Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

A segmentation-based lossless image coding method forhigh-resolution medical image compression

Lossless compression techniques are essential in archival and communication of medical images. Here, a new segmentation-based lossless image coding (SLIC) method is proposed, which is based on a simple but efficient region growing procedure. The embedded region growing procedure produces an adaptive scanning pattern for the image with the help of a very-few-bits-needed discontinuity index map. Along with this scanning pattern, an error image data part with a very small dynamic range is generated. Both the error image data and the discontinuity index map data parts are then encoded by the Joint Bi-level Image Experts Group (JBIG) method. The SLIC method resulted in, on the average, lossless compression to about 1.6 b/pixel from 8 b, and to about 2.9 b/pixel from 10 b with a database of ten high-resolution digitized chest and breast images. In comparison with direct coding by JBIG, Joint Photographic Experts Group (JPEG), hierarchical interpolation (HINT), and two-dimensional Burg prediction plus Huffman error coding methods, the SLIC method performed better by 4% to 28% on the database used     

动态交通分配中一类转换率系统的稳定性

在假设交通很拥挤同时交通的转换率与路径费用成正比的前提下，构建了一个动态的转换率模型．为了获取转换率系统的全局渐近稳定，提出了一个普遍适用的Lyapunov函数方法，与此同时通过线性矩阵不等式方法，得到了保证转换率系统全局渐近稳定的充分条件．     

Rapid synthesis of La0.7Sr0.3MnO3+λ catalysts by microwave irradiation process

Microwave irradiation processing (MIP) was considered as a potential method to synthesize perovskite-type oxides rapidly, cleanly and energy-efficiently. In this paper, La_0.7Sr_0.3MnO_3+λ, a kind of promising catalyst for automobile exhaust purification, was successfully prepared by MIP in not more than 5 min. The sol–gel method was also used for comparison. All the samples were evaluated by catalytic activity tests in the simulated exhaust and characterized by XRD, BET, TEM and XRF analyses. The results showed that the integrated perovskite-type phase and uniform particle size were obtained in the microwave-treated samples. And those ones exhibited a better oxidation activity under slightly oxygen-rich condition than that by sol–gel method, which may be related to more A-site cation vacancies and larger bulk oxygen content generated in MIP. Possible formation mechanism of perovskites in MIP was also discussed.     

地质超前预报和动态施工在隧洞施工中的应用

通过在直峰架洞施工过程中，地质超首预报与隧洞动态施工的结合，将国际岩体质量分级到生产实践中，针对不同级别的岩级，应用相应的施工方案，以达到为隧洞篱工总结经验的目的。     

Multiresolution learning paradigm and signal prediction

Current neural network learning processes, regardless of the learning algorithm and preprocessing used, are sometimes inadequate for difficult problems. We present a new learning concept and paradigm for neural networks, called multiresolution learning, based on multiresolution analysis in wavelet theory. The multiresolution learning paradigm can significantly improve the generalization performance of neural networks     

无限维的不可微凸规划

本文在局部凸Ｈａｕｓｄｏｒｆｆ线性拓扑空间中讨论了一类不可微的凸规划，得到了Ｋｕｈｎ－Ｔｕｃｋｅｒ最优性条件和对偶定理。     

一种可用于可调谐环行Ti：Al_2O_3激光器的宽带单向器

本文介绍一种宽带单向器的原理及设计。选用ＴＧＧ作磁旋光介质，旋光石英晶片作补偿片，所设计的色散补偿型宽带单向器预计可在７００～１０００ｎｍ波长范围内实现环行激光腔中的单向行波运行；将其应用在可调谐环行Ｔｉ：Ａｌ２Ｏ３激光器中，获得了良好的实验结果。     

容错磁盘阵列的性能模型

本文以排队论为工具，建立了容错磁盘阵列的Ｍ／Ｇ／１排队模型，并在此基础上分析了ＲＡＩＤ的平均响应时间，稳定数据传输率等重要性能指标；比较了同步和异步ＲＡＩＤ的性能差异，最后提出了以吞吐率作为衡量ＲＡＩＤ性能的综合指标，并给出了确定最大吞吐率的定量。     

Effects of oxide additives on sheet resistance of W thick-film conductor

A multilayer AIN-W cofired body has been developed using the pressless sintering technique. Effects of additives, such as Y₂O₃, CaO, La₂O₃, MgO, Al₂O₃ and SiO₂, on the sheet resistance of W conductor were studied. The sheet resistance of the W conductor increases with increasing additives in the W paste. However, the oxides can be divided into two groups. The effect of the first group on sheet resistance is different from that of the second group.