码垛机器人运动学分析及关节空间轨迹规划研究

以IRB-460工业机器人为研究对象,针对其运动学建模及在笛卡尔空间和关节空间下的轨迹规划方法展开研究并进行对比。对机器人本体进行了机器人运动学分析,利用多项式轨迹插值算法进行了关键点间的轨迹规划,完成了重叠型码垛的作业流程。利用Robotics Toolbox完成了轨迹规划算法仿真,并进行了结果分析。仿真结果表明在关节空间下进行轨迹插补所得的路径点更为优化,所得的轨迹更为满足作业任务,具备合理性。     

Fourier transform ion cyclotron resonance mass spectrometry at the true cyclotron frequency

Ion cyclotron resonance (ICR) cells provide stability and coherence of ion oscillations in crossed electric and magnetic fields over extended periods of time. Using the Fourier transform enables precise measurements of ion oscillation frequencies. These precisely measured frequencies are converted into highly accurate mass-to-charge ratios of the analyte ions by calibration procedures. In terms of resolution and mass accuracy, Fourier transform ICR mass spectrometry (FT-ICR MS) offers the highest performance of any MS technology. This is reflected in its wide range of applications. However, in the most challenging MS application, for example, imaging, enhancements in the mass accuracy of fluctuating ion fluxes are required to continue advancing the field. One approach is to shift the ion signal power into the peak corresponding to the true cyclotron frequency instead of the reduced cyclotron frequency peak. The benefits of measuring the true cyclotron frequency include increased tolerance to electric fields within the ICR cell, which enhances frequency measurement precision. As a result, many attempts to implement this mode of FT-ICR MS operation have occurred. Examples of true cyclotron frequency measurements include detection of magnetron inter-harmonics of the reduced cyclotron frequency (i.e., the sidebands), trapping field-free (i.e., screened) ICR cells, and hyperbolic ICR cells with quadrupolar ion detection. More recently, ICR cells with spatially distributed ion clouds have demonstrated attractive performance characteristics for true cyclotron frequency ion detection. Here, we review the corresponding developments in FT-ICR MS over the past 40 years.     

Evaluating autostereoscopic 3D baseball games using signal detection theory and receiver operating characteristic space

This study investigates the effects of display technique (2D, autostereoscopic 3D), ball speed (138, 140 km/h), and operation time (5, 10, 15 min) on the four outcomes of signal detection theory (SDT) (i.e., hit, miss, false alarm, correct rejection), β, d’, receiver operating characteristic (ROC) space, Simulator Sickness Questionnaire (SSQ), and the iGroup Presence Questionnaire (IPQ). The results indicated that the display technique was significant on the hit rate, SSQ, and IPQ, where a higher hit rate, visual fatigue, and IPQ were found in the 3D technique. The results also showed that the ball speed was significant on the miss rate and d’, where a low miss rate and high d’ were found in the higher speed of 138 km/h. The results further demonstrated that the operation time was significant on the false alarm rate, correct rejection rate, d’, SSQ, and IPQ, with a long operation time being associated with a better performance for every variable, except the SSQ.Relevance to industryFrom the results obtained regarding the ROC space, this study found that the possibility of participants’ misjudgements was low, and the accuracy of this research is considered reliable. The results of this study could serve as a reference for N3DS and game manufacturers in designing future products.     

Chromatic adaptation in a 2D photograph demonstrated by a D‐up viewer

It is said that we cannot have color constancy in a photograph. The concept of recognized visual space of illumination (RVSI) asserts that chromatic adaptation occurs when one perceives the illumination that is filling a space and not the objects in the space. It predicts then that if one perceives a 3D scene in a photograph, then color constancy will occur in the photograph. In this work, a dimension‐up (D‐up) viewer was developed to perceive a 3D scene on a 2D photograph, and the effect of chromatic adaptation was measured by the color appearance of a gray patch placed at the center of the photograph. Subjects saw the patch as a vivid color when they saw a photograph that had been taken under colored illumination, which is a normal experience in a real space observation. When the color appearance was measured by the elementary color naming method, the amount of chromaticness of the patch in percentage and the apparent hue were very similar to those observed in the 2‐room technique, thus confirming the prediction by the RVSI theory.     

Quality-by-design approach for the development of telmisartan potassium tablets

A quality-by-design approach was adopted to develop telmisartan potassium (TP) tablets, which were bioequivalent with the commercially available Micardis^® (telmisartan free base) tablets. The dissolution pattern and impurity profile of TP tablets differed from those of Micardis^® tablets because telmisartan free base is poorly soluble in water. After identifying the quality target product profile and critical quality attributes (CQAs), drug dissolution, and impurities were predicted to be risky CQAs. To determine the exact range and cause of risks, we used the risk assessment (RA) tools, preliminary hazard analysis and failure mode and effect analysis to determine the parameters affecting drug dissolution, impurities, and formulation. The range of the design space was optimized using the face-centered central composite design among the design of experiment (DOE) methods. The binder, disintegrant, and kneading time in the wet granulation were identified as X values affecting Y values (disintegration, hardness, friability, dissolution, and impurities). After determining the design space with the desired Y values, the TP tablets were formulated and their dissolution pattern was compared with that of the reference tablet. The selected TP tablet formulated using design space showed a similar dissolution to that of Micardis^® tablets at pH 7.5. The QbD approach TP tablet was bioequivalent to Micardis^® tablets in beagle dogs.     

