Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

Structural optimization of the cross-beam of a gantry machine tool based on grey relational analysis

Crossbeam structural design of gantry machine tool is a multi-level, multi-index and multi-scheme decision-making problem. In order to solve the above problem, the optimum seeking model of crossbeam structure was built through using the grey relational analysis and Analytic Hierarchy Process. The finite element analysis of the static and dynamic performance parameters for four kinds of crossbeam structural schemes designed had been done, and the optimal design scheme was selected by using the optimum seeking model. After conducting sensitivity analysis for the optimal crossbeam selected, the reasonable design variables were obtained, and the dynamic optimization design model of crossbeam was established. Six groups of non-inferior solutions were obtained after solving the optimization design model. The optimal solution was selected from the non-inferior solution set through using the crossbeam structural optimization method based on grey relational analysis again, which makes the crossbeam’s dynamic performance improving greatly. The dynamic experiments on the crossbeams before and after optimization design were conducted, then the experimental results show that the first four order natural frequencies of the crossbeam increase 17.56 %, 19.36 %, 17.04 % and 19.58 % respectively, which proves that the structural optimization design method based on grey relational analysis proposed in this paper is reasonable and practicable.     

Reliability analysis of structures with complex limit state functions using probability density evolution method

In reliability-based structural analysis and design optimization, there exist some limit state functions exhibiting disjoint failure domains, multiple design points and discontinuous responses. This study addresses this type of challenging problem of reliability assessment of structures with complex limit state functions based on the probability density evolution method (PDEM). Probability density function (PDF) of stochastic structures under static and dynamic loads can be acquired, which is independent of the specific form of limit state functions. Numerical results of several typical examples illustrate that, the time-invariant and instantaneous PDF curves and failure probabilities of stochastic structures with disjoint failure domains, multiple design points and discontinuous responses are calculated effectively and accurately. Moreover, the PDEM is validated to be more efficient than the Monte Carlo simulation and the subset simulation, and is a feasible and general approach to tackle the reliability analysis of complicated problems. In addition, the influence of random design parameters of structures on uncertainty propagation is also scrutinized.     

基于特征融合的核量化图像分类方法

局部特征和全局特征是图像的两种重要的特征描述,在图像分类时起着至关重要的作用。据此提出一种通过融合全局与局部特征核量化图像分类方法。首先,分析全局特征及局部特征各自优缺点,并对图像进行特征提取;其次,通过核方法将特征映射到适当的高维空间中,来进行码书的获取与量化,并进行特征的融合以更好地对图像进行描述;最后,采用基于直方图交叉核的支持向量机对获取的量化特征进行分类。通过实验证明了所提出的方法的可行性。     

基于情感计算的商品评论分析系统

针对电子商务中的商品评论信息过载问题,运用情感计算理论,通过挖掘商品评论信息中的商品特征及相应的情感褒贬态度,为消费者提供一个商品特征粒度上的情感分析结果,从而帮助消费者从庞杂的商品评论中快速获取有效信息。系统首先采集指定商品的评论集并挖掘商品特征,然后结合情感语料库和词汇相似度计算,利用依存关系找到特征-极性词对以及程度副词和否定词。基于以上结果,考虑程度副词的强度,以及程度副词和否定词共现语序不同造成的语义差异,提出了商品评论情感倾向程度的计算方式。最后,进行系统实现并验证算法的有效性。实验结果表明,系统具有良好的应用效果。     

数据挖掘预测模型在脑损伤患者认知功能康复中的应用

为了更好地预测后天性脑损伤ABI(Acquired Brain Injury)患者认知功能康复的影响因素,提出基于决策树(DT)、多层感知器(MLP)和广义回归神经网络(GRNN)的三种预测模型。借助于10折交叉验证测试算法,通过专一性、灵敏度和精度分析以及混淆矩阵分析对模型的性能进行测试,从而获得新的知识以评估和改善认知功能康复过程中的有效性。实验结果表明,基于DT的模型的模拟结果明显比其他模型更为优越,预测平均精度可高达90.38%。     

Solute diffusion through degradable semicrystalline polyethylene glycol/poly(l-lactide) copolymers

Summary The diffusion of C.I. direct orange 34(MW=299) and benzoic acid(MW=122) through degraded semicrystalline polyethylene glycol(PEG)/poly(L-lactide)(PLLA) block copolymers with various PEG contents and PEG segment lengths at 37°C was studied by UV-visible spectroscopy, differential scanning calorimetry(DSC), wide angle X-ray diffractometer (WAXS) and scanning electron microscopy(SEM). The influences of the PEG contents, PEG segment lengths and hydrolytic degradation of PEG/PLLA copolymers on the solute diffusion coefficient and mode for transport were investigated. It is concluded that the diffusion rate increases with the increase of PEG contents and PEG segment lengths in PEG/PLLA copolymers. This is understandable that the increase of PEG content and PEG segment length both make the degree of crystallinity decrease. The steady state of mass flux could not be reached at the diffusion times up to 1000 h, because the copolymers underwent hydrolysis reaction during this period. Furthermore, it is understood that the characteristic time of diffusion as defined by the square of film thickness at an instant of time over the diffusion coefficient of solute through polymer decreases with the increasing diffusion time.     

Photoelectric conversion of photosynthetic reaction center in multilayered films fabricated by layer-by-layer assembly

Multilayered protein films which contained ordered layers of photosynthetic reaction center (RC) from Rhodobacter Sphaeroides (RS601) were assembled by means of alternate electrostatic adsorption with positively charged poly(diallyldimethylammonium chloride) (PDDA). The assembly of RC was monitored by spectrometry and photocurrent measurement. Linear film growth was observed up to about 20 cycles of adsorption. For the monolayer film, the photocurrent was about 8.5 nA cm⁻². For the multilayered film, the total photocurrent was about 77 nA cm⁻² for the 24-layer RC film, while the average photocurrent increment per adsorption cycle was about 3.2 nA cm⁻². The overall light-to-electricity conversion efficiency for a 24-layer film was about eight times higher than that for the monolayer one. The effects of electrode potential and pH on the photocurrent were also measured to illustrate the light-to-electric converting mechanism.     

PPTA／尼龙1010分子复合材料流变行为的研究

本文采用共沉淀法制备了聚对苯二甲酰对苯二胺(PPTA)/尼龙1010分子复合材料。测定了PPTA/尼龙1010分子复合材料的流变行为,发现PPTA使尼龙1010的表观熔体粘度变大,且PPTA/尼龙1010分子复合材料的表观熔体粘度对温度的敏感性不象尼龙1010那样突出。     

Integrated clinical pathway management for medical quality improvement – based on a semiotically inspired systems architecture

Clinical pathway is an approach to standardise care processes to support the implementations of clinical guidelines and protocols. It is designed to support the management of treatment processes including clinical and non-clinical activities, resources and also financial aspects. It provides detailed guidance for each stage in the management of a patient with the aim of improving the continuity and coordination of care across different disciplines and sectors. However, in the practical treatment process, the lack of knowledge sharing and information accuracy of paper-based clinical pathways burden health-care staff with a large amount of paper work. This will often result in medical errors, inefficient treatment process and thus poor quality medical services. This paper first presents a theoretical underpinning and a co-design research methodology for integrated pathway management by drawing input from organisational semiotics. An approach to integrated clinical pathway management is then proposed, which aims to embed pathway knowledge into treatment processes and existing hospital information systems. The capability of this approach has been demonstrated through the case study in one of the largest hospitals in China. The outcome reveals that medical quality can be improved significantly by the classified clinical pathway knowledge and seamless integration with hospital information systems.