基于共享库的通用工业机器人示教器软件设计

针对市场对工业机器人需求多样化的趋势,设计一款应用于嵌入式Linux操作系统的通用示教器软件。基于QT开发框架进行人机交互界面设计,依据需求分析和示教器的工作原理设计了运动控制模块、机器人语言的代码编辑模块、基于机器人语言代码示教复现模块以及通信与数据采集模块等内容。为了让示教器软件具有通用性,在软件架构中引入了Linux操作系统共享库技术,将与机器人算法相关的代码按照通用的接口集成到可替换的共享函数库之中。最后结合摆臂焊接机器人和SCARA机器人机械本体搭建了工业机器人控制系统并且分别进行操作测试,结果表明设计的示教器软件人机界面友好,功能完善,并且可以应用于不同的工业机器人。     

基于Qt的钢管壁厚在线检测软件设计

针对目前钢管端面壁厚的测量多采用人工抽检的方式,从而导致测量效率低、精度低、测量数据少的情况,对机器视觉测量技术进行了研究。基于机器视觉,设计钢管壁厚在线检测系统。通过对相机进行标定,获得图像像素值与实际值之间的关系,使用相机采集钢管端面图像,对采集得到的图像进行图像预处理、边缘特征点提取等操作;改进RHT圆检测算法,完成钢管端面圆形轮廓的检测,进而实现对钢管端面壁厚的测量。为了便于操作,基于Qt跨平台开发框架设计了钢管壁厚检测系统人机交互界面软件。结果表明：该系统具有良好的稳定性,检测误差约为0.1 mm,可以高效地完成壁厚检测任务。     

基于机器视觉的机械测量及识别技术研究

在自动化生产中,测量技术在产品的检查、装配和品质管理占有重要的地位。其中视觉系统是众多测量工具最具潜力一种。与其他系统相比,视觉系统的最主要优点是高速、高精度且能够方便的调整测量范围。提出了一种基于机器视觉的测量和识别系统。首先使用张氏算法对崎变的图像进行校正,再利用模板匹配和模糊聚类算法对图像进行处理,以获得具体的尺寸参数。试验结果表明该系统能够快速有效地对工件进行测量、具有高的工程应用价值。     

基于线扫视觉的活塞杆表面瑕疵检测系统设计

为提高活塞杆表面瑕疵检测效率,设计基于机器视觉的全自动活塞杆表面瑕疵检测系统。利用LabVIEW软件的Vision模块进行图像采集、处理与识别,利用TIA portal软件进行运动控制;利用二值化算法过滤掉较小瑕疵;对图像进行腐蚀运算,再进行膨胀运算,以去除孤立小点、毛刺和小桥。实验结果表明:该系统运行稳定、可靠且效率高。     

基于Windows环境的视频卡开发包的快速机器视觉系统接口及其应用

目前机器视觉研究的主要问题是视觉算法的鲁棒性问题，因此提供快速有效的视觉试验方案对提高机器视觉的理论研究水平和应用能力具有重要意义。本文尝试在Windows平台基础上，将视频采集卡开发软件包、Matlab和VC＋＋相结合，充分发挥各种软件的优点，以降低实验研究的软件的复杂程度，提高软件质量。将之应用于自主开发的机器人双目视觉导航平台，取得较好实验效果。     

基于机器视觉的线缆表面缺陷快速检测算法研究

利用机器视觉技术检测线缆表面缺陷时,检测时间长、漏检率高。为此,提出一种基于机器视觉的线缆表面缺陷快速检测算法。通过引入CV-Kmeans区域分类算法建立自适应滤波窗口改进高斯滤波算法,在此基础上建立自适应模板,然后计算原图像与模板的Pearson(皮尔逊)相关系数快速判断图像是否含有缺陷。对含有缺陷的图像进行模板与原图差分,最后对差分所得到的图像用自适应阈值分割法提取缺陷。实验表明,算法可有效识别缺陷并减少检测时间,漏检率为3.22%,满足线缆生产需求。     