数字化羊绒测色法及其在长度测量中的应用

针对光电法测试纤维长度等性质时,存在纤维的透光及反光信号与颜色高度相关的问题,采用数字化方法表征羊绒的颜色类别并精准地测量羊绒的长度。将彩色光电耦合器作为测色传感器,搭建了更适合纤维材料的测色装置;通过颜色模型在3种色空间的转换,得到3类颜色的羊绒在三维色空间的分布;基于系列实验,创建了有色羊绒的光学参数即无穷厚时的表观反射率表观反射率与测色装置计算的亮度指标之间的换算模型,并用实验证明采用测得的表观反射率可计算得到准确的须丛线密度曲线,从而可用光电法精准测量有色羊绒的长度。结果表明,该测色方法的测样面积大,代表性好,成本低,同时可用于其他纤维和纺织品的颜色测量。     

Data-driven placemaking: Public space canopy design through multi-objective optimisation considering shading,structural and social performance

In the context of ongoing densification of cities and aging urban populations, public spaces are a crucial infrastructure to support the physical and mental wellbeing of urban residents. The design of public space furniture elements is often standardised, and not considered in relation to environmental conditions and mechanisms of social interaction. This article presents a digital workflow to generate site-specific designs for shaded public seating, considering the relationships of local public places to their surroundings. A strategy for customised and site-specific design is developed through the use of multiple software tools, employing evolutionary algorithms and multi-objective optimisation. The method is applied to a small public space canopy prototype installed within a public housing estate in Hong Kong, incorporating additional criteria to achieve a low-cost and light-weight structure. Through multiple stages of refinement and optimisation, a material, structural and social performance-driven outcome was achieved that creates a shaded space for public seating, people watching and social interaction. As part of a larger research agenda exploring architectural form-finding and environmental psychology, the project represents potential new applications in the emerging field of socially driven computational design.     

A test method for evaluating the thermal environment of underground coal mine refuge alternatives

Since 2009, the Mine Safety and Health Administration(MSHA) has required mines to install refuge alternatives(RAs) in underground coal mines. One of the biggest concerns with occupied RAs is the possible severity of the resulting thermal environment. In 30 CFR 7.504, the maximum allowable apparent temperature(AT) for an occupied RA is specified as 35 °C(95 °F). Manufacturers must conduct heat/humidity tests to demonstrate that their RAs meet the 35 °C(95 °F) AT limit. For these tests, heat input devices are used to input the metabolic heat of actual miners. A wide variety of test methods, sensors, and heat input devices could be used when conducting such tests. Since 2012, the National Institute for Occupational Safety and Health(NIOSH) has conducted over thirty 96-hour heat/humidity tests on four different RAs. This paper discusses the test equipment and procedures used during these investigations. This information is useful for RA manufacturers conducting RA heat/humidity tests, for other researchers investigating RA heat/humidity buildup, and for those who need to assess the thermal environment of any confined space where people may be trapped or are seeking refuge.     

Study on estimating electric potential in space between parallel electrodes

We have been studying on estimating distribution of permittivity between measurement electrodes using capacitance and electric potential. Two arc electrodes were separated by long distance and there electrodes were surrounded by additional electrodes respectively. In past research work, we carried out numerical electric analysis for calculating the capacitance and electric potential using Finite Element Method (FEM) and compared with experimental and numerical results. The capacitance values were almost agreed with experimental and numerical results. However, the electric potential values were different between experimental and numerical results in conventional studies. In this paper, we proposed an equivalent circuit including the stray capacity and measurement method for capacitance, the electric potential in space between long distance electrodes was estimated.     

Unique hue judgments using saturated and desaturated Munsell samples under different light sources

Past studies investigating the unique hues only used samples with a relatively high saturation levels under standard illuminants. In this study, 10 observers selected the four samples with unique hues from 40 V6C8 (Value 6 Chroma 8) and 40 V8C4 (Value 8 Chroma 4) Munsell samples under six light sources, comprising three levels of D_uv (i.e., 0, ?0.02, and ?0.04) and two levels of correlated color temperature (i.e., 2700 and 3500 K). Significant differences were found between the two chroma levels for unique blue and yellow, with the hue angles of unique yellow and blue judged using the desaturated samples being significantly different from those defined in CIECAM02. The iso‐lines of unique yellow, blue, and green did not always go through the origin of the a*‐b* or a′‐b′ planes in CIELAB and CAM02‐UCS. Thus, the problems of CIECAM02, CIELAB, and CAM02‐UCS identified in this study need further investigations.