基于光刀图像的机器人示教纠偏方法

为了解决机器人辅助在线检测系统示教过程中效率低、人为干预多的问题,针对孔类特征,提出一种通过处理光刀图像获取机器人位姿纠正参数的方法。在该方法中,纠偏过程按照将图像光刀线调整为水平方向、将被测特征调整至图像中央、根据不同特征调整最优扫描方向3个步骤进行。根据光刀图像可以求出测量坐标系与被测特征的位姿关系,并得到该位姿与理想测量位姿的偏差。经过坐标变换即可得到在机器人基坐标系下的调整参数。另外,可利用电脑控制机器人运动,从而实现了纠偏过程的自动化。实验结果表明,该方法可将初始的示教位姿修正为理想位姿,且比传统方式效率更高。     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

PBAT‒PLA膜袋受控需氧堆肥条件下的降解研究

目的 通过对广泛使用的PBAT–PLA生物降解膜袋在受控需氧堆肥条件下的降解机制研究，为生物降解塑料的大规模推广提供重要理论基础。方法 根据GB/T 19277.1—2011，在(58±2)℃需氧条件下，对PBAT–PLA膜袋进行为期160 d的生物降解测试(即工业堆肥)，并以常见的可降解材料微晶纤维素作为参比样品。对降解前后的材料进行红外、扫描电镜、能谱分析，并结合其所在堆肥样本的脂肪酶活性，从多角度探寻降解机制。结果 PBAT–PLA膜袋与微晶纤维素所在的堆肥脂肪酶活性都达到空白堆肥的3倍以上。红外显示由微晶纤维素水分子吸附、糖环打开、基团氧化形成的吸收峰加强，PBAT–PLA膜袋中的酯键峰明显减弱;扫描电镜发现降解的PBAT–PLA膜袋表面覆盖了微生物膜;能谱分析发现，碳元素大幅减少，氧元素增加。结论 微生物在PBAT–PLA膜袋表面生长形成生物膜，分泌大量脂肪酶，水解PBAT–PLA的酯键，使聚合物降解为不同链长的中间体或小分子，同时伴随着氧化，随后被作为碳源，在相关微生物体内被代谢利用，形成最终产物。     

稳产国Ⅵ柴油并兼产喷气燃料技术方案的工业应用

介绍了浙江石油化工有限公司新建的3 Mt/a柴油加氢精制装置，其配套使用中国石化石油化工科学研究院有限公司开发的催化剂级配技术，并实施了可根据原料供应及市场产品需求情况灵活调整切换的2种生产技术方案。1 a的安稳生产运行结果表明:该装置以直馏柴油为主原料，通过分馏塔的馏分切割及其侧线抽出，实现了稳产国Ⅵ柴油并兼产喷气燃料技术方案的工业化应用；在实施以兼产喷气燃料为主的生产技术方案时，通过调整常一线柴油的掺炼量，不仅可以生产含硫量小于10.0 μg/g的精制柴油产品，同时兼产所得到的喷气燃料产品含硫量小于0.5 μg/g，赛波特颜色号值大于30；在实施主产精制柴油组分方案时，通过掺炼质量分数为20%~40%的催化柴油，并使所提炼得到的精制柴油组分含硫量小于6.0 μg/g的前提下，这些精制柴油组分产品既可直接作为满足国Ⅵ柴油产品出厂待售，也可作为柴油调和组分储存待用于产品的进一步优化。     

Improving accuracy of automatic optical inspection with machine learning

Electronic devices require the printed circuit board(PCB)to support the whole structure,but the assembly of PCBs suffers from welding problem of the electronic components such as surface mounted devices(SMDs)resistors.The automated optical inspection(AOI)machine,widely used in industrial production,can take the image of PCBs and examine the welding issue.However,the AOI machine could commit false negative errors and dedicated technicians have to be employed to pick out those misjudged PCBs.This paper proposes a machine learning based method to improve the accuracy of AOI.In particular,we propose an adjacent pixel RGB value based method to pre-process the image from the AOI machine and build a customized deep learning model to classify the image.We present a practical scheme including two machine learning procedures to mitigate AOI errors.We conduct experiments with the real dataset from a production line for three months,the experimental results show that our method can reduce the rate of misjudgment from 0.3%–0.5%to 0.02%–0.03%,which is meaningful for thousands of PCBs each containing thousands of electronic components in practice.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Piecewise constant strain kinematic model of externally loaded concentric tube robots

This paper presents a piecewise constant strain kinematic model for concentric tube robots (CTR) in externally loaded conditions. It discretizes the pre-curved tubes comprising the robot into a finite number of pieces and involves external effects as a set of wrench vectors exerted along the robot backbone. Constant strain lets us describe the pieces with helices in which shear deformation and elongation are neglected. The resulting piecewise helix is the simplest curve that can catch the torsion of tubes that play a crucial role in kinematic behavior. This approximation transforms the conventional boundary value problem (BVP) of CTRs models into a set of nonlinear equations that drastically decreases the model resolution time. The present method uses a Lyapunov function and torsional Jacobian to ensure the distal torsion constraint consistently and, as a result, the solution’s convergence. The paper’s primary purpose is to present a fast, numerically stable, and relatively accurate kinematic model not reliant on measurement data. Experimental results on a two-tube prototype and provided for different tip loading conditions reveal maintaining a balance between adequate accuracy and reasonable running time, about 7 ms for five pieces per section, for real-time applications in the presence of external load.     

Effect of baking in different ovens on the quality and structural characteristics of saltine crackers

The aim of the study was to evaluate the physical and microstructural characteristics of crackers baked in four different industrial baking ovens (indirect radiation-cyclotherm, indirect convection, hybrid and industrial tunnel-ITO). Indirect convection and cyclotherm ovens provide the highest (5685.43 ± 51 W m⁻²) and the lowest (4860 ± 38.87 W m⁻²) amount of heat flux, respectively. Despite the amount of heat flux, indirect convection led to crackers with the highest moisture (7.86% vs. 4.82% in clyclotherm) and specific volume, but the lowest hardness. Cyclotherm resulted in crackers with lower specific volume, surface area, porosity, smooth and regular surface. Conversely, the hybrid and ITO ovens showed closer heat flux, leading to crackers with similar moisture content, texture parameters, specific volume, browning and inner porosity. Overall results show the potential of baking using different ovens for modifying the quality parameters of the crackers.     

面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。