面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

Design and Implementation of a Flexible Manufacturing Control System Using Neural Network

Design and implementation of a sequential controller based on the concept of artificial neural networks for a flexible manufacturing system are presented. The recurrent neural network (RNN) type is used for such a purpose. Contrary to the programmable controller, an RNN-based sequential controller is based on a definite mathematical model rather than depending on experience and trial and error techniques. The proposed controller is also more flexible because it is not limited by the restrictions of the finite state automata theory. Adequate guidelines of how to construct an RNN-based sequential controller are presented. These guidelines are applied to different case studies. The proposed controller is tested by simulations and real-time experiments. These tests prove the successfulness of the proposed controller performances. Theoretical as well as experimental results are presented and discussed indicating that the proposed design procedure using Elman's RNN can be effective in designing a sequential controller for event-based type manufacturing systems. In addition, the simulation results assure the effectiveness of the proposed controller to outperform the effect of noisy inputs.     

Original Finger Image Extraction by Morphological Technique and Finger Image Comparisons for Persons' Identification

This research uses the object extracting technique to extract the index, middle and ring fingers from the hand images. The algorithm developed in this research can find the precise locations of the different fingers' fingertips and the finger-to-finger-valleys. After finding the positions of the fingertips and finger-valleys, the index, middle and ring fingers can be extracted from the hand images by using morphological technique. The extracted index, middle and ring fingers contain many useful geometry features. One can use these features to do the person's identification. The orientations of the index, middle and ring fingers are found in this research. Image rotating, image shifting, and image interpolating techniques are used to align different persons' index, middle and ring fingers. Image subtraction is used to exam the difference of two index, middle and ring finger images. In this research so far only use the index, middle and the ring fingers as the features to identify different persons. ^★This work was supported by National Science Council under grant NSC 93-2213-E-212-011.     

QFT control design for an approximately linearized pneumatic positioning system

A block‐oriented approximate feedback linearization for control of a pneumatic cylinder positioning system is introduced and a rather detailed discussion is presented on the uncertain linearization residual characterization. It is shown that making use of the characterized gain–phase information of the linearized system leads to a more reasonable trade‐off between performance and stability in the QFT control design and thus results in high control performance. Simulation and experimental results are shown. Copyright © 2003 John Wiley & Sons, Ltd.     

气力输送在烧结电除尘输灰系统中的应用

针对烧结厂烧结电除尘灰的工况特性，介绍了输送烧结电除尘灰的正压气力输灰系统的特点、组成，还对在调试和试运行过程中遇到的故障进行了分析并制订了解决措施。     

An Experimental Investigation into the Feed Rate Capacity of Rotary Valve and Blow Tank Feeders

Industry widely uses rotary valves and blow tanks for the pneumatic conveying of products, each having their pros and cons depending on the specific application. This article shows the differing results obtained when low-velocity conveying a product through a common pipeline using both a drop-through rotary valve and a bottom-discharge blow tank feeder. A number of issues arise in the rotary valve system, the main one being rotary valve air leakage. A blow tank system, on the other hand, does not leak, as it is an enclosed system. The experimental results show dramatic differences in product throughput. Further exploration leads to a novel modification being made to the rotary valve system in an attempt to increase its capacity. The result of this modification shows a slight increase in output tonnage, but still significantly less than that obtained from the blow tank.     

Effect of tap spacing on observed differential pressure fluctuations in a pneumatic transport line

The standard deviation of differential pressure fluctuations between pressure taps in a 31.7 mm i.d. vertical downer was found to be proportional to the square root of the distance between the taps when measured under otherwise constant conditions. This finding confirms the prediction of a theoretical model based on the Central Limit Theorem of sampling statistics. Although the paper only presents experimental confirmation for downward flow, the theoretical model should be valid for flows in all orientations. Except at very low solids flows, the pressure gradient was found to be positive in the flow direction, indicating that rise in pressure due to static pressure more than compensated for frictional pressure losses.     

颗粒状物料气力输送系统中输料管的连接方式

对颗粒状物料的气力输送 ,人们往往只重视所要采用的输送方式 ,而忽视了输料管连接方式的正确选择、施工与安装。输料管连接方式的正确与否 ,直接影响到输送量和物料的品质。详细介绍了常用的几种连接方式 ,分析了它们的优缺点 ,并提出了比较合理的连接方式     

Improvement of Air-Distributing System of the Pneumatic Impact Machines for Trenchless Technologies

The process of actuation is considered for the inertial element in the improved air-distributing system of pneumatic puncher whose dimensionless parameters are determined.     

三(明)钢烧结厂电除尘灰的气力输送

三钢烧结厂130m^2烧结机电除尘输灰首次采用了气力输送系统。该系统由气源、输送、管路、灰库及控制五部分组成，本文介绍了系统的工作原理及运行调试情况。系统投产后，运行平稳，达到了设计要求。