A minimal kinematic model for serial robot calibration using POE formula

Traditional methods based on the product of exponentials (POE) formula are parametrically continuous and complete for the calibration of the kinematic parameters of serial robots. However, these methods are not minimal due to the constraints of joint twists. This paper puts forward a new POE-based model, whose parameters are totally independent and conform to the formula of minimality. This is the first model that simultaneously satisfies the requirements of parametric continuity, completeness, and minimality with uniform and generic modeling rules. The proposed approach avoids the operations of normalization and orthogonalization which are necessary redundancy elimination steps with the traditional model. Simulations on a SCARA robot and experiments on an ABB IRB 120 robot prove that the new model outperforms in convergence, accuracy, and efficiency.     

Contents Volume 10 (2003)

Volume Contents

Contents Volume 10 (2003)     

Parametric Weighting Function for WOWA Operator and Its Application in Decision Making

We propose a parametric weighting function for weighted ordered weighted averaging (WOWA) operator in decision making under uncertainty and risk environment. The weighting function is not only related to the attitude of the decision makers, but also to the event probability. Under the proposed method, the decision makers underweight small probability gains and overweight large probability gains, which is right in consistence with the psychology of the decision makers in the prospect theory. Meanwhile, it generalizes two specific weighting functions and proposed by Torra (International Journal of Intelligent Systems 12 (1997) 153–166). Moreover, the expected utility becomes a special case of the parametric weighting function for WOWA operator. To illustrate its application, an example of introducing and pricing new product is given, which shows the optimal strategies corresponding to different parameter values r.     

Parallelizing Complex Streaming Applications on Distributed Scratchpad Memory Multicore Architecture

Multicore processors can provide sufficient computing power and flexibility for complex streaming applications, such as high-definition video processing. For less hardware complexity and power consumption, the distributed scratchpad memory architecture is considered, instead of the cache memory architecture. However, the distributed design poses new challenges to programming. It is difficult to exploit all available capabilities and achieve maximal throughput, due to the combined complexity of inter-processor communication, synchronization, and workload balancing. In this study, we developed an efficient design flow for parallelizing multimedia applications on a distributed scratchpad memory multicore architecture. An application is first partitioned into streaming components and then mapped onto multicore processors. Various hardware-dependent factors and application-specific characteristics are involved in generating efficient task partitions and allocating resources appropriately. To test and verify the proposed design flow, three popular multimedia applications were implemented: a full-HD motion JPEG decoder, an object detector, and a full-HD H.264/AVC decoder. For demonstration purposes, SONY PlayStation \(^{\circledR }\) 3 was selected as the target platform. Simulation results show that, on PS3, the full-HD motion JPEG decoder with the proposed design flow can decode about 108.9 frames per second (fps) in the 1080p format. The object detection application can perform real-time object detection at 2.84 fps at \(1280 \times 960\) resolution, 11.75 fps at \(640 \times 480\) resolution, and 62.52 fps at \(320 \times 240\) resolution. The full-HD H.264/AVC decoder applications can achieve nearly 50 fps.     

Performance Histogram Curve: Abstractive Visualization and Analysis of NBA Games

NBA game is one of the world’s most exciting sports. Multiple datasets for a NBA game are available, e.g., play-by-play data, shot-position data, twitter and videos. Existing methods for visualizing game data commonly focus on the composition of multi-variate information of a game process. In this paper, we introduce a new parametric modeling approach, Performance Histogram Curve (PHC), that locally and adaptively encodes the game progression with game-related features derived from the play-by-play data. By transforming a PHC into the two-dimensional space with a two-phase projection technique, we create a unique 2D line representation. The 2D representation and auxiliary views abstracts the progress of a game and the performance of each team along the timeline. Our integrated system favor browsing a single play, analyzing game performance, and comparing multiple games. We conducted two case studies to demonstrate the effectiveness of our approach.     

纤维素衍生物液晶相转变和织态结构

本文综述了纤维素衍生物液晶态相转变和织态结构。描述了纤维素衍生物从各向同性态向液晶态的转变过程和液晶态的织构特征。讨论了溶液浓度和温度对液晶相织构的影响。探讨了各种因素,如溶剂、取代基含量、外加力场和外加磁场等对液晶相的形成及织态结构的影响。     

Mark-Houwink-Sakurada coefficients for conventional poly(methyl methacrylate) in tetrahydrofuran

Summary Intrinsic viscosities [] in tetrahydrofuran (THF) at 30°C are reported for ten narrow molecular weight distribution poly(methyl methacrylate) (PMMA) samples covering nearly two orders of magnitude in molecular weight. By combining the viscosity results with absolute weight-average molecular weights determined via low-angle laser light scattering (LALLS) experiments, we have accurately determined the Mark-Houwink-Sakurada (MHS) parameters for this polymer-solvent pair (K=7.56x10⁵ and a=0.731, when [] is in dL g^-1).     

环氧树脂-聚丙烯酸酯乳液型复合薄膜粘合剂

本文主要叙述了环氧-丙烯酸酯聚合乳液的合成,以及该乳液粘合剂的配制;讨论了该乳液粘合剂的粘合性能及耐水、耐溶剂性能。     

Surface morphology and nodule formation mechanism of cellulose acetate membranes by atomic force microscopy

By the use of atomic force microscopy (AFM), formation mechanism of nodular structure in cellulose acetate membranes was systematically investigated. Elementary factors affecting the nodule formation were delineated on the basis of both kinetic and thermodynamic considerations. It was shown that (1) the exact nature of nodular structure is thermodynamic equilibrium glassy state; nodular structure will vanish in the rubbery state; (2) the thermodynamic factor affecting nodule formation is the membrane formation temperature; with the membrane formation temperature decreasing, more chain segments are able to form nodular structures; (3) nodule formation is dependent on the segment rearrangement; variation of the solvent environment is the major kinetic factor affecting the segment rearrangement and nodule formation. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 1328–1335, 2003