苹果采摘机器人控制系统设计

针对苹果采摘机器人控制系统制造及维护成本较高、功耗大、便携性差等问题,对其控制系统进行优化设计。该系统可分为视觉系统和主控系统,视觉系统采用Open MV3视觉模块,通过颜色识别成熟苹果;主控系统包括TB6612电机驱动模块、PCA9685舵机驱动模块和LM2596电源模块。实验测试表明,该控制系统在室内及室外测试下均工作稳定。     

排爆机器人双目立体视觉系统设计

双自立体视觉是计算机视觉的一个重要分支,双目立体视觉直接模拟人类双眼处理景物的方式,可靠简便,在许多领域均极具应用价值,例如在机器人视觉系统中的应用.本文基于排爆机器人的应用,详细描述了排爆机器人双目立体视觉系统的设计与实现,由双目立体视觉系统根据目标物的二维图像计算出目标物的三维坐标.实验表明该系统能提高排爆机器人智能性与易操作性,大大提高了机械人的定位精度.     

基于TRIZ理论苹果采摘机器人的设计与分析

针对现阶段人工采摘苹果效率低、劳动强度大、采摘设备功能单一的问题，以TRIZ理论为基础，通过发明原理的启发，对苹果采摘机器人的末端执行器、运输装置、收集箱和其他结构进行了创新设计，设计出一款集采摘、收集、分拣功能于一体的机器人。建立采摘机械臂的D-H模型，运用Matlab对机器人的工作空间进行了分析；通过Adams对机器人采摘过程进行运动仿真，并制作1∶3实验样机，对各部分功能可行性进行了验证。结果表明，该机器人的各部分功能完善、设计合理、运行可靠、满足使用需求，为后续机器人的进一步研制和改进提供了理论支撑。     

果蔬采摘机器人关键技术研究进展

果蔬机器人采摘技术是我国农业领域的重点研究内容之一.目前的采摘机器人存在定位精度低、采摘周期长、采摘果蔬种类的通用性差等问题.介绍了采摘机器人的国内外研究进展,重点分析了自主采摘机器人的机器视觉系统和末端采摘技术研究进展,对比了多种检测农作物的视觉识别算法,并梳理了各类水果抓取装置的研究重点.针对目前技术开发中存在的难题,提出了果蔬采摘机器人的发展前景.     

草莓采摘机器人的系统研究设计

采摘机器人在农业机械设施中扮演着越来越重要的角色.通过对国内外采摘机器人现状的分析及采摘环境的研究,设计了一套基于双目立体识别技术的草莓采摘机器人结构,对图像识别系统、采摘机械手与存储装置、草莓运送装置、提升装置等部分及其原理进行分析,得出相关设计参数,通过计算机运动仿真分析,验证了其设计的可行性.草莓采摘机器人在降低...     

挖掘机器人双目视觉系统标定方法与立体匹配

在挖掘机器人视觉系统实现中,摄像机标定、特征提取、立体匹配是关键环节,而立体匹配又是视觉系统中最复杂、最重要的步骤。首先分析了通用双目立体视觉模型及平行双目立体视觉模型,对挖掘机器人平行双目立体视觉系统测量方法及参数标定进行了研究。结合基于特征的匹配方法,通过对左、右图像角点的提取,实现了基于极线几何约束的特征点匹配。通过对铲斗图像匹配实验,验证了该方法能满足挖掘机器人视觉系统要求。     

名优茶采摘机器人工作空间分析

提出了一种机器人技术与图像识别技术相结合的名优茶叶采摘机器人。该机器人用于茶叶采摘的核心部件为Delta并联机构,具有三个平动自由度。通过对该机构进行运动学分析,推导出采摘机器人的运动学反解模型。利用单支链约束方程求解了采摘机器人的采摘空间,并基于Matlab建立了采摘机器人工作空间模型,绘制了工作空间立体图像。通过分析结果以及所求解的工作空间尺度范围显示,该名优茶采摘机器人工作空间能够实现茶垄全面覆盖,切实降低茶叶采摘的漏采率问题。     

成熟花椒果实的自动识别技术研究

针对目前人工采摘花椒难的问题,文章提出一种花椒果实自动识别的方法,为研发花椒采摘机器人提供一定的技术支持。首先,分别在RGB和HSV两种颜色空间中提取R分量和H分量并选取合适的阈值分割花椒图像,将这两种分割结果相融合得到较准确的果实区域,再选择合适的结构元素对果实区域进行膨胀运算识别出果实的轮廓区域。然后,采用形心偏差法,即果实区域的形心指向轮廓区域的形心确定采摘点的大致方向。最后结合惯性主轴确定出采摘点的准确位置。实验结果表明,选取不同光照条件下的花椒图像均能准确识别出花椒果实区域,最终确定的采摘点偏差较小,可以为花椒采摘机器人图像识别系统提供技术支持。     

