACTILE
MAGNETIC
GRIPPER
OPERATED
ON
A
SHINY
CYLINDRICAL
AND
BLACKENED
WASHER
.
-135
-
6.5.3
IMPACTS
ON
GRASPING
.
-139
6.6
SUMMARY
.
-140
7
SUMMARY
AND
CONCLUSION
.
-142
-
8
APPENDIX
.
-147
8.1.
GENESIS
OF
TACTILE
SENSORS
AT
FRAUNHOFER
IFF
.
-147
-
8.2.
HOW
HUMANS
USE
THE
TOUCH
SENSE
AND
THE
TRANSFER
OF
CAPABILITIES
TO
AUTONOMOUS
SYSTEMS
151
8.3.
DYNAMIC
PRESSURE
SENSING:
REACTIVE
GRASPING
.
-153
-
9
PUBLICATION
BIBLIOGRAPHY
.
-158
- |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Wu, Die 1952- |
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| id | DE-604.BV048429318 |
| illustrated | Not Illustrated |
| index_date | 2024-07-03T20:28:13Z |
| indexdate | 2024-07-10T09:37:54Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033807588 |
| oclc_num | 1237666996 |
| open_access_boolean | |
| owner | DE-12 |
| owner_facet | DE-12 |
| physical | 1 Online-Ressource (1 score (18 Seiten)) |
| psigel | ZDB-1-MOS |
| publishDate | 2012 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | Dye Wu |
| record_format | marc |
| spelling | Wu, Die 1952- cmp The being, the state, the dream eng Zuo ye xi feng diao bi shu nan xiang feng hua Wu Die [Place of publication not identified] Dye Wu 2012 ©2011 1 Online-Ressource (1 score (18 Seiten)) ntm rdacontent c rdamedia cr rdacarrier For gao hu, yang qin, er hu, zhong hu, cello, bass Includes program notes in Chinese Title from resource description page (viewed August 31, 2020) Written in 2011 String sextets (Yang qin, gao hu, er hu, zhong hu, cello, double bass) Scores Scores Chamber music http://www.aspresolver.com/aspresolver.asp?SHM2;1897791 Verlag URL des Erstveröffentlichers Volltext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033807588&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis yang qin 1 gao hu 1 er hu 1 zhong hu 1 cello 1 double bass 1 6 lcmpt |
| spellingShingle | Wu, Die 1952- Zuo ye xi feng diao bi shu nan xiang feng hua String sextets (Yang qin, gao hu, er hu, zhong hu, cello, double bass) Scores |
| title | Zuo ye xi feng diao bi shu nan xiang feng hua |
| title_auth | Zuo ye xi feng diao bi shu nan xiang feng hua |
| title_exact_search | Zuo ye xi feng diao bi shu nan xiang feng hua |
| title_exact_search_txtP | Zuo ye xi feng diao bi shu nan xiang feng hua |
| title_full | Zuo ye xi feng diao bi shu nan xiang feng hua Wu Die |
| title_fullStr | Zuo ye xi feng diao bi shu nan xiang feng hua Wu Die |
| title_full_unstemmed | Zuo ye xi feng diao bi shu nan xiang feng hua Wu Die |
| title_short | Zuo ye xi feng diao bi shu |
| title_sort | zuo ye xi feng diao bi shu nan xiang feng hua |
| title_sub | nan xiang feng hua |
| topic | String sextets (Yang qin, gao hu, er hu, zhong hu, cello, double bass) Scores |
| topic_facet | String sextets (Yang qin, gao hu, er hu, zhong hu, cello, double bass) Scores |
| url | http://www.aspresolver.com/aspresolver.asp?SHM2;1897791 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033807588&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT wudie zuoyexifengdiaobishunanxiangfenghua |