基于COM技术的铝合金脉冲MIG焊实时视觉处理

机器视觉在现代焊接生产中的应用越来越多,针对焊接视觉处理中的算法越来越复杂、实时性差等问题,建立了铝合金脉冲MIG焊实时视觉实验平台。利用Labview与Matlab各自的优点,提出了基于COM(Component Object Model)技术来实现Labview与Matlab无缝链接,使得图像处理算法能快速有效地被运用,以此来实现焊接过程中实时图像处理。结果表明:基于COM技术的方法能很好地将复杂的Matlab算法移植到功能强大的Labview采集系统中,并能实现图像的实时处理,该方法为铝合金脉冲MIG焊提供了实时视觉处理,系统能满足25帧的实时处理要求。     

用于铸件表面缺陷机器视觉检测的快速图像处理技术

提出一种基于DSP数字图像实时处理的主从机器视觉系统结构,图像采集、图像处理和图像分析可并行进行,提高了视觉系统的信号处理能力;提出图像噪声平滑和图像分割的快速算法,实验结果验证了本文方法的可行性和有效性.     

面向自动化精密装配的视觉定位引导系统

针对总装生产线精密装配现状,项目设计开发了一种机器视觉定位引导系统,主要实现工业机器人在运动过程中完成在线采集不规则工件图像、视觉定位、角度补偿及精密装配作业。该系统首先采集实时工件图像,利用改进优化的九点标定算法对机器人进行视觉标定可以提高算法的精度;通过预处理操作获取质量较好的图像,按顺序创建卡尺工具,采用加权最小二乘法拟合工件亚像素边缘,再根据相关二维测量算法获取工件中心坐标。最终将得到的位姿数据传送给6轴机器人进行精密装配任务。实验结果表明,该视觉定位引导系统具有现场环境下的高精度定位检测功能,自动化装配定位精度在X方向最大定位误差为0.0281mm、Y方向最大定位误差为0.026mm,足以达到自动化装配生产线的技术要求,具有较好的应用前景和参考价值。     

焊管纵缝实时焊缝跟踪的机器视觉方法

介绍了一个大直径不锈钢等离子弧焊管纵缝焊缝跟踪系统。该系统利用视觉传感器将熔池与接缝拍摄在一幅图像中，检测出接缝偏差然后驱动工件运动使接缝对准焊枪。提出了一种新颖的基于机器视觉的熔池区域图像处理算法。该算法以20帧／s的速度实时处理图像并提取出三个特征量用来计算接缝偏差。试验证明这种算法是有效的，并且能够满足系统的实时响应要求。     

新型的治疗阿尔茨海默氏症药物(1-二甲基磷酰基-2,2,2-三氯)-乙基-1-醇烟酸醋对体外神经细胞的作用

目的: 观察本实验室合成的一种治疗阿尔茨海默氏症(AD)的药物(1-二甲基磷酰基-2, 2, 2 -三氯)-乙基^-1-醇烟酸醋(NMF),对体外培养的皮层神经细胞活性的影响以及对海人藻酸(KA)所致的神经损伤的保护作用。方法: 采用体外培养皮层神经元的方法,解剖分离 15 d胚胎小鼠皮层神经细胞, 接种于 96孔板,48 h 后加药并培养 72 h,以 MIT 法 观察 NMF 对小鼠皮层神经细胞活性的影响;同时将接种于 24 孔板的细胞预先给予 NMF,d 3 时加或不加KA处理后,以台盼蓝染色鉴别并计数死、活细胞,可得出细胞的存活率。结果: NMF 明显促进胎鼠皮层神经元活性,其中 NMF1、0. 1、10nmol·L^-1促进神经元活性增殖率分别高达 34.7%、37.4%、36. 7%, NMF 明显促进正常胎鼠皮层神经元存活卒,与对照组比较,10nmol·L^-1 NMF 对皮层神经元的存活率分别提高 39.3%、73.5%。 NMF能显著 对抗 KA 所致的神经元损伤,与 KA 损伤组相比, NMF0.1、10、10nmol·L^-1对损伤皮层神经元的保护率分别为 77.30%、80.10%、84.15%。结论: NMF 明 显促进胎鼠皮层神经元的洁性、提高正常皮层神经元,的存活卒,并能有效地保护KA所致的神经元损伤,提示 NMF 是一种很有潜力的治疗 AD 的药物。     

