工件同轴度误差的视觉检测系统

建立了一种基于虚拟仪器技术的工件同轴度误差检测系统.该系统选用蓝色平行光作为背光源,经过中值滤波、图像二值化、模板匹配、边缘提取等图像处理技术,采用最小二乘法拟合轴心线来计算工件的同轴度误差,同时提出了自动迭代最优化搜索阈值法和环境变化实时监控方法.实验结果表明,此系统检测结果准确可靠,具有良好的实用价值.     

气动位置伺服系统的高精度控制研究

提出采用电-气压力比例阀构成气动位置伺服系统,运用全局线性化的观点线性化描述系统动态特性的数学方程,补偿了气缸活塞行程变化对系统控制性能的不良影响,并采用离散线性二次最优控制原理设计了系统的控制补偿器,实现了气动位置伺服系统的高精度控制。     

三聚氰胺粉料后处理工艺技术改造

经过技改后的三聚氰胺粉料后处理工艺，克服了以往采用螺旋输送机冷却和正压输送工艺所带来的工作环境恶劣、产品因温度较高而不易包装、机械故障频繁等许多难以解决的问题。改用吸送式气力输送后处理工艺后，既能输送，又能冷却、提纯三聚氰胺，实现自动化包装，并彻底改善工作环境。     

Outdoor attractancy of males ofMatsucoccus josephi (Homoptera: Matsucoccidae) andElatophilus hebraicus (Hemiptera: Anthocoridae) to synthetic female sex pheromone ofMatsucoccus josephi

The active component of the sex pheromone ofMatsucoccus josephi is (2E,6E,8E)-5,7-dimethyl-2,6,8-decatrien-4-one; the chemical is also a powerful kairomone of adult males and females of the bugElatophilus hebraicus the principal predator ofM. josephi. The presence of theZ isomer (2E,6Z,8E)-5,7-dimethyl-2,6,8-decatrien-4-one does not interfere with the attractancy of the activeE component forM. josephi males or the bug. Our results show a clear dose-response between trap catch ofM. josephi males andE. hebraicus. Conversely, increasing amounts of theZ isomer in the mixture did not affect the attraction of the scale insect males or the bug. The catch ofM. josephi males did not differ significantly among traps of different color, and was significantly higher with traps attached to the tree trunk than those suspended between trees. Comparison of the catch ofM. josephi among the three forests and between pine species suggests that the level of infestation ofPinus halepepsis andPinus brutia ssp.brutia is similar, despite the fact that the latter pine is resistant to the scale insect. Both sexes ofE. hebraicus were trapped in much lower numbers at the more infested sites. This may be related to interference with the activity ofE. hebraicus due to deterioration and drying of parts of the tree crowns and heavy colonization by generalist predators in injured trees.     

气动絮凝在CEPT工艺中的应用研究

针对气动絮凝做了比较详细的介绍,阐述了其压缩空气搅拌的机理、目前的应用现状和特点等,并对气动絮凝动力学公式的推导过程及其存在的问题进行了分析,提出了相应的建议.     

气刀操作条件对聚丙烯密相脉冲气力输送行为的影响

在一管线水平长１９ｍ、垂直长１１ｍ、内径５０ｍｍ的密相脉冲气力输送实验台上进行了气刀操作条件对管道输送行为影响的实验研究．结果表明：气刀操作条件对管道输送气速、输送能力、固气比、能耗等均有明显影响．确定最佳的气刀操作条件需综合考虑发送压力、输送结构、物料物性等因素．     

基于模型降阶的平面三连杆欠驱动机械系统位置控制

针对第一关节为被动的平面三连杆欠驱动机械系统,提出一种基于模型降阶的位置控制方法. 首先,建立平面三连杆欠驱动系统数学模型,并分析其积分特性;其次,将部分可积的三连杆系统分段降阶为两个完全可积的两连杆子系统,并基于两子系统获得系统驱动杆与欠驱动杆之间的状态约束关系;然后,利用粒子群优化算法,根据系统末端点目标位置计算驱动杆目标角度;最后,分别设计两连杆子系统控制器,实现系统从任意初始位置到任意目标位置的控制目标. 仿真结果验证所提控制策略的有效性.     

中浓度气力输送弯管压力降数值模拟研究

对于中等浓度气力输送90°弯管内的气固流动状态进行数值模拟研究,并对水平转垂直、垂直转水平,不同弯径比(R/D=1.5~6.0)的90°弯管,均匀和非均匀粉体颗粒流过弯管的压力降Δp进行了模拟计算。结果表明,在同一气体流速下,不同R/D的弯管的Δp变化显著;存在一个使Δp最小的R/D值。在模拟的条件范围内,弯管内粉体颗粒的速度分布随R/D变化。并讨论了不同R/D的粉体颗粒流动对弯管压力降及管壁磨损的影响。在同样操作条件下,对煤粉输送进行了弯管压力降数据模拟,其模拟计算结果与周建刚等人的试验结果吻合良好。     

Tactile display with tangential and normal skin displacement for robot-assisted surgery

This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions.     

物料在竖直管道中的流动和堵塞原因分析

介绍了竖直管道中气力输送物料过程各种不同参数的关系以及物料在管道中发生堵塞的原因，给出了预测堵塞发生的计算方法，为物料气力输送系统的设计提供了一些借鉴。