Design of a slave arm of a surgical robot system to estimate the contact force at the tip of the employed instruments

Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph.     

一种多接口多信道VANET动态信道分配算法研究

为了合理地实现多接口多信道车载自组织网络（VANET）车辆节点间通信信道的动态分配,提出了一种基于通信双方车辆节点信道切换队列的动态信道分配算法。定义了车辆节点的射频接口状态,给出了信道的性能因子以及信道切换队列的生成方法,通过综合考虑通信双方车辆节点的射频接口状态和信道切换队列,快速自主地建立通信链路,从而解决了信道公平接入和分配不合理的问题。通过软件仿真比较可以看出,该算法实现了信道的动态分配,减小了平均端到端时延,增加了网络平均吞吐量,显著提高了多接口多信道VANET的网络性能。     

基于个性诊断的路段缺失速度值估计

针对基于GPS的浮动车技术因无法做到对路网的时空间全覆盖导致部分路段实时交通状态缺失问题,提出基于热门路段个性化诊断(personality diagnosis base on popular road,PDPR)模型对各路段上的缺失速度值进行估计。使用K均值算法对所有原始数据作离散化处理,根据数据覆盖率对路段进行分类;以高覆盖率路段的速度数据为辅助,使用个性诊断算法(personality diagnosis,PD)对低覆盖率路段进行缺失速度估计,把估计值映射到连续型空间。实验结果表明,PDPR模型估计误差比PPCA(probabilistic principal component analysis)算法低32.84%,比滑动平均法低5.70%。     

污水处理厂PPP项目优选研究

如何在众多污水处理厂PPP项目中挑选出风险低、回报适宜的优质项目不仅是社会资本方关注的重点,也是推动PPP项目顺利开展的关键。从社会资本方的角度出发,建立政府能力及环境、项目特征、项目影响3个方面的较为完善的污水处理厂PPP项目评价体系,采用聚类分析法从类别内、类别间两方面综合计算专家权重,以此修正AHP法确定的指标权重,并结合TOPSIS模型对众多污水处理厂PPP项目进行比较,优选出最适宜投资的项目。通过实例验证,此方法可行、有效,且社会资本方对项目特征、政府能力及环境两方面非常重视。     

数控系统伺服驱动优化方法

如何提高伺服驱动系统的动态特性和零件加工精度,是维修、调试人员必须掌握的一项工作.机床各轴的驱动、电机的数据,比如速度环、位置环的增益会直接影响轴的动态运行特性.如果这些参数设置不当,就可能出现机床振动、伺服电机啸叫等现象,使加工无法进行,甚至导致丝杆或导轨损坏.目前,数控机床配置的数控系统主要为日本的FANUC和德国的SIEMENS系统.以这2种系统为例,阐述了驱动参数的优化方法及其具有的实际意义.     

基于web的外贸企业资金流管理平台的设计

本文针对外贸型企业对外贸易服务流程中的资金流动和资金流管理中存在的问题,设计了一个基于Web的外贸企业资金流管理平台,实现跨地域、多角色、实时的资金流录入、统计和分析,使企业能够高效准确地管理业务和资金流,能够随时统计资金的流向以及分析盈利情况;着重论述外贸企业资金流管理需求、基于Web的系统框架设计、数据加密存储、加密传输、用户角色及权限控制等。     

The topological basis realization and the corresponding Heisenberg model of spin-1 chain

In this paper, it is shown that the Heisenberg model of spin-1 chain can be constructed from the Birman–Wenzl algebra generator while we have got that the Heisenberg model of spin- $\frac{1}{2}$ chain can be constructed from the Temperley–Lieb algebra generator in our previous work (Sun et al. in EPL 94:50001, 2011). Here, we investigate the topological space, we find that the number of topological basis states raise from the previous two to three, and they are also the three eigenstates of a closed four-qubit Heisenberg model of spin-1 chain. Specifically, all the topological basis states are also the spin single states and one of them is the energy single state of the system. It is worth noting that all conclusions we get in this paper are consistent with our previous work (Sun et al. in EPL 94:50001, 2011). These just indicate that the topological basis states have particular properties in the system.     

Direct equivalence between geometric conditions and algebraic conditions for discrete-time nonlinear observer

Unlike the continuous-time case, algebraic necessary and sufficient conditions for a single output discrete-time system to be state equivalent to a nonlinear observer canonical form have been found and are easier to verify for those who are not accustomed to differential geometry. The geometric conditions look very different from the algebraic conditions. In this paper, we show direct equivalence of the geometric conditions and the algebraic conditions in order to enhance the understanding of the geometric conditions.     

A model-based fault diagnosis scheme for wheeled mobile robots

In this paper, a fault diagnosis scheme for wheeled mobile robots is presented. In the fault detection module, a nonlinear observer is designed based on the mobile robot dynamic model. A fault is detected when at least one of the residuals exceeds its corresponding threshold. After the fault is detected, the fault isolation module is activated to isolate three types of fault: right wheel fault, left wheel fault, and other changing dynamic parameter faults. Three simulation examples are performed to show the effect of each fault to the tracking performance of mobile robot in a real situation. The simulation results demonstrate the effectiveness of our proposed approach for fault detection and isolation in wheeled mobile robots.     

Development of head detection and tracking systems for visual surveillance

This paper proposes a technique for the detection of head nod and shake gestures based on eye tracking and head motion decision. The eye tracking step is divided into face detection and eye location. Here, we apply a motion segmentation algorithm that examines differences in moving people’s faces. This system utilizes a Hidden Markov Model-based head detection module that carries out complete detection in the input images, followed by the eye tracking module that refines the search based on a candidate list provided by the preprocessing module. The novelty of this paper is derived from differences in real-time input images, preprocessing to remove noises (morphological operators and so on), detecting edge lines and restoration, finding the face area, and cutting the head candidate. Moreover, we adopt a K-means algorithm for finding the head region. Real-time eye tracking extracts the location of eyes from the detected face region and is performed at close to a pair of eyes. After eye tracking, the coordinates of the detected eyes are transformed into a normalized vector of x-coordinate and y-coordinate. Head nod and shake detector uses three hidden Markov models (HMMs). HMM representation of the head detection can estimate the underlying HMM states from a sequence of face images. Head nod and shake can be detected by three HMMs that are adapted by a directional vector. The directional vector represents the direction of the head movement. The vector is HMMs for determining neutral as well as head nod and shake. These techniques are implemented on images, and notable success is notified.