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.     

生物质中元素分布特征的聚类分析研究

测定了稻草秆、小麦秆、玉米秆、棉花秆、大豆秆、玉米芯、花生壳和柳树、松树、桦树、杨树、杉树 1 2个农业生物质和林业生物质种类 2 7个样品中主要元素 K,Ca,Na,Mg,Al,Fe,P和痕量元素 As,Cr,Co,Cu,Cd,Mn,Mo,Ni,Pb,Ti,Zn,V,Si,Ba,Be,Se,Sb,Ge,Hg的含量 ,并用SPSS聚类分析法分别进行了 R型和 Q型聚类研究 ,对这些元素在生物质中的分布特征进行了研究 .结果显示 :杨木、杉木和桦木与松木和柳木归成一大类 ,经济类作物黄豆秆和棉花秆分别归类后又归入一大类 ;农业生物质稻草秆和小麦秆、玉米秆被归入一类 ;虽然 2 7种生物质样品分别取自我国东北、华东、华北和西南地区 ,在地理位置上相距极远 ,但样品聚类谱系图表明 ,元素的分布特征与生物质的种类的关系显著 ,与产地的关系不明显 ,即元素的分布特征受种类的影响大 ,而受生长环境、气候、土壤条件的影响小 .     

Preparation and properties of high molecular weight poly(1-germa-) or poly(1-sila-cis-pent-3-enes)

High molecular weight poly(1,1-dimethyl-1-germa-cis-pent-3-ene), poly(1,1-diphenyl-1-germa-cis-pent-3-ene), poly(1,1-dimethyl-1-sila-cis-pent-3-ene), and poly(1-methyl-1-phenyl-1-sila-cis-pent-3-ene) have been prepared. The thermal stability of these polymers is found to increase with their molecular weight.     

离子色谱法测定配煤、焦炭和焦油中的氯含量

研究了用带电导检测器的离子色谱对配煤、焦炭和焦油中的Cl- 进行测定的方法。在YSA型8126A-4# 阴离子分离柱上用3.5mmol/LNa2CO3、5.3mmol/LNaHCO3做淋洗液对Cl-进行测定,方法简便快速。Cl-的检出限为2×10-6。该法也适用于F-、NO2-、NO3-、SO42-等的测定。     

State space approximation for general fractional order dynamic systems

Approximations for general fractional order dynamic systems are of much theoretical and practical interest. In this paper, a new approximate method for fractional order integrator is proposed. The poles of the approximate model are unrelated to the order of integrator. This feature shows benefits on extending the algorithm to the systems containing various fractional orders. Then a unified approximate method is derived for general fractional order linear or nonlinear dynamic systems via combining the proposed new method with the distributed frequency model approach. Numerical examples are given to show the wide applicability of our method and to illustrate the acceptable accuracy for approximations as well.     

Making sky lanterns from polygonal meshes

Releasing sky lanterns is a popular way of celebrating festivals and ceremonies in the Asian countries. This paper presents a computer-aided approach to help novice users to design flyable sky lantern with desired shape. Given a closed up-right 3D model with a user-specified cutting on the bottom, our system optimizes the shape by regularizing the boundary, smoothing the geometry and improving the volume-to-area ratio to make it feasible for flying. The optimized shape is then approximated by a set of developable patches. Next, through a physical analysis step that tests the flying condition and determines the optimal size, the approximated shape is flattened into 2D patches, which can be printed out and glued together to form the airbag. Finally, the user can attach the airbag to a bamboo frame and assemble the fuel cell. We successfully apply our prototype system to design and construct real sky lanterns.     

硫化矿床开采特高温炮孔的装药爆破安全技术

本文阐述了高温矿床火区开采特高温炮孔的装药爆破安全技术。提出了掌握炸药安全使用温度,采取隔离、隔热包装,降低孔温及提高临界温度等安全措施。     

Know by a handful the whole sack: efficient sampling for top-k influential user identification in large graphs

Influence Maximization aims to find the top-K influential individuals to maximize the influence spread within a social network, which remains an important yet challenging problem. Most existing greedy algorithms mainly focus on computing the exact influence spread, leading to low computational efficiency and limiting their application to real-world social networks. While in this paper we show that through supervised sampling, we can efficiently estimate the influence spread at only negligible cost of precision, thus significantly reducing the execution time. Motivated by this, we propose ESMCE, a power-law exponent supervised Monte Carlo estimation method. In particular, ESMCE exploits the power-law exponent of the social network to guide the sampling, and employs multiple iterative steps to guarantee the estimation accuracy. Moreover, ESMCE shows excellent scalability and well suits large-scale social networks. Extensive experiments on six real-world social networks demonstrate that, compared with state-of-the-art greedy algorithms, ESMCE is able to achieve almost two orders of magnitude speedup in execution time with only negligible error (2.21 % on average) in influence spread.     

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.     

基于UML的职业技能竞赛管理平台建模研究

随着职业技能竞赛活动逐年增多,规模不断扩大,传统的管理方法不再适应竞赛主办单位、承办单位以及参赛单位的需求。在分析职业技能竞赛管理需求的基础上,完成了功能模块的设计,并运用基于面向对象的统一建模语言(UML),完成了职业技能竞赛管理平台设计的可视化表达。