Towards robust grasping: An analysis of in-hand object motion with FBG optical fibers as force sensing technology

To enable or allow for advanced manipulation scenarios in the envisaged future in robotic manipulation, the introduction of tactile or force-sensing technology is essential. This work introduces a study on a novel integration of fiber sensing elements inside the fingers of robotics grippers that allow obtaining accurate interaction forces during object manipulation. The study focuses on in-hand object motion and analyzes the objects’ dynamic behaviors during grasping or contact phases. The proposed approach classifies the behavior of the gripper-object interaction in real-time by looking at the measured forces in the orthogonal direction of the gripper’s fingers after a filtering stage. The methodology is validated theoretically and evaluated with real experiments using objects presenting different shapes, sizes, and surface properties.     

Single-mode fluorotellurite glass fiber

By multi-stage rod-in-tube fiber drawing process, a single-mode fluorotellurite glass fiber was fabricated and reported for the first time. Benefiting from chemical–physical dehydration process to remove water and OH⁻ groups, the propagation loss was decreased to 1.9 dB/m at 1550 nm and the infrared window is extended from 2.8 μm to 4.2 μm, i.e. a new kind of mid-infrared glass fiber. The fiber is with a small core of 3.52 μm in diameter to meet single-mode condition, and the effective nonlinear parameter γ was estimated to be 236.7 W⁻¹ km⁻¹ at 1550 nm by using continuous-wave self-phase modulation method. © 2015 Elsevier B.V. All rights reserved.     

光纤无线电系统中的新型探测法研究

光纤无线电系统利用光载波携带毫米波信号在中心站和基站之间构成上行和下行传输链路,能够满足宽带无线接入系统的需求.利用光外差的方法产生毫米波信号是光载毫米波最简单和直接的方式.分析了在光纤无线电系统中利用光纤布拉格光栅从可调谐激光器中反射出两束相位近似相等的相干光,采用平衡探测产生了毫米波信号,降低了相位噪声和强度噪声对产生的毫米波信号的影响.     

Tool path smoothing of a redundant machine: Application to Automated Fiber Placement

Automated Tape Laying and Fiber Placement of composite materials are the two principal automated processes used for fabrication of large composite structures in aeronautical industry. The aluminum parts produced by High Speed Machining tend to be replaced by carbon fiber composite parts realized with these processes. However, structural parts present reinforcement zones which disturb the tool path follow-up and generate an increase of the manufacturing time. Thus, this paper deals with the optimization of tool paths of a 7-axis machine tool of Fiber Placement with the objective of reducing the manufacturing time while ensuring the requested quality of the final part. In this paper, two complementary methods are detailed. The first method takes advantage of the degree of redundancy of the machine tool to decrease the kinematic loads of the control joints. The second method aims to smooth the orientation of the machine head along the tool path while ensuring quality constraints. These two methods are then applied on a test tool path and bring to a significant decrease of the manufacturing time (32.9%).     

基于DT-MRI数据的心肌纤维可视化及分析系统研究与实现

核磁共振弥散张量成像（Diffusion Tensor Magnetic Resonance Imaging,DT-MRI）是近年来提出的一项新的医学影像技术。通过利用核磁共振技术测量细胞内多个方向上水分子弥散运动的特征,可以全面充分研究活体组织微细结构。基于犬心室的DT-MRI数据集开展了三维心肌纤维结构的可视化方法及其可视化系统设计与实现的研究。首先利用阈值滤波、中值滤波和邻域平均法对原始DT-MRI数据进行去噪预处理,然后利用体绘制技术、图元显示法和纤维跟踪法对犬心室的DT-MRI数据进行可视化。最后对基于DT-MRI数据的心肌纤维可视化应用进行了详细的需求分析和系统设计,基于VTK（Visualization Toolkit）实现一个DT-MRI数据的心肌纤维可视化和分析系统。实验结果表明该系统具有良好的交互性,为研究心脏结构提供了一个有力可视化工具。     

圆环面上纤维轨迹的计算机辅助设计

曲面上的曲线造型是计算机图形领域的一个新的研究热点,而且它们在纤维织物编织,三维服装裁剪以及复合材料的纤维缠绕轨迹设计等领域有十分广泛的应用,为了解决圆环面上纤维轨迹的计算机辅助设计问题,研究了圆环面上测地线的解析解以及拟测地线数值求解的具体算法并给出了其表达式,测地线是曲面上两点之间最短距离的曲线段,在一般曲面上没有解析解,但是在圆环面上却可求出其精确的解析解,但在曲面的边沿部分,测地线因不能实现自然的折返过渡,于是拟测地线就被引进到曲面上的曲线造型设计之中,在拟测地线分析研究基础上,给出了圆环面上拟测地线的方程及数值解法,通过其在一个实例中的应用结果证明,该方法可获得织物的纺织条纹以及缠绕物体的纤维轨迹。     

西门子S7系列PLC在成都地铁BAS系统中的应用

本系统以西门子S7-414H冗余控制器为主站,多台S7—200PLC和S7—300PLC为从站,通过光纤链路模块OLM组成冗余光纤环网,实现地铁设备监控系统的完美控制。文章重点介绍了控制工艺背景、主／从网络组成构架、硬件配置及软件编程．要点、系统中包含的PROFIBUS-DP、MODBUS、网络读写等通讯协议出现的问题及解决方法、调试后达到的效果及应用体会。     

操作参数对玻纤毡增强复合材料流动成型的影响

研究了玻纤毡增强热塑性复合材料(GMT)流动成型过程中模腔压力和材料流动方向对制品力学性能和纤维取向的影响。研究表明：随着压力提高，弯曲强度和模量同步增加；但压力超过18MPa后，性能变化不明显。随布料面积分数减小，单轴拉伸流动成型将导致沿流动方向和垂直流动方向强度及模量差异变大，纤维取向严重；但双轴拉伸流动成型得到的制品各方向性能较均匀，基本呈现各向同性。     

FORCES AND TEMPERATURES IN HARD TURNING

In precision machining, due to the recent developments in cutting tools, machine tool structural rigidity and improved CNC controllers, hard turning is an emerging process as an alternative to some of the grinding processes by providing reductions in costs and cycle-times. In industrial environments, hard turning is established for geometry features of parts with low to medium requirements on part quality. Better understanding of cutting forces, stresses and temperature fields, temperature gradients created during the machining are very critical for achieving highest quality products and high productivity in feasible cycle times. To enlarge the capability profile of the hard turning process, this paper introduces prediction models of mechanical and thermal loads during turning of 51CrV4 with hardness of 68 HRC by a CBN tool. The shear flow stress, shear and friction angles are determined from the orthogonal cutting tests. Cutting force coefficients are determined from orthogonal to oblique transformations. Cutting forces, temperature field for the chip and tool are predicted and compared with experimental measurements. The experimental temperature measurements are conducted by the advanced hardware device FIRE-1 (Fiberoptic Ratio Pyrometer).     

加捻对热致液晶聚芳酯初生纤维拉伸性能的影响

热致液晶聚芳酯（TLCP）的特殊化学结构使其具有高强度、高模量、低粘度、易加工等诸多优良特性,且TLCP纤维力学性能对其应用于纺织业具有举足轻重的作用。本论文主要研究加捻对TLCP纤维力学性能的影响,探究其影响机理。研究结果表明：加捻对其力学性能影响很大,TLCP纤维束的强力随着捻度的增加呈先增大后减小趋势。当TLCP纤维束的线密度为52.50 tex,捻度为130Tm时,最大强度为9.14 cN/dtex。未加捻TLCP单纤维的线密度为1.394 tex时,最大强度为11.3cN/dtex。