在书写任务中的基于轨迹匹配的模仿学习

针对书写任务中运动轨迹较复杂的问题,引入基于轨迹匹配的模仿学习算法对书写轨迹进行表征和泛化,进而实现机器人书写技能的获取。机器人从示教者处获取示教数据,利用高斯混合模型( Gaussian mixture model, GMM)进行编码,学习示教行为的本质特征,通过高斯混合回归进行泛化处理,实现行为再现。实验结果表明：该方法具有良好的行为编码能力和抗干扰性,能够实现轨迹可连续的汉字书写,通过对GMM的扩展能够进行多任务学习,进而实现轨迹不可连续汉字的书写,泛化效果较好。     

基于GMR传感器的电涡流检测系统关键技术研究

设计了一种基于巨磁电阻（GMR）的新型电涡流探头及其检测实验系统,重点阐述了系统的工作原理、系统各部分所采用的关键技术及设计中需注意的问题,并对多层铝板试件进行了检测实验研究。实验结果表明：设计的GMR电涡流探头在多层导电结构深层缺陷检测时,与相应的线圈式探头相比,具有更高的灵敏度和更强的深层缺陷检测能力。     

Evaluation of the lift-off robustness of eddy current imaging techniques

The development of lift-off invariant strategies is one of the main goals in Eddy Current Non-Destructive Testing research. In the present work, from the analysis of amplitude and phase signals of magnetic field sensors under Multi-Frequency Eddy Current excitation, two imaging procedures are analyzed and compared with respect to their ability to retrieve reliable results even in presence of huge changes of lift-off. A figure of merit based on the Signal to Noise Ratio evaluated on the 2D reconstructed images allows the comparison of the different strategies in terms of the quality of the image to show the defect. The numerical and the experimental tests realized show that the imaging procedure relying on the analysis of the phase-lag is quite insensitive to changes in the lift-off with respect to that based on the amplitude analysis. In detail the former guarantees good results even when the probe lift-off is randomly changed during the test with variations up to 3 mm, while the latter is able to tolerate only lift-off fluctuation lower than 1 mm.     

An SVM approach with electromagnetic methods to assess metal plate thickness

Eddy current testing (ECT) is a non-destructive technique that can be used in the measurement of conductive material thickness. In this work ECT and a machine learning algorithm (support vector machine – SVM) are used to determine accurately the thickness of metallic plates. The study has been made with ECT measurements on real specimens. At a first stage, a few number of plates is considered and SVM is used for a multi-class classification of the conductive plate thicknesses within a finite number of categories. Several figures of merit were tested to investigate the features that lead to “good” separating hyperplanes. Then, based on a SVM regressor, a reliable estimation of the thickness of a large quantity of plates is tested.Eddy currents are induced by imposing a voltage step in an excitation coil (transient eddy currents – TEC), while a giant magnetoresistance (GMR) is the magnetic sensor that measures the transient magnetic field intensity in the sample vicinity. An experimental validation procedure, including machine training with linear and exponential kernels and classification errors, is presented with sets of samples with thicknesses up to 7.5 mm.     

基于巨磁阻传感器的无损检测系统研究与设计

针对现代工业与安全检测中对非铁磁性工件的表面及近表面缺陷检测需要,基于涡流无损检测原理,采用灵敏度高、体积小、工作频率范围宽(0Hz到MHz)的GMR传感器,结合基于单片机STM32的直接数字频率合成(DDS)信号产生方法及锁相技术研制了一套涡流无损检测系统。实验结果表明该基于 GMR传感器的无损检测系统能够较好的检测出铝板试件表面及表面下2 mm处缺陷的存在,多道扫描结果可清晰判别出缺陷的位置和大小,该系统可以准确完成对导电材料表面及近表面的无损检测。     

流动槽滴入法电结晶制备铜钴纳米多层膜

在硼酸镀液体系中采用流动槽滴入法电结晶制得Cu/Co纳米多层膜,通过循环伏安法确定Cu、Co电结晶电位,分别为-0.55V和-1.05V(vs.SCE),通过X射线衍射技术(XRD)和X射线荧光光谱法(XRF)对Cu/Co纳米多层膜的结构、成份进行了分析.并用物性测量系统PPMS测试了Cu/Co多层膜的磁性能,结果表明:电结晶制备的Cu/Co多层膜的矫顽力比较小,仅为34 Oe,适合作巨磁阻磁头材料,其磁电阻随磁场强度的增大而减小,且约在3000 Oe时磁电阻趋于饱和,此时的巨磁阻效应GMR值达到了14%.     

