而机器人学中的代价函数(Cost Function)总是离不开三维旋转矩阵。但是三维旋转矩阵是一个非欧式空间下的流形，其导数的意义与公式(1-0)不完全相同。通常采用扰动模型进行推导。非相关背景的读者可以跳过本节。考虑旋转轴\phi \in \mathbb{R}^{3}且\| \phi \| = 1, 绕轴\phi旋转\theta弧度的一个旋转可以...
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#!/bin/bash # Ensure all JavaScript files staged for commit pass standard code style function xargs-r() { # Portable version of "xargs -r". The -r flag is a GNU extension that # prevents xargs from running if there are no input files. if IFS= read -r -d $'\n' path; then ...
This function allows you to generate images from known seeds at different resolutions. Normally, when you change resolution, the image changes entirely, even if you keep all other parameters including seed. With seed resizing you specify the resolution of the original image, and the model will ve...
Run the SFTP server software (for example, FileZilla) on the PC to implement the SFTP server function. Choose Edit > Users. In the dialog box that is displayed, click Add, set the user name to sftpuser, and select Password to set the password, as shown in Figure 2-8. Figure 2-8 ...
We investigate the origin of this observation by measuring the efficiency as a function of the input displacement. As shown in Fig. 4c, the efficiency is a non-linear function of the input displacement, saturating to a constant value at large enough displacements. In the random lattice case, ...
Caddy's proxy was designed to be as forward-compatible as possible and has major batteries included: load balancing, active and passive health checks, dynamic upstreams, retries, pluggable transports, and of course, best-in-class TLS security. ...
we also added a penalty term to the loss function, penalizing overlap between the mouse body in the current frame, and other mouse bodies in the previous frame. This ensures that the bodies do not switch place, something that could otherwise happen if the mice are in joint poses with certai...
The inlet of the siphon pipe is at the bottom with the maximum filtration pushing force, therefore moisture contained in the filter cake can be removed easily, and the moisture of the filter cake is reduced. Back-washing function After the scraper discharges the mate...