Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

Computational modelling of water flow inside laboratory Knelson concentrator bowl

Enhanced gravity concentrators such as Knelson concentrator (KC) are extensively used in the mineral processing industry. The complexities of KC bowl geometry and variation of feed characteristics have forced process engineers to design empirically new units using laboratory and pilot-scale Knelson concentrators. However, numerical modelling methods such as computational fluid dynamics (CFD) and discrete element method (DEM) provide a better insight of flow behaviour of fluid and particulate solid phases inside these processing units. This article reports findings of CFD simulations for single-phase water flow inside the laboratory KC. An available standard 7.5-cm laboratory KC bowl was numerically simulated using realisable k-ε turbulence model to resolve the turbulence dispersion of existing transitional flow regime. The effects of relative centrifugal force (RCF) intensity and bed fluidisation water flow rate on the water velocity and pressure distributions were studied. Simulations confirmed the swirling flow pattern governing inside the bowl. The results revealed that the impact of RCF intensity on the water field values is greater than that of bed fluidisation water flow rate. Both velocity and pressure variations inside the bowl rings followed a linear trend.     

基于时空的弱点状运动目标检测技术

如何在复杂背景下持续有效地检测目标位置,一直是研究者们需要面对的主要挑战。本文在研究红外点状移动目标特征的基础上,根据目标无纹理,无形状的特性,提出一种改进的形态学目标增强算法,并利用目标连续时空不变性检测目标。首先,建立多尺度的图像金字塔,在每层上采用改进的形态学算法快速、粗糙定位小目标。然后进一步的根据目标在时空上的位置相关性,提出基于目标运动特征分析的精确检测方法。得到精确稳定的检测结果。最后实验结果表明与经典的形态学检测算法及其他算法相比,该技术能更有效地检测弱小目标,具有更高的鲁棒性。     

X射线干涉光刻光束线关键光学元件热-结构耦合分析

为了保证上海光源X射线干涉光刻光束线的稳定性,减小热变形对实验结果的影响,对X射线干涉光刻光束线的3个关键光学元件——偏转镜、聚焦镜和精密四刀狭缝进行热-结构耦合分析。首先,计算偏转镜、聚焦镜和精密四刀狭缝所承载的功率密度;然后,建立其有限元模型;最后,获得光学元件的温度场和热变形的结果。结果表明,偏转镜和聚焦镜采用间接水冷方式可有效抑制热变形,冷却后的最大面形误差分别为7.2μrad和9.2μrad。精密四刀狭缝未冷却时,刀片组件温度介于271.56~273.27℃,刀口热变形为0.19 mm,直线导轨热变形为0.08 mm;经过铜辫子冷却后,刀片组件温度降至22.24~23.94℃,刀口热变形降至0.2μm,直线导轨热变形降至0.1μm;采用影像法和接触探头法测试后,刀口直线度、平行度和重复精度均满足技术要求。偏转镜、聚焦镜和精密四刀狭缝的热变形通过间接水冷和铜辫子的冷却方式可以得到很大程度的抑制,进而保证光斑质量。     

A modified cross-correlation algorithm for PIV image processing of particle-fluid two-phase flow

PIV (Particle Image Velocimetry) technique for flow field measurement has achieved popular self-identify through over ten years development, and its application range is becoming wider and wider. PIV post-processing techniques have a great influence on the success of particle-fluid two-phase flow field measurement and thus become a hot and difficult topic. In the present study, a Phase Respective Identification Algorithm (PRIA) is introduced to separate low-density solid particles or bubbles and high-density tracer particles from the PIV image of particle-fluid two-phase flow. PTV (Particle Tracking Velocimetry) technique is employed to calculate the velocity fields of low-density solid particles or bubbles. For the velocity fields of high-density solid particles or bubble phase and continuous phase traced by high-density smaller particles, based on the thought of wavelet transform and multi-resolution analysis and the theory of cross-correlation of image, a delaminated processing algorithm (MCCWM) is presented to conquer the limitation of conventional Fourier transform. The algorithm is firstly testified on synthetic two-phase flows, such as uniform steady flow, shearing flow and rotating flow, and the computational results from the simulated particle images are in reasonable agreement with the given simulated data. The algorithm is then applied to images of actual bubble-liquid two-phase flow and jet flow, and the results also confirmed that the algorithm proposed in the present study has good performance and reliability for post-processing PIV images of particle-fluid two-phase flow.     

