A robot hand-eye calibration method of line laser sensor based on 3D reconstruction

In the robotic eye-in-hand measurement system, a hand-eye calibration method is essential. From the perspective of 3D reconstruction, this paper first analyzes the influence of the line laser sensor hand-eye calibration error on the 3D reconstructed point clouds error. Based on this, considering the influence of line laser sensor measurement errors and the need for high efficiency and convenience in robotic manufacturing systems, this paper proposes a 3D reconstruction-based robot line laser hand-eye calibration method. In this method, combined with the point cloud registration technique, the newly defined error-index more intuitively reflects the calibration result than traditional methods. To raise the performance of the calibration algorithm, a Particle Swarm Optimization - Gaussian Process (PSO-GP) method is adopted to improve the efficiency of the calibration. The experiments show that the Root Mean Square Error (RMSE) of the reconstructed point cloud can reach 0.1256 mm when using the proposed method, and the reprojection error is superior to those using traditional hand-eye calibration methods.     

Estimation of elastic constant of rocks using an ANFIS approach

The engineering properties of the rocks have the most vital role in planning of rock excavation and construction for optimum utilization of earth resources with greater safety and least damage to surroundings. The design and construction of structure is influenced by physico-mechanical properties of rock mass. Young's modulus provides insight about the magnitude and characteristic of the rock mass deformation due to change in stress field. The determination of the Young's modulus in laboratory is very time consuming and costly. Therefore, basic rock properties like point load, density and water absorption have been used to predict the Young's modulus. Point load, density and water absorption can be easily determined in field as well as laboratory and are pertinent properties to characterize a rock mass. The artificial neural network (ANN), fuzzy inference system (FIS) and neuro fuzzy are promising techniques which have proven to be very reliable in recent years. In, present study, neuro fuzzy system is applied to predict the rock Young's modulus to overcome the limitation of ANN and fuzzy logic. Total 85 dataset were used for training the network and 10 dataset for testing and validation of network rules. The network performance indices correlation coefficient, mean absolute percentage error (MAPE), root mean square error (RMSE), and variance account for (VAF) are found to be 0.6643, 7.583, 6.799, and 91.95 respectively, which endow with high performance of predictive neuro-fuzzy system to make use for prediction of complex rock parameter.     

Cu—Cr合金电极触头板铸件的熔制

含０．４％～１．０％Ｃｒ的Ｃｕ－Ｃｒ合金具有优良的导电、导热性能，铸件经热处理强化后可获得较高的综合力学性能。近年来该合金作为一种新材料被广泛地用于制作电子工业、电器设备上的电极触头板、接触环、夹持体等零件。Ｃｕ－Ｃｒ合金存在易氧化吸气、凝固范围窄、收缩较大、易形成集中缩孔等缺陷，这些铸造特性给生产优良的Ｃｕ－Ｃｒ合金铸件带来一定的困难。以采用常规的熔炼设备和造型材料熔铸出Ｃｕ－Ｃｒ合金铸件——高压大电流电极触头板为例讨论这一熔铸的工艺方法。     

基于GNSS的空间环境参数反演平台及精度评估

基于全球和区域全球导航卫星系统(GNSS)参考站网进行对流层和电离层参数反演实现空间环境变化监测具有成本低、精度高、实时性好等优点,得到了广泛应用.本文基于南京信息工程大学的北斗/GNSS空间环境监测平台Xsensing,以国际GNSS服务组织提供的对流层产品为参考,评估了不同气象条件下对流层参数反演精度,在此基础上采用固定非差模糊度的精密单点定位技术(PPP)实现高精度电离层参数反演.实验结果表明,基于全球参考站的对流层估计误差偏差为0.05 mm,对应的标准差为5.6 mm,在平稳和剧烈的气象条件下均能反映水汽变化趋势特征.基于短基线进行电离层延迟反演精度评估,结果表明浮点解PPP反演电离层延迟误差的平均偏差为-0.09 TECU,精度为0.38 TECU,采用非差模糊度固定技术对电离层延迟提取精度提高达84.2%;静态模拟动态解算模式下电离层估计精度与静态相当.上述结果表明该平台可实现高精度空间环境参数反演,下一步将融合机载、船载等多种平台观测实现中小尺度空间变化监测.     