Rheology Feature of Simple Metal Melt

The rheology feature of Sb, Bi melt and alloys was studied using coaxial cylinder high-temperature viscometer. The results showed that the curve of torsion-rotational speed for Sb melt presents a linear relation in all measured temperature ranges, whereas for the Bi melt, the curve presents obvious non-Newtonian feature within the low temperature range and at relative high shear stress. The rheology feature of Sb80Bi20 and Sb20Bi80 alloy melts was well correlated with that of Sb and Bi, respectively. It is considered that the rheology behavior of Sb melt plays a crucial role in Sb80Bi20 alloy and that of Bi melt plays a crucial role in Sb20Bi80 alloy.     

Microstructures and Mechanical Properties of a Newly Developed Austenitic Heat Resistant Steel

The effect of heat treatment on the microstructures and mechanical properties of a newly developed austenitic heat resistant steel(named as T8 alloy) for ultra-supercritical applications have been studied. Results show that the main phases in the alloy after solution treatment are γ and primary MX. Subsequent aging treatment causes the precipitation of M_(23)C_6 carbides along the grain boundaries and a small number of nanoscale MX inside the grains. In addition, with increasing the aging temperature and time, the morphology of M_(23)C_6 carbides changes from semi-continuous chain to continuous network.Compared with a commercial HR3C alloy, T8 alloy has comparable tensile strength, but higher stress rupture strength. The dominant cracking mechanism of the alloy during tensile test at room temperature is transgranular, while at high temperature, intergranular cracking becomes the main cracking mode, which may be caused by the precipitation of continuous M_(23)C_6 carbides along the grain boundaries. Typical intergranular cracking is the dominant cracking mode of the alloy at all stress rupture tests.     

Three-Dimensional Growth of Coherent Ferrite in Austenite: A Molecular Dynamics Study

Coherent second phase often exhibits anisotropic morphology with specifi c orientations with respect to both the second and the matrix phases. As a key feature of microstructure, the morphology of the coherent particles is essential for understanding the second-phase strengthening eff ect in various industrial alloys. This letter reports anisotropic growth of coherent ferrite from austenite matrix in pure iron based on molecular dynamics simulation. We found that the ferrite grain tends to grow into an elongated plate-like shape, independent of its initial confi guration. The fi nal shape of the ferrite is closely related to the misfi t between the two phases, with the longest direction and the broad facet of the plate being, respectively, consistent with the best matching direction and the best matching plane calculated via the Burgers vector content(BVC) method. The strain energy calculation in the framework of Eshelby's inclusion theory verifi es that the simulated orientation of the coherent ferrite is energetically favorable. It is anticipated that the BVC method will be applicable in analysis of anisotropic growth and morphology of coherent second phase in other phase transformation systems.     

The 15th Global Foundry Sourcing Conference 2014held in Qingdao China

Organized by Suppliers China Co., Ltd and co-organized by the National Technical Committee 54 on Foundry of Standardization Administration of China, the 15th Global Foundry Sourcing Conference 2014 （hereinafter referred to as FSC 2014） was successfully held on Sep. 23rd in Grand Regency Hotel, Qingdao. More than 500 delegates from home and abroad attended this conference, including over 130 purchasers from 20 countries and 380 domestic and foreign suppliers.     

