A three-dimensional measurement system for robot applications

This paper presents a 3D noncontacting sensor system designed to measure the position and orientation of a robot end effector. This measurement system includes two parts: a tridimensional object including four spheres placed along the axes of a tetrahedron and a set of three orthogonally pointed cameras. The purpose is to design a measurement system characterized by easy relationships in order to satisfy real-time constraints. The system has been used in two experiments: first, to calibrate a parallel robot and validate the geometrical control performance, then as an exteroceptive sensor in an assembly task. The system computes position and orientation of the tetrahedron in 100 ms time. The position and orientation accuracy are, respectively, 0.6 mm and 0.2 deg in a workspace, being a cube with 0.3 m sides.     

基于无监督深度图像生成的盲降噪模型

鉴于有监督神经网络降噪模型的数据依赖缺陷,提出了一种基于无监督深度生成（UDIG）的盲降噪模型。首先,利用噪声水平评估（NLE）算法测定给定噪声图像中的噪声水平值并输入到主流FFDNet降噪模型中,所得到降噪后的图像（称为初步降噪图像）作为UDIG降噪模型的输入。其次,选用编码器—解码器架构作为UDIG模型的骨干网络并用UDIG模型的输出图像（即生成图像）分别与初步降噪图像、噪声图像之间的均方误差之和构建混合loss函数;再次,以loss最小化为优化目标,通过随机梯度下降（SGD）网络训练算法调整网络模型的参数值从而获得一系列生成图像;最后,当残差图像（噪声图像与生成图像之间）的标准差逼近之前NLE算法所测定的噪声水平估计值时及时终止网络迭代训练过程,从而确保生成图像（作为降噪后图像）的图像质量最佳。实验结果表明：与现有的主流降噪模型（算法）相比,UDIG降噪模型在降噪效果上具有显著优势。     

Elucidation of the Clustered Nano-Architecture of Radiation-Induced DNA Damage Sites and Surrounding Chromatin in Cancer Cells: A Single Molecule Localization Microscopy Approach

In cancer therapy, the application of (fractionated) harsh radiation treatment is state of the art for many types of tumors. However, ionizing radiation is a “double-edged sword”—it can kill the tumor but can also promote the selection of radioresistant tumor cell clones or even initiate carcinogenesis in the normal irradiated tissue. Individualized radiotherapy would reduce these risks and boost the treatment, but its development requires a deep understanding of DNA damage and repair processes and the corresponding control mechanisms. DNA double strand breaks (DSBs) and their repair play a critical role in the cellular response to radiation. In previous years, it has become apparent that, beyond genetic and epigenetic determinants, the structural aspects of damaged chromatin (i.e., not only of DSBs themselves but also of the whole damage-surrounding chromatin domains) form another layer of complex DSB regulation. In the present article, we summarize the application of super-resolution single molecule localization microscopy (SMLM) for investigations of these structural aspects with emphasis on the relationship between the nano-architecture of radiation-induced repair foci (IRIFs), represented here by γH2AX foci, and their chromatin environment. Using irradiated HeLa cell cultures as an example, we show repair-dependent rearrangements of damaged chromatin and analyze the architecture of γH2AX repair clusters according to topological similarities. Although HeLa cells are known to have highly aberrant genomes, the topological similarity of γH2AX was high, indicating a functional, presumptively genome type-independent relevance of structural aspects in DSB repair. Remarkably, nano-scaled chromatin rearrangements during repair depended both on the chromatin domain type and the treatment. Based on these results, we demonstrate how the nano-architecture and topology of IRIFs and chromatin can be determined, point to the methodological relevance of SMLM, and discuss the consequences of the observed phenomena for the DSB repair network regulation or, for instance, radiation treatment outcomes.     

TQFR-3000 型同步牵引发电机的外特性曲线分析

TQFR-3000型同步牵引发电机在考虑电压电流的限制条件下,为了充分利用柴油机的功率,同步牵引发电机外特性曲线和功率曲线应该保持在理想状态。而同步牵引发电机所拥有的自然外特性曲线,无法使柴油机保持恒定功率。通过对TQFR-3000型同步牵引发电机的外特性曲线进行分析并调节,使同步牵引发电机的外特性曲线和功率曲线达到理想状态。     

Fluorescent lamp promoted formaldehyde removal over CeO2 catalysts at ambient temperature

Exploring an alternative strategy with high efficiency and low cost to abate formaldehyde (HCHO) in indoor environment, is of increasing significance for people's health. CeO₂ catalysts prepared by hydrothermal, precipitation and calcination methods were investigated for HCHO removal at ambient temperature. It is found that indoor fluorescent light visibly boosts the catalytic performance of CeO₂ catalysts for HCHO decomposition at ambient temperature. Among the CeO₂ catalysts, CeO₂ prepared from hydrothermal method (CeO₂–H) exhibits a superior catalytic performance and an excellent durability by eight recycle times. Based on the characterization and analysis, the excellent catalytic performance of CeO₂–H is mainly contributed by its abundance of surface oxygen vacancies, and photogenerated electrons and hole activated by fluorescent light. This work shows a potential practicability in HCHO pollution elimination by taking full advantage of the existing lighting in indoor environments.     

提高热镀锌钢管外观质量的方法

分析了热镀锌钢管的镀锌层结构,化学成分,热镀锌台金和工艺操作等对钢管外观质量的影响,并提出了相应的解决措施。     

Dose and dose rate effects on coherent-to-incoherent transition of precipitates upon irradiation

A typical precipitation hardened alloy, Cu-Co dilute alloy was selected to study the precipitation behavior and irradiation effect on precipitates. It is found that the principal effect of ion irradiation on the coherent precipitates is loss of coherency, and TEM cross-section observations show that the fraction of the incoherent precipitates is dependent on dose but not on dose rate during heavy ion irradiation.     

辐照损伤对锆合金电化学性能的影响

综述了堆内辐照对锆合金电化学性能影响的概况，浅析了堆内辐照损伤的机理，并重点探讨了主要的堆内辐照源——中子辐照对锆合金微观结构与氧化性能的影响。进一步阐述了堆外离子轰击模拟堆内中子辐照研究方法的进展概况，并就离子轰击实验参量的选择进行了较为深入的分析。     

高压微波催化合成肉桂酸甲酯

采用微波辐射技术，以一水硫酸氢钠为催化剂，由肉桂酸和甲醇直接酯化合成肉桂酸甲酯，用正交试验研究了各反应因素对产品收率的影响。确定其最佳反应条件为：酸醇摩尔比为1：5，催化剂用量为0.6g。微波功率为729W，辐射时间为5min，产品收率为98.8%。催化剂可重复使用。