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.     

Accurate mirror-based camera pose estimation with explicit geometric meanings

An accurate closed form solution is proposed to estimate camera pose by several mirrored reference object images acquired via a planar mirror under different unknown poses. Compared with state-of-the-art methods, our method is more accurate when there are more than three images and has explicit geometric meanings. This method also properly handles cases in which some of the mirror poses are parallel. The central idea is to minimize an error metric based on all reflections of rotation, which enables the camera rotation to be estimated directly by SVD of sum of mirrored camera rotations. After that, the camera translation is computed by solving a large system of linear equations to minimize object space collinearity error. Both synthesized data and real data experiments show the advantages of our approach.     

国外天基空间目标监视研究现状与特点分析

增强空间监视能力是空间控制以及利用空间实施军事行动的关键，各航天大国非常重视空间目标监视的研究，尤其重视天基空间目标监视的研究。分析了国外天基空间目标监视的研究现状与特点，提出了发展天基空间目标监视系统的几点启示。     

Fabrication and characterization of Zr and Co co-doped LiMn2O4 nanowires using sol–gel–AAO template process

The Zr and Co co-doped LiMn₂O₄ nanowires are fabricated successfully by using sol–gel process with porous anodic aluminum oxide (AAO) as the template. Scanning electron microscopy (SEM) and transmission electron microscopy (TEM) characterization show that the synthesized LiZr _x Co _y Mn_(2-x-y)O₄ nanowires are uniformly distributed, high-ordered, and parallel to each other, and few microscopic defects are found. Selected area electron diffraction (SAED) pattern, X-ray diffraction (XRD), and X-ray photoelectron spectroscopy (XPS) investigations jointly demonstrate that the synthesized nanowires have a similar single spinel structure of LiMn₂O₄ crystal though Zr and Co are doped. Since the LiZr _x Co _y Mn_(2-x-y)O₄ nanowires can be mass-produced by using this method, it is expected to find promising application as a new cathode material in lithium ion battery.     

高性能聚酰亚胺纤维

本文综述了聚酰亚胺纤维的性能及其制备工艺,以及聚酰亚胺纤维在结构方面的研究及纤维成型新技术、新工艺。