Secondary Recrystallization Behaviors of Grain-Oriented 6.5 wt% Silicon Steel Sheets Produced by Rolling and Nitriding Processes

By rolling and nitriding processes, 0.23- to 0.3-mm-thick grain-oriented 6.5 wt% silicon steel sheets were produced. The core losses of grain-oriented 6.5 wt% silicon steel at frequencies ranging from 400 Hz to 20 k Hz were lower than that of the grain-oriented 3 wt% silicon steel with the same thickness by 16.6–35.8%. The secondary recrystallization behavior was investigated by scanning electron microscopy, energy-dispersive spectroscopy, and electron backscattered diffraction. The results show that the secondary recrystallization in high-silicon steel sheets develops more completely as the nitrogen content increases after nitriding, secondary recrystallized grain sizes become larger, and the sharpness of Goss texture increases. Because more {110}116 grains in the subsurface and the central layer of the sheets have a lot of 20°–45° high-energy boundaries in addition to Goss grains, {110}116 can be the main component through selective growth during secondary recrystallization when the inhibitor quantity is not enough and inhibitor intensity is weaker. The increases in nitrogen content can increase the inhibitor intensity and hinder abnormal growth of a mount of {110}116 grains and therefore enhance the sharpness of Goss texture.     

Laser Cladded TiCN Coatings on the Surface of Titanium

Laser cladded coatings of TiCN were produced on the surface of titanium. To obtain the optimal techniques, several conditions were tested by varying the laser scanning rate. The choice of shielding gas was also studied. The cladded coatings were then evaluated from the surface mechanics point of view based on their microhardness. The microstructure of some interesting samples was investigated by optical micrographs (OM). The results showed that under the condition of fixed pulse frequency and pulse width, the laser scanning rate and the shielding gas are the main factors influencing the components of coatings. TiCN coatings were decompounded and oxidized during the cladding process in the condition of no shielding gas of N2. X-ray diffraction results indicated that the composite coatings composed of TiCN, TiC, Ti2N, and TiO2 were produced using appropriate techniques. The results indicated that the best condition in terms of the surface microhardness is obtained when the scanning rate is 1.5mm / s, the pulse frequency is 15Hz, the pulse width is 3.0ms, and N2 is chosen as the shielding gas. The microhardness of the composite coatings is about 1331kg · mm - 2, which is about 4 times that of the substrate. The optical micrographs indicated that the cladding zone is made up of TiCN, TiO2, and some interdendritic Ti, but the diffusion zone mainly consists of the dendrites phase, and the cladded depth is about 80?滋m, which is more than 2 times that of the laser nitrided sample. There were no microcracks or air bubbles in the cladded sample, which was cladded using the above optimal techniques.     

Effect of Short-Time Aging on the Pitting Corrosion Behavior of a Novel Lean Duplex Stainless Steel 2002

The effect of short-time aging in the temperature range between 400 and 1000 °C on the pitting corrosion behavior and mechanical property of a novel lean duplex stainless steel(LDSS) 2002 was investigated through the potentiostatic critical pitting temperature(CPT) tests and the Charpy impact tests. Both the pitting corrosion resistance and the toughness of aged specimens degraded due to the precipitation of detrimental secondary phases and the most significant reduction of CPT and impact energy emerged at 650 °C concurrently. The CPT of LDSS 2002 specimen aged at 650 °C decreased by 28 °C, and the impact energy dropped from 69 to 29 J/cm~2 compared with the solution-annealed sample. Transmission electron microscopy characterization showed that the main precipitates in LDSS 2002 were Cr_2N and M_(23)C_6 along the ferrite–austenite grain boundaries.     

Information for Contributors

正The Transactions of Nonferrous Metals Society of China,founded in 1991 and sponsored by The Nonferrous Metals Society of China,is published monthly now and mainly contains reports of original research which reflect the new progresses in the field of nonferrous metals science and technology,including mineral processing,extraction metallurgy,metallic materials and heat treatments,metal working,physical metallurgy,powder metallurgy,with the emphasis