Interfacing industrial R&A equipment using Matlab

We present a toolbox that enables access to real robotics and automation (R&A) equipment from the MATLAB shell. If used in conjunction with a robotics toolbox, it will extend significantly their application, i.e., besides robotic simulation and data analysis, the user can interact online with the equipment he or she is using. This article briefly presents the software architecture adopted and how it was used to generate the MATLAB MEX files presented. It then exemplifies application to two types of equipment, complemented with a generic manipulation example using a robotic gripper. The utilization of this tool with force control experiments is also briefly explored     

Application of a multilayer decision tree in computer recognition of chinese characters

A multistage classifier with general tree structure has been developed to recognize a large number of Chinese characters. A simple and efficient method of classifying the characters was achieved by choosing the best feature at each stage of the tree. The features used are Walsh coefficients obtained from two profiles of a character projected onto the X-Y orthogonal axes. Some algorithms for aligning the characters were compared and one of them was adopted in this recognition scheme. A high recognition rate of about 99.5 percent was obtained in an experiment with more than 3000 different Chinese characters.     

Optimization of Industrial Structure Considering the Uncertainty of Water Resources

This paper developed a stochastic linear fractional programming model for industry optimization allocation base on the uncertainty of water resources incorporating chance constrained programming and fractional programming. In this paper, the stochastic linear fractional programming is used in the real word. The development SLFP has the following advantages: (1) The model can compare the two aspects of the targets; (2) The model can reflect the system efficiency intuitively; (3) The model can deal with uncertain issues with probability distribution; (4) The model can give different optimal plans under different risk conditions. The model has a significant value for the industry optimization allocation under uncertainty in local and areas to achieve the maximum economic benefits and the full use of the water resources.     

Kinematic analysis of 3SPS+1PS bionic parallel test platform for hip joint simulator based on unit quaternion

As a novel parallel hip joint simulator, the 3SPS+1PS bionic parallel test platform with 4 degrees of freedom including three rotations and one translation is proposed. SPS denotes the spherical-prismatic-spherical leg and PS denotes the prismatic-spherical leg where only the prismatic joint is actuated and hence underlined. By means of the unit quaternion method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity and the inverse/forward acceleration kinematics are derived. Using the unit quaternion to represent the position and orientation of a moving platform, singularities caused by Euler angles can be avoided. Combining the topological structure characteristics of the 3SPS+1PS bionic parallel test platform and letting the three-dimensional (3-D) motion of a human hip joint as its output movement, the displacement trajectories of three active legs are constructed based on the inverse displacement kinematics. The forward kinematic tests whose data are recorded by a 3-D orientation capture system are carried out on the developed parallel hip joint simulator. Moreover, the results of the forward kinematic tests prove that the 3SPS+1PS bionic parallel test platform can approximately represent human hip joint motion and provide more reliable experimental data for hip joint prostheses in clinical application.     

Facial expression recognition using radial encoding of local Gabor features and classifier synthesis

Primarily motivated by some characteristics of the human visual cortex (HVC), we propose a new facial expression recognition scheme, involving a statistical synthesis of hierarchical classifiers. In this scheme, the input images of the database are first subjected to local, multi-scale Gabor-filter operations, and then the resulting Gabor decompositions are encoded using radial grids, imitating the topographical map-structure of the HVC. The codes are fed to local classifiers to produce global features, representing facial expressions. Experimental results show that such a hybrid combination of the HVC structure with a hierarchical classifier significantly improves expression recognition accuracy when applied to wide-ranging databases in comparison with the results in the literature. Furthermore, the proposed system is not only robust to corrupted data and missing information, but can also be generalized to cross-database expression recognition.     

Accurate mirror-based camera pose estimation with explicit geometric meanings

An accurate closed form solution is proposed to estimate camera pose by several mirrored reference object images acquired via a planar mirror under different unknown poses. Compared with state-of-the-art methods, our method is more accurate when there are more than three images and has explicit geometric meanings. This method also properly handles cases in which some of the mirror poses are parallel. The central idea is to minimize an error metric based on all reflections of rotation, which enables the camera rotation to be estimated directly by SVD of sum of mirrored camera rotations. After that, the camera translation is computed by solving a large system of linear equations to minimize object space collinearity error. Both synthesized data and real data experiments show the advantages of our approach.     

高性能聚酰亚胺纤维

本文综述了聚酰亚胺纤维的性能及其制备工艺,以及聚酰亚胺纤维在结构方面的研究及纤维成型新技术、新工艺。     

Microstructure and yield strength of UDIMET 720LI alloyed with Co-16.9 Wt Pct Ti

We proposed a new method for developing Ni-base turbine disc alloy for application at temperatures above 700 °C by mixing a Ni-base superalloy U720LI with a two-phase alloy Co-16.9 wt pct Ti in various contents. The microstructure and phase stability of the alloys were analyzed using an optical microscope, a scanning electron microscope, energy-dispersive spectroscopy, and an X-ray diffractometer. The yield strength was studied by compression tests at temperatures ranging from 25 °C to 1200 °C. The results show that all the alloys had a dendritic structure. Ni₃Ti (η) phase was formed in the interdendritic region in the alloys with the addition of Co-16.9 wt pct Ti, and its volume fraction increased with the increase in the addition of Co-16.9 wt pct Ti. The results of exposure at 750 °C show that the addition of Co-16.9 wt pct Ti to U720LI had a great effect on suppressing the formation of σ phase due to the reduced Cr content in the γ matrix. Compared to U720LI, the alloys with the addition of Co-16.9 wt pct Ti possessed higher yield strength. The solid-solution strengthening of γ and γ′ and higher volume fraction of γ′ were assumed to cause this strength increase.     

液态金属离子源发射系统电场的模拟分析

发射系统是液态金属离子源的关键部件之一，它的性能的优劣直接影响到整个离子源的工作稳定性和可靠性。因而对其发射系统进行仿真分析，可以很好地指导液态金属离子源的设计制造。本文采用国际上重视的动态喷流柱模型，利用模拟电荷法对液态金属离子源的发射系统的电场进行了计算分析，画出了发射尖端电场强度随不同参数变化的曲线，得出发射尖端表面场强与球冠半径、发射体突出臂长度密切相关，而与引出电极的结构关系甚小的结论，因此液态金属离子源发射特性（如角电流强度）的改善，必须在发射尖的设计制作上下功夫。从而为液态金属离子源的设计提供了一个有效的辅助工具。