Design of a six-axis high precision machine tool and its application in machining aspherical optical mirrors

The paper presents the design of a six-axis machining system and its application in fabricating large off-axis aspherical mirrors with sub-aperture lapping techniques. The new system is based on computer-controlled optical surfacing (CCOS), which combines the faculties of grinding, polishing, and on-machine profile measuring, has the features of conventional loose abrasive machining with the characteristics of a tool having multiple degrees of freedom moving in planar model. And a novel dual touch-trigger probe profiler is designed, which is composed of a probe, model METRO-MT60 made by HEIDENHAIN Co., is integrated into the system for measuring the shape accuracy of the tested aspherical surface, another probe modeled METRO-MT12 is designed as a calibrating device for minimizing the cosine error caused by assembly inaccuracy. The new CNC machining system with two kinds of moving coordinate systems, dual tool activities and on-machine measuring is presently developed based on the new concept. The general material removal function during machining is analyzed on the basis of the Preston hypothesis. Further, an alignment test of the measuring profiler is carried out using a leveling rule as a specimen. The accuracy of the optical surfaces measured by the dual probe profiler is found to be within 1 μm PV after removing cosine error and error compensating, achieves to the resolving power of the profiler is about 0.2–0.5 μm, so the developed system can be applied to the shape accuracy measuring of aspheric fabrication with micro precision during fine grinding process according to the calibrating results. Finally, the manufacturing experiments are carried out by virtue of an off-axis oblate ellipsoid mirror with rectangular aperture as 770 mm×210 mm and centered 127 mm. The accuracy of the aspherical mirror improved from the initial form error of 17.648 μm rms to the final one of 0.728 μm rms after grinding for 200 h.     

Structure synthesis and statics analysis of a foldable stair

This paper proposes a foldable stair that can be deployed for use and folded for conservation and investigates the geometry and statics of the structure. It not only has the moving flexibility of a mechanism but also has the high stiffness and high strength of statically indeterminate structures. The primary linkage is a deployable scissor-like element which forms the staircase after expanding. This paper starts with the analysis of the geometry of planar four- and six-bar mechanisms and processes to synthesize the foldable stair and then investigates its statics. The paper further investigates redundant inner forces of every link based on the second Castigliano theorem, develops a foldable stair model, assembles and manufactures. Working experiments verify the theoretical results and the outstanding advantages over the general fixed stairs.     

On the forward and inverse displacement of spatial parallel manipulators

In engineering applications, the singularity, and the forward and inverse displacement of spatial parallel manipulators have received a great deal of attention. This paper presents a new simple but effective methodology to investigate these problems based on the analysis of the degree of freedom (DoF) of the spatial parallel manipulator. Through numerical method, the singularity and the forward displacement problems can be cracked simultaneously. With a numerical example, we point out that the Newton-GMRES algorithm is quite a good redeeming method to solve the forward displacement of spatial parallel manipulators, in which cases the differential coefficient matrix of the Newton?Raphson method is nearly singular.     

基于Hadoop的GA-BP算法在降水预测中的应用

针对如何从海量的气象数据中挖掘出有用的知识,并提高气象预报的准确度,提出了在Hadoop平台上构建基于遗传神经网络算法的天气预报方法.该方法采用遗传算法与神经网络算法相结合,避免了传统算法容易陷入局部最优的问题,并以天津市13个台站1951–2006年的地面气候资料日值数据为基础,建立了遗传神经网络预测模型,最后以降雨量等级为决策属性进行了实验.结果表明,该方法对所有降水等级的预测准确率都要优于传统的神经网络算法,对于降水等级R₀的预测精度最高,达到了87%,不仅可以有效的处理海量气象数据,同时具有较高的预测精准度和良好的扩展性,为天气预报提拱了一种全新的思路和方法.     

Leveraging Document-Level and Query-Level Passage Cumulative Gain for Document Ranking

Document ranking is one of the most studied but challenging problems in information retrieval (IR). More and more studies have begun to address this problem from fine-grained document modeling. However, most of them focus on context-independent passage-level relevance signals and ignore the context information. In this paper, we investigate how information gain accumulates with passages and propose the context-aware Passage Cumulative Gain (PCG). The fine-grained PCG avoids the need to split documents into independent passages. We investigate PCG patterns at the document level (DPCG) and the query level (QPCG). Based on the patterns, we propose a BERT-based sequential model called Passage-level Cumulative Gain Model (PCGM) and show that PCGM can effectively predict PCG sequences. Finally, we apply PCGM to the document ranking task using two approaches. The first one is leveraging DPCG sequences to estimate the gain of an individual document. Experimental results on two public ad hoc retrieval datasets show that PCGM outperforms most existing ranking models. The second one considers the cross-document effects and leverages QPCG sequences to estimate the marginal relevance. Experimental results show that predicted results are highly consistent with users’ preferences. We believe that this work contributes to improving ranking performance and providing more explainability for document ranking.

     

Computation of the configuration degree of freedom of a spatial parallel mechanism by using reciprocal screw theory

In this paper, we propose a programmable algorithm to investigate the configuration degree of freedom (CDOF) of a spatial parallel mechanism in one Cartesian coordinate system with reciprocal screw theory. According to the physical meaning of reciprocal screws, we first obtain the terminal constraints of every kinematic chain which connects the end-effector with the fixed base, and then gain the free motion(s) of the end-effector and its degree of freedom (DOF). Through analyzing the controllability of the end-effector, we investigate the instantaneous screw expressions for the free motions of the end-effector of a spatial parallel mechanism and the CDOF of the mechanism. The whole mathematical analysis process can be directly embedded in a kind of CAD software, in which the imperfect Kutzbach Grübler formulas or its amendments are mostly utilized to analyze the DOF.     

Effect of sodium sulfite,tartaric acid,tannin, and glucose on rheological properties,release of aroma compounds,and color characteristics of red wine

Food Science and Biotechnology - In this study, we evaluated the effect of addition of non-volatile compounds (sodium sulfite, tartaric acid, tannin, and glucose) on the rheological properties,...     

On the workspace of spatial parallel manipulator with multi-translational degrees of freedom

This paper presents a new simple but effective algebra-geometry methodology to investigate the workspace of spatial parallel manipulators based on the analysis of its degree of freedom (DoF). Through coordinate transformation, we depict the geometric relationships with a set of parameter equations, which should be widely adapted to address the workspace of spatial parallel manipulators with multi-translational DoF. We also point out that the workspace of certain spatial parallel manipulators can be large enough rather than very small for applications. This revised version was published online March 2005 with corrections to Figure 5.     

A Position and Torque Switching Control Method for Robot Collision Safety

With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching control method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switching control method includes two modes, the position control mode using a proportion-integral (PI) algorithm, and the torque control mode using sliding mode control (SMC) algorithm for eliminating swing. Under the normal condition, the robot works in position control mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to position control mode automatically. Moreover, for a better performance, the joint torque is detected from direct-current (DC) motor’s current rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.     

Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace

This paper exploits a new algorithm to optimize the length of the legs of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace rather than the whole reachable workspace. With the analysis of the degree of freedom (DoF) of a manipulator, we can select the least number of variables to depict the kinematic constraints of each leg of a manipulator. The optimum parameters can be obtained by searching the extreme values of the objective functions with the given adroit workspace. Example is utilized to demonstrate the significant advantages of this method in the dexterous workspace synthesis. In applications, this method can be widely used to synthesize, optimize and create all kinds of new spatial parallel manipulator with a desired dexterous workspace.