Nanotextured superhydrophobic micromesh

A superhydrophobic micromesh covered with nanoprotrusions has been introduced and its applicability to a waterproof mobile phone speaker has been evaluated. The nanotextured superhydrophobic micromesh showed excellent water repellency, self-cleaning and waterproofing performances. In a waterproof speaker test using the fabricated nanotextured micromesh, the micromesh did not lose its waterproof function at 2 m water depth and did not form a remnant water film after being removed from the water. The packaged speaker showed almost the same sound quality before and after dipping at a 2 m water depth. These results demonstrate that the superhydrophobic nanotextured micromesh could be directly applicable for various products that need to resist water penetration, yet allow the transmission of gases and sound/light waves.     

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Reachability determination in acyclic Petri nets by cell enumeration approach

Reachability is one of the most important behavioral properties of Petri nets. We propose in this paper a novel approach for solving the fundamental equation in the reachability analysis of acyclic Petri nets, which has been known to be NP-complete. More specifically, by adopting a revised version of the cell enumeration method for an arrangement of hyperplanes in discrete geometry, we develop an efficient solution scheme to identify firing count vector solution(s) to the fundamental equation on a bounded integer set, with a complexity bound of O((nu)^n−m), where n is the number of transitions, m is the number of places and u is the upper bound of the number of firings for all individual transitions.     

带微处理机的楔型流量计

介绍一种带压力、温度自动补偿的电远传楔型流量计,阐述了该流量计的工作原理、基本结构和性能特点。     

Interfacing industrial R&A equipment using Matlab

We present a toolbox that enables access to real robotics and automation (R&A) equipment from the MATLAB shell. If used in conjunction with a robotics toolbox, it will extend significantly their application, i.e., besides robotic simulation and data analysis, the user can interact online with the equipment he or she is using. This article briefly presents the software architecture adopted and how it was used to generate the MATLAB MEX files presented. It then exemplifies application to two types of equipment, complemented with a generic manipulation example using a robotic gripper. The utilization of this tool with force control experiments is also briefly explored     

Application of a multilayer decision tree in computer recognition of chinese characters

A multistage classifier with general tree structure has been developed to recognize a large number of Chinese characters. A simple and efficient method of classifying the characters was achieved by choosing the best feature at each stage of the tree. The features used are Walsh coefficients obtained from two profiles of a character projected onto the X-Y orthogonal axes. Some algorithms for aligning the characters were compared and one of them was adopted in this recognition scheme. A high recognition rate of about 99.5 percent was obtained in an experiment with more than 3000 different Chinese characters.     

Optimization of Industrial Structure Considering the Uncertainty of Water Resources

This paper developed a stochastic linear fractional programming model for industry optimization allocation base on the uncertainty of water resources incorporating chance constrained programming and fractional programming. In this paper, the stochastic linear fractional programming is used in the real word. The development SLFP has the following advantages: (1) The model can compare the two aspects of the targets; (2) The model can reflect the system efficiency intuitively; (3) The model can deal with uncertain issues with probability distribution; (4) The model can give different optimal plans under different risk conditions. The model has a significant value for the industry optimization allocation under uncertainty in local and areas to achieve the maximum economic benefits and the full use of the water resources.     

Kinematic analysis of 3SPS+1PS bionic parallel test platform for hip joint simulator based on unit quaternion

As a novel parallel hip joint simulator, the 3SPS+1PS bionic parallel test platform with 4 degrees of freedom including three rotations and one translation is proposed. SPS denotes the spherical-prismatic-spherical leg and PS denotes the prismatic-spherical leg where only the prismatic joint is actuated and hence underlined. By means of the unit quaternion method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity and the inverse/forward acceleration kinematics are derived. Using the unit quaternion to represent the position and orientation of a moving platform, singularities caused by Euler angles can be avoided. Combining the topological structure characteristics of the 3SPS+1PS bionic parallel test platform and letting the three-dimensional (3-D) motion of a human hip joint as its output movement, the displacement trajectories of three active legs are constructed based on the inverse displacement kinematics. The forward kinematic tests whose data are recorded by a 3-D orientation capture system are carried out on the developed parallel hip joint simulator. Moreover, the results of the forward kinematic tests prove that the 3SPS+1PS bionic parallel test platform can approximately represent human hip joint motion and provide more reliable experimental data for hip joint prostheses in clinical application.     

Facial expression recognition using radial encoding of local Gabor features and classifier synthesis

Primarily motivated by some characteristics of the human visual cortex (HVC), we propose a new facial expression recognition scheme, involving a statistical synthesis of hierarchical classifiers. In this scheme, the input images of the database are first subjected to local, multi-scale Gabor-filter operations, and then the resulting Gabor decompositions are encoded using radial grids, imitating the topographical map-structure of the HVC. The codes are fed to local classifiers to produce global features, representing facial expressions. Experimental results show that such a hybrid combination of the HVC structure with a hierarchical classifier significantly improves expression recognition accuracy when applied to wide-ranging databases in comparison with the results in the literature. Furthermore, the proposed system is not only robust to corrupted data and missing information, but can also be generalized to cross-database expression recognition.