低矫顽力GMR磁传感器及其单畴模型的研究

在硅片上制备结构为Ta/NiFeCr/NiFe/CoFe/Cu/CoFe/IrMn/Ta的IrMn顶钉扎自旋阀薄膜,并最终制成了一组基于此自旋阀结构的GMR磁传感器芯片。利用弱磁场下的退火工艺,改变薄膜易磁化轴的方向,当退火温度为150℃、外加磁场为120Oe时,GMR芯片的矫顽力可以降至0.2Oe以下。同时建立了一种自旋阀自由层的单畴模型,用以解释这一退火效应。利用Mat-lab计算GMR芯片的Meff-H曲线,所得到的计算结果与实验结果一致。所以,自旋阀自由层易磁化轴的方向与GMR磁传感器的性能有着密切的关系。     

Magnetic instability of giant magnetoresistance spin-valves due to electromigration-induced inter-diffusion

Electromigration-induced magnetic failures in NiFe/(Co)/Cu/(Co)/NiFe spin-valve (SV) multilayers have been investigated. Electrically stressed NiFe/Cu/NiFe SV multilayers showed a dramatic reduction of magnetic moment up to 41%, and a shift of interlayer coupling characteristics, while no obvious magnetic degradation was observed in the NiFe/Co/Cu/Co/NiFe SV multilayers. It was experimentally confirmed that the magnetic degradation of the NiFe/Cu/NiFe SV multilayers is primarily due to the formation of Ni-Cu intermixing caused by the electromigration-induced Cu spacer inter-diffusion. Furthermore, it was demonstrated that an ultra thin Co diffusion barrier at the NiFe/Cu interface is promisingly effective to improve the magnetic stability of NiFe/(Co)/Cu/(Co)/NiFe SV multilayers against electromigration.     

Analysis of caecal microbiota in rats fed with genetically modified rice by real-time quantitative PCR

The effect of genetically modified rice (GMR) on bacterial communities in caecal content was analyzed in a 90-d feeding rat model. A total of 12 groups of rats, which included male and female, were fed with the basal diets containing 30%, 50%, 70% GMR (B(1), B(2), B(3)) or 30%, 50%, 70% non-GMR (D(1), D(2), D(3)). The structure of intestinal microflora was estimated by real-time quantitative PCR (RQ-PCR) based on genus-specific 16s rDNA primers. SYBR Green was used for accurate detection and quantification of 6 kinds of major bacteria shared by humans and rats. According to RQ-PCR, the genome copies of Lactobacillus group from the cecum of male rats fed with 70% non-GMR was higher than those fed with 70% GMR and the relative abundance of Lactobacillus group also higher for group D. This result was in contrast with the E. coli subgroup, which was more numerous in proportion of group B, except D(2) and B(2) for male rats. The Clostridium perfringens subgroup was numerically more abundant in group D than group B of the same level, also except D(2) and B(2) for male rats. These results suggested that GMR had a complex effect on caecal microflora that may be related to the health of the host.     

Thermal property measurement of thin aluminum oxide layers for giant magnetoresistive (GMR) head applications

In recent years, the magnetic recording storage industry has developed a growing interest in increasing recording density of the magnetic disks. Since dimensions of the recording head read transducer have been scaled down to increase areal density, all other parameters being equal, the energy required to cause damage by an ElectroStatic Discharge (ESD) event is reduced substantially. The present work characterizes the thermal transport properties of Al₂O₃ gap layer, which are essential to address the ESD failure. This study provides data for out-of-plane thermal conductivity of thin Al₂O₃ layers, which are obtained using steady-state Joule heating and electrical-resistance thermometry technique.