通过前面章节的学习,我们已经知道:日常生活中见到的机器,虽然千差万 别让人眼花缭乱,但他们无非是由联接件、传动件、轴系件等零件和一些机构组 成 (如作为交通工具:自行车、汽车、火车、飞机、轮船、坦克等 机床:车床、铣床、刨床、钻床、磨床、镗床和铰床等

第三节过流部件的作用原理 过流部件(通流部件)=固定元件 叶轮与环境(机器或相邻级进、出 口)之间的连接,影响叶轮的工作,决 定了整机尺寸与重量

Outline Path Planning in Partially Known Environments. Finding the Shortest Path to the Goal. Alternative Approaches to Path Planning in Partially Known Environments. Continuous Optimal Path Planning

Probabilistic roadmaps Planning in the real world Planning amidst moving obstacles RRT-based planners Conclusions Applicability of Lazy PRM to Spheres

Foundations of State Estimation PartⅡ Topics: Hidden Markov Models Particle Filters Additional reading: L. R. Rabiner, \ tutorial on hidden Markoy models,\ Proceedings of the IEEE, vol. 77,. 257-286, 1989 Radford M. Neal, 1993. Probabilistic Inference Using Markov Chain Monte

Temporal Planning in Space Brian C. Williams 16.412J/6.834J based on \Handling Time: February 23rd, 2004 Constraint-based Interval Planning,\ by David E. Smith Outline Operational Planning for the Mars Exploration Rovers

Fault Aware Systems: Model-based Programming and Diagnosis Brian C. Williams 16.412J/6.834J March 8th, 2004 courtesy of JPL Four launches in 7 months MERS CSAIL

Mapping Topics: Topological Maps SLAM HMMs Revisited Additional reading: B. J. Kuipers Y.-T. Byun. 1991. \A robot exploration and mapping strategy based on a semantic hierarchy of spatial rep rstations. jour. s and

Model-based Diagnosis a failure is a discrepancy between the model and observations of an artifact a diagnosis restores consistency 1. Enumerate candidates in order of likelihood

Using the Forest to See the Trees: Context-based Object Recognition Bill Freeman Joint work with Antonio Torralba and Kevin Murphy Computer Science and Artificial Intelligence Laboratory MIT computer vision goal Recognize many different objects under many viewing conditions in unconstrained settings