Validating an object placement planner for robotic pick-and-place tasks

This paper proposes an object placement planner for a grasped object during pick-and-place tasks. The proposed planner automatically determines the pose of an object that is stably placed near a user-assigned point on the environment surface. In our proposed method, first the polygon models of both the object and the environment are clustered, with each cluster being approximated by a planar region. The position/orientation of an object placed on the environment surface can be determined by selecting a pair of clusters: one from the object and the other from the environment. We furthermore conduct several tests to determine the position/orientation of the object, namely the Convexity Test, the Contact Test and the Stability Test. We demonstrate that, by using the polygon model of the environment that is obtained by means of conversion of the point cloud, we can determine the position/orientation of an object and can thereby realize a pick-and-place task.     

酚醛胺(T-31)环氧树脂固化剂之浅谈

介绍了酚醛胺(T-31)系列环氧固化剂及原料的现状和特点,并对酚醛胺(T-31)系列环氧固化剂进行了分代,阐述了第三代酚醛胺(T-31)系列环氧固化剂的系列化、专用化、高档化。预测和展望了2005年的需求和方向。     

Preparation,characterization, and adsorption properties for metal ions of a novel chelating resin containing sulfoxide and diethylene glycol

A novel chelating resin containing sulfoxide and diethylene glycol, poly{4‐vinylbenzyl‐[2‐2‐(hydroxyethyl)ethoxyl]sulfoxide} (PVESO) was synthesized using chloromethylated polystyrene (PS‐Cl) as material. Its structure was characterized by elemental analysis, infrared spectra, and scanning electron microscopy (SEM). The adsorption capacities of the resin for Hg²⁺, Ag⁺, Cu²⁺, Zn²⁺, and Pb²⁺ at various pH values were determined. The maximum adsorption capacities for Hg²⁺ and Ag⁺ were 1.56 and 0.75 mmol g^?1 respectively. The resin had high selectivity for Hg²⁺ and Ag⁺ over the pH range 1.0–7.0. The adsorption capacities for Hg²⁺ and Ag⁺ under competitive condition were also determined by batch experiment method. In addition, the adsorption kinetics of the resin towards Hg²⁺ at different temperatures was also investigated. The results showed that the adsorption rate was governed by film diffusion at 20°C and 25°C, by particle diffusion at 30°C and 35°C. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 6054–6059, 2006     

Telerobot-enabled HUB-CI model for collaborative lifecycle management of design and prototyping

The HUB-CI model is investigated in a telerobotic system in a client/server network to manage the lifecycle of engineering design and prototyping. The purpose of this platform is to support collaborative engineering design and proof of concept to enhance distributed team collaboration and resource utilization. The suggested platform is exemplified in two collaboration support tools and a physical prototyping platform. Structured Co-Insight Management is developed to support innovative idea exchanges and the consensus decision-making during the design process. Conflict/error detection management helps preventing conflicts and errors during the lifecycle of design and development. Physical collaboration over the network occurs when a team controls the telerobot operation during prototyping and testing in design cycles. A pilot system is implemented with a group project for the design of an electronic circuit (including both hardware and software designs). The functional assessment method is used to compare this platform to other collaborative design tools. The system presented offers unique qualitative advantages as an integrated collaboration support system.     

Pathline glyphs

Visualization of pathlines is common and highly relevant for the analysis of unsteady flow. However, pathlines can intersect, leading to visual clutter and perceptual issues. This makes it intrinsically difficult to provide expressive visualizations of the entire domain by an arrangement of multiple pathlines, in contrast to well‐established streamline placement techniques. We present an approach to reduce these problems. It is inspired by glyph‐based visualization and small multiples: we partition the domain into cells, each corresponding to a downscaled version of the entire domain. Inside these cells, a single downscaled pathline is drawn. On the overview scale, our pathline glyphs lead to emergent visual patterns that provide insight into time‐dependent flow behavior. Zooming‐in allows us to analyze individual pathlines in detail and compare neighboring lines. The overall approach is complemented with a context‐preserving zoom lens and interactive pathline‐based exploration. While we primarily target the visualization of 2D flow, we also address the extension to 3D. Our evaluation includes several examples, comparison to other flow visualization techniques, and a user study with domain experts.     

浅谈电子产品对儿童的影响及对策

在现代社会中,平板电脑、智能手机在人们日常生活的方方面面发挥着巨大的作用。通过分析电子产品在儿童和青少年的视力、身体发育、社交能力和学习能力等方面的负面影响,提出了加强亲子陪伴、合理引导控制等应对措施。     

浅谈C语言中循环结构的教学--回答好循环结构的“三个问题”

循环结构是C语言程序设计中的重难点,其掌握情况对于后续章节的学习效果尤为关键。本文以什么是循环、何时需要使用循环以及如何使用循环三个问题为主线,通过精心选择的教学案例和灵活有效的教学方法来进行解答,以激发学生兴趣,培养编程思想。     

探索行动导向教学法在网络架构课程教学改革中的应用

技工学校是以技术型人才培养为目的的学生能力养成和技能操作的教育基地,为确保人才培养质量,学校需要加强对市场形势的把握和教学改革的控制。行动导向教学法是目前广泛应用于技校和职校教学课堂的、有较好实际作用的教学方法,文章以行动导向教学法为重点,以配置交换机实现VLAN学习任务为案例,在教学方法和手段等几个方面讨论了行动导向教学法在网络架构课程教学改革中的研究与实践。     

整合资源调整职能促进发展--关于陕煤技校改革发展的思考

经过60年的发展,陕西煤炭技工院校形成了以服务煤业为特色的专业结构和办学模式,为祖国煤炭发展做出了不可替代的贡献。近年来,由于煤炭市场遇冷,行业技校吸引力持续减弱,如何走出困境,重铸辉煌,作者从整合职教资源,调整管理职能,转换办学模式的角度进行了分析思考,或许能给陕煤技校改革发展提供一些有益参考。     

基于工作流导向的“网络信息安全”实训教材建设

针对"网络信息安全"教材建设的现状进行分析,提出建设基于工作流导向的任务式实训模式教材的必要性,并从教材的指导思想、整体结构、内容结构及其特色等方面进行了阐述。实践证明,该新型教材的建设和使用能够激发学生学习网络安全知识的兴趣,提升动手能力,有效提高教学质量和效率。