改善不锈轴承钢9Cr18共晶碳化物的工艺研究

采用金相显微镜分析了30 t EAF-LF-VD-Φ200 mm电极-Φ360 mm ESR锭-120 mm×120 mm锻坯-Φ50 mm轧材的冶炼和加工工艺对不锈轴承钢9Cr18共晶碳化物的影响,结果表明,模铸电极浇注温度由1500～1510℃降至1485～1495℃,电渣重熔熔速由4.5 kg/min降至3.5 kg/min,增强电渣重熔冷却条件,可以有效减少冶炼过程中的共晶碳化物原始形成。采用锻透力强、大变形开坯,可使大颗粒碳化物破碎、减小颗粒尺寸,降低碳化物条带和网状聚集程度,能够有效改善不锈轴承钢共晶碳化物评级,减小碳化物颗粒尺寸。     

ZG3Cr18Ni25Si2耐热钢熔炼工艺的改进

介绍了改进后的ZG3Cr18Ni25Si2耐热钢熔炼工艺及特点，它具有较高的合金元素收得率，铸件的使用寿命比改进前延长了35％－45％。     

Synthesis and Physical Properties of EOE and EEO,Triacylglycerols Containing Elaidic and Oleic Fatty Acids

Symmetrical and non-symmetrical triacylglycerols (TAG) containing oleic (O; 9c-18:1) and elaidic (E; 9t-18:1) acids were required as part of a study relating the physical characteristics and functionality of trans-containing TAG with the mouth feel, taste characteristics and related characteristics desired by consumers in frying oils and pastries. To replace the trans isomers in frying oils—a significant part of frying oils prepared by partial hydrogenation of vegetable oils—without loss of the sensory properties desired by consumers, required the initiation of a study relating the structure of trans-containing TAG with such characteristics as melting range, drop points, and other crystalline properties. Elaidic acid was esterified to trielaidin (EEE), and the EEE partially converted (glycerol/p-toluenesulfonic acid) to a mixture containing ca. 40% DAG (the 1,3- and 1,2-isomers). The DAG fraction was separated by silica gel chromatography, the 1,3-dielaidylglycerol (1,3EE-DAG) isomer isolated (structural purity >99%) by crystallization from acetone and esterified with oleic acid (O) to yield EOE. The 1(3)O-MAG was purchased commercially and esterified with E acid to prepare OEE. Both syntheses yielded multi-gram quantities of EOE and EEO, in 80–85% yields, and with structural purities >99%. Thus, by careful selection of the thermodynamically more-stable MAG or DAG precursors, the symmetrical EOE and non-symmetrical EEO isomers could be readily synthesized, and their drop point and melting point values determined. The 1- and 3- positions on the glycerol backbone of the MAG, DAG and TAG molecules are assumed to be equivalent.     

新型无污染融雪/冰剂的合成及应用评价

以天然矿石和乙酸为原料 ,采用正交试验法进行了新型无污染融雪 /冰剂的合成工艺研究 ,确定最适宜工艺条件为 :矿石与乙酸溶液的质量比为 1.2 ,乙酸浓度为 2 .6mol/L ,反应温度为 80℃ ,反应时间为 4～ 6h。介绍了新型融雪 /冰剂的机理、效果、对环境的影响 ,以及腐蚀性与毒性     

熔融插层PP／蒙脱土复合材料性能的研究

选用种类不同的蒙脱土（MMT）分别与PP进行熔融插层共混，制得PP／MMT复合材料。讨论了插层共混复合材料的力学性能、耐热性及流动性，同时考察了PP-g-MAH用量对复合体系相容性的影响。结果表明，复合材料的拉伸强度提高6％以上，弯曲强度提高16％，而冲击强度变化不大。PP-g-MAH对MMT与PP的增容效果较为明显；MMT的加入使PP球晶尺寸明显减小，晶体结构更为致密，起到了成核剂的作用。     

新型注塑螺杆性能研究

随着注塑技术的不断发展以及注塑物料种类的不断丰富,注塑螺杆的性能越来越引起人们的重视.通过自行开发的可视化实验装置和在线数据测控系统,研究了各种新型注塑螺杆的熔融、温度均匀性、塑化能力等性能,并和三段式通用螺杆进行比较.结果表明新型注塑螺杆的性能比普通三段式螺杆有较大的提高.