基于双目立体视觉的采摘机器人设计

采用双目立体视觉技术,实现了水果采摘机器人自主移动行走、避障、成熟果实定位识别的功能。研究表明:所设计的视觉图像自动识别采摘机器人结构较为简单,运行过程中性能稳定、效率高、稳定性好,能够克服果园复杂地形的影响。     

苹果采摘机器人的研究现状、进展与分析

为了进一步改进苹果采摘机的机械效率,针对苹果摘采机器人的摘采范围、识别率以及摘采速度进行了探究分析。其中利用了CCD摄像机和光电传感器识别果实,识别率达85%。并且机器人末端执行器下安装有PLC全自动果实采集器具,机器人能够根据识别范围进行有批次的采摘,最终进行优化改进,在一定程度上提高了苹果的摘采效率,减少人工使用成本。     

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t...     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value.     

Non-monotonic material contrast in scanning ion and scanning electron images

30 keV Ga⁺ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z₂, and shows a non-monotonic relationship between contrast and Z₂. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z₂, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory.     

Application of Feature Extraction through Convolution Neural Networks and SVM Classifier for Robust Grading of Apples

This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an...     

分布动态载荷识别的抗噪处理

针对正交多项式频域法在用多种响应对矩形薄板进行载荷识别中抗噪性较差的问题,综合运用平均法、矩阵预处理和奇异值截断法等方法对之进行改善,并引入空间映射的思想,将该方法的应用范围拓展为复杂的模型.利用仿真算例,证实了该方法具有较好的抗噪性.     

基于MELTAC-N平台的核电厂安全级DCS环网研究与测试

针对工程实践中环网通讯相关问题的处理缺乏理论基础及国产化安全级DCS平台的开发缺乏成熟经验借鉴问题,对基于MELTAC-N平台核电厂安全级DCS环网的软硬件实现进行了研究。提出了安全级DCS环网双环网冗余设计、光切换开关设计等硬件设计方法,以及以RPR协议为基础,采用全数据收发策略的软件设计方法。在CPR1000安全级DCS平台上对安全级DCS环网的可靠性及实时性进行了评价,并进行了容错能力、响应时间及响应时间稳定性测试验证实验。结果表明,基于MELTAC-N平台安全级DCS环网软硬件设计具有较好的容错能力及响应时间稳定性。     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods....     

The laboratory simulation of abrasive wear

Abrasive wear has long been recognised as one of the most potentially serious tribological problems facing the operators of many types of plant and machinery; several industrial surveys have indicated that wear by abrasion can be responsible for more than 50% of unscheduled machine and plant stoppages. Locating the operating point of a tribological contact in an appropriate operational ‚map’︁ can provide a useful guide to the likely nature and origins of the surface degradation experienced in use, though care must be exercised in choosing the most suitable parameters for the axes of the plot. Laboratory testing of materials and simulations of machine contacts are carried out for a number of purposes; at one level for the very practical aims of ranking candidate materials or surface hardening treatments in order of their wear resistance, or in an attempt to predict wear lives under field conditions. More fundamentally, tests may be aimed at elucidating the essential physical mechanisms of surface damage and loss, with the longer term aim of building an analytical and predictive model of the wear process itself. In many cases, component surface damage is brought about by the ingress of hard, particulate matter into machine bearing or sealing clearances. These may be running dry although, more usually, a lubricant or service fluid is present at the interface. A number of standardised wear test geometries and procedures have been established for both two- and three-body wear situations, and these are briefly described. Although abrasive wear is often modelled as following an ‚Archard’︁ equation (i.e. a linear increase in material loss with both load and time, and an inverse dependence on specimen hardness) both industrial experience and laboratory tests of particularly lubricated contacts show that this is not always the case: increasing the hardness differential in an abrasively contaminated lubricated pair may not always reduce the rate of damage to the harder surface.     

Limits of topographic measurement by the scanning tunnelling and atomic force microscopes

Parameters describing the topographic character of a surface (height, surface wavelength, slope and curvature) can be derived from equivalent sinusoidal profiles. The response of a surface-measuring instrument may be modelled in terms of instrument parameters such as stylus radius, and scanning range and resolution. The performance of the instrument may then be mapped as a zone in amplitude-wavelength (AW) space to show the sinusoidal profiles it is capable of measuring. In a first-order analysis the STM and AFM are considered as equivalent to contact-stylus instruments with a notional stylus radius equal to the tip radius plus the gap. Comparisons between different instruments and types of instrument are readily made by mapping in AW space. The error arising from convolution of the sinusoidal profile with that of the finite tip may be quantified and plotted as contours in AW space.