PIXE study on recovery of making-technology of Chinese Longquan celadon made in the Southern Song Dynasty (1127–1279 CE)

Proton induced X-ray emission (PIXE) technique and factor analysis were used to study the recovery of making-technology of Chinese Longquan celadon made in the late Southern Song Dynasty (1127–1279 CE). Based on factor analysis, for the raw material for body and the recipe for glaze, there is a close but slightly different relationship between these Longquan celadons unearthed from the core area of Dayao and the non-core area, despite all the Longquan celadons belong to the high-calcium-glaze system. The chemical compositions of most of the tentative body and glaze samples are very close to those of Longquan celadons unearthed from the core area of Dayao and the non-core area. This study can provide a guidance for recovery of making-technology of Longquan celandon.     

Strength of pure alumina ceramics above 1 GPa

Up to now, commercially available alumina ceramics were claimed to have strength between 400 and 550 MPa. However, our study shows strength ~ 2 times higher for commercially available alumina than commonly believed. The average and characteristic strength, measured on 31 pure alumina ceramic discs by ball on three balls (B3B) test, were 1205 ± 93 MPa and 1257 MPa, respectively, with a Weibull modulus of m = 11.8. Tested specimens were in form of discs with a diameter of 5 mm and thickness 0.5 mm. The grain size distribution of the alumina is bimodal with an average grain size of ~ 850 nm measured at the surface. The fracture reveals a mixed transgranular / intergranular failure mode. To avoid incorporation of additional flaws, the discs were tested as sintered. The characteristic flexural strength measured in B3B was recalculated according to Weibull theory for standard 4-point bending bars of size 3 × 4 × 45 mm as bend 856 MPa. The measured strength of nearly 900 MPa shows the potential of strength for high purity alumina ceramics.     

A Mobile Cloud-Based eHealth Scheme

Mobile cloud computing is an emerging field that is gaining popularity across borders at a rapid pace. Similarly, the field of health informatics is also considered as an extremely important field. This work observes the collaboration between these two fields to solve the traditional problem of extracting Electrocardiogram signals from trace reports and then performing analysis. The developed system has two front ends, the first dedicated for the user to perform the photographing of the trace report. Once the photographing is complete, mobile computing is used to extract the signal. Once the signal is extracted, it is uploaded into the server and further analysis is performed on the signal in the cloud. Once this is done, the second interface, intended for the use of the physician, can download and view the trace from the cloud. The data is securely held using a password-based authentication method. The system presented here is one of the first attempts at delivering the total solution, and after further upgrades, it will be possible to deploy the system in a commercial setting.     

Profiling drunk driving recidivists in Denmark

Drunk drivers are a menace to themselves and to other road users, as drunk driving significantly increases the risk of involvement in road accidents and the probability of severe or fatal injuries. Although injuries and fatalities related to road accidents have decreased in recent decades, the prevalence of drunk driving among drivers killed in road accidents has remained stable, at around 25% or more during the past 10 years. Understanding drunk driving, and in particular, recidivism, is essential for designing effective countermeasures, and accordingly, the present study aims at identifying the differences between non-drunk drivers, drunk driving non-recidivists and drunk driving recidivists with respect to their demographic and socio-economic characteristics, road accident involvement and other traffic and non-traffic-related law violations. This study is based on register-data from Statistics Denmark and includes information from 2008 to 2012 for the entire population, aged 18 or older, of Denmark. The results from univariate and multivariate statistical analyses reveal a five year prevalence of 17% for drunk driving recidivism, and a significant relation between recidivism and the drunk drivers’ gender, age, income, education, receipt of an early retirement pension, household type, and residential area. Moreover, recidivists are found to have a higher involvement in alcohol-related road accidents, as well as other traffic and, in particular, non-traffic-related offences. These findings indicate that drunk driving recidivism is more likely to occur among persons who are in situations of socio-economic disadvantage and marginalisation. Thus, to increase their effectiveness, preventive measures aiming to reduce drunk driving should also address issues related to the general life situations of the drunk driving recidivists that contribute to an increased risk of drunk driving recidivism.     

The use of bio-diesel based additive as rheology improver and pour point depressant of Nigerian waxy crude

The chemical method has proved to be the most effective mitigating method of wax deposition in petroleum system as it deals with the root cause of wax formation. Most of the commercial chemicals in the industry are very expensive and toxic. This paper aims the use of biodiesel based additives for improving the rheological behavior and pour points of waxy crude from Nigeria field. The biodiesels derived additives gave better performance than the commercial chemical and the seed oils as greatly improvement in rheology and pour point values of the waxy crude were observed