Development and implementation of a NURBS curve motion interpolator

This paper deals with the issues of development and implementation of a real-time NURBS interpolator for a six-axis robot. Using an open-architecture controller system as a testbed, a real-time NURBS curve interpolator was developed, implemented and tested. Sample runs were conducted with the resulting trajectories measured in real-time during robot motion. The resulting trajectories are analyzed, discussed and compared with those from a commonly used point-to-point approximation technique. The real-time NURBS curve interpolator's feasibility, advantages and related issues are also discussed.     

An Efficient Code-Based Voxel-Traversing Algorithm

The paper considers an efficient approach to traversing a uniformly-subdivided space pierced by a line segment. A voxel, as the basic constituent element of the uniformly subdivided space, is restricted to having the form of a cube. The algorithm works in two steps. In the first step, the so-called Bresenham voxels are identified and, by comparing their position codes, their type of connectivity is determined. To achieve the required connectivity between neighbouring voxels, the second step of the algorithm is applied to find the missing voxels. In this way, the algorithm efficiently switches between face-, edge- and vertex-connectivity. Although the algorithm works with oating-point precision, it is extremely computationally efficient, and tests of speed compared with the Müller, Cleary & Wyvill, Amanatides & Woo, and Zemčik algorithms are described.     

Robot control and parameter estimation with only joint position measurements

Most adaptive control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately, it is desirable to estimate joint velocities through an observer. This paper presents an adaptive scheme designed in conjunction with a linear observer. Boundedness of the estimated parameters and uniform ultimate boundedness for the tracking and observation errors are guaranteed. Experimental results are included to support the developed theory.     

针对无网格并行计算的基于模糊均值聚类的分区方法*

针对国际上普遍采用的基于回归几何二分的分区方法的缺陷,提出了基于模糊均值聚类的均匀模糊均值聚类分区算法。采用该方法对不同类型的无网格几何模型进行了分区,并根据分区信息对三维实体模型进行了并行计算。通过与基于回归几何二分法的比较,充分验证该算法的有效性和可行性。     

斜压状态下托轮滚圈多体接触的力学特征

根据滚圈处筒体的变形及力平衡条件,建立了计算滚圈与筒体间接触压力分布的数学模型。研究了斜压状态下托轮滚圈多体接触模型的特点,开发了斜压接触下托轮滚圈有限元建模程序,该程序适用于任何载荷、载荷比、偏斜角下托轮滚圈的接触有限元分析。应用均匀设计法,设计了托轮与滚圈多体接触的有限元计算方案,通过计算,得出了托轮与滚圈的应力及变形情况。通过对滚圈的变形椭圆度和内、外表面的最大等效应力进行多元线性回归,得到了滚圈的变形椭圆度和内、外表面的最大等效应力随支承载荷、载荷比、托轮偏斜角的变化公式。     

低温溶液直接缩聚法制备浆粕状芳纶纤维

采用低温溶液缩聚法制备浆粕状芳纶纤维 ,且通过均匀设计来安排合成试验 ,采用数据组合法和单纯型寻优法建立了各影响因素与芳纶浆粕纤维特性粘数之间的回归模型 ,优化了合成工艺 ,为进一步研究制备浆粕状芳纶浆粕工艺奠定了基础     

均匀设计试验方法及其在Ni-P-MoS2化学镀上的应用

均匀设计是基于试验点在整个试验范围内均匀散布的一种试验设计方法。介绍了该法的特点及其软件的基本功能与基本操作过程。从均匀设计试验方案的建立、试验结果的回归分析及优化、镀液最佳配方的试验验证3个方面介绍了均匀设计法在Ni-P-MoS2化学复合镀中的应用，并得到了最佳的Ni-P-MoS2化学复合镀液配方。该法应用于化学镀的工艺试验，简便可行。     

银杏内酯A和B的分离纯化研究

In this paper a simple preparative method for isolation and purification of ginkgolides A and B was developed,As starting material,a commercially available standardized ginkgo extract (EGb761,containing 24% flavonoid and 6% terpene trilactones) was used,After a pretreatment step,optimized by the uniform design method ,the concentrated intermediate extract with high content of GA and gb( 90%) was separated into the individual terpenes by preparative liquid chromatography eluted with petroleum ether-ethylacetate,Analysis of products was carried out by means of HPLC-ELSD(evaporative light -scattering detector),The results show that ginkgolides A and B are obtained in higher yield and better purity.     

Proposal of a uniform color scale for virgin olive oils

A new color scale was developed from a broad data set of 1700 virgin olive oil samples over four crop seasons, which can be considered highly representative of the whole color range of virgin olive oils available in Spain. This color scale provides a new set of 60 color standards, improving the results achieved by the old 60-color standards proposed by the bromthymol blue method. Seeking the greatest possibility of including a near match between colors of virgin olive oils and proposed standards, we developed our new color scale using a recent uniform color space, with standards placed in a regular rhombohedral lattice like the one employed by the Uniform Color Scales of the Optical Society of America. The average color difference between each of the 1700 virgin olive oils and its nearest standard is reduced from 8.17 CIELAB units, using the bromthymol blue standards, to 3.99 CIELAB units using the new standards. Within a color tolerance of 7.0 CIELAB units, 93.2% of our virgin olive oils can be classified with the new standards, but only 59.1% with the bromthymol blue ones. In the interest of future adoption, the performance of the new color standards should be tested by industry and researchers.     

基于受扰动的PMSM系统动力学研究及模拟

借助Lyapunov函数稳定性理论和最优化理论研究了永磁同步电动机系统解的界,得到了它的界估计。通过计算机模拟,数值模拟验证了计算理论的可行性。