Local toolpath smoothing for five-axis machine tools

When five axis CNC machine tools follow series linear toolpath segments, the drives experience velocity, acceleration and jerk discontinuities at the block transition points. The discontinuities result in fluctuations on machine tool motions which lead to poor surface quality. This paper proposes to insert quintic and septic micro-splines for the tool tip and tool-orientation, respectively, at the adjacent linear toolpath segments. Optimal control points are calculated for position and orientation splines to achieve C³ continuity at the junctions while respecting user-defined tolerance limits. The geometrically smoothed corners are traveled at a smoothly varying feed with cubic acceleration trajectory profile. The proposed method is experimentally demonstrated to show improvements in motion smoothness and tracking accuracy in five-axis machining of free-form surfaces found in dies, molds and aerospace parts.     

基于曲率的透视不变性分割

曲线的透视不变性分割在基于二次曲线的三维重建中非常重要。首先给出了连续曲线零曲率点和角点的提取法，在数字图像中曲经是不连续的，曲率的变化受噪声的干扰很大。在这种情况下为了检测出零曲率点和角点，对曲线采用了高斯滤波然后再提到零曲率点和角点。实验证明这种方法效果优于直接求曲率法。     

基于点到弦距离累加的快速角点检测

提出了一种鲁棒的快速角点检测算法,以解决现有基于点到弦距离累加的角点检测算法存在的缺陷,即角点定位低、算法时间复杂度高等问题。该算法结合了‘单尺度’和‘多尺度’的优势,首先在‘单尺度’下获取候选角点集合,保留了邻近角点,并使得后续计算量大大降低,然后在‘多尺度’下计算候选角点的特征值,使之有效地去除伪角点。实验表明,所提算法的时间复杂度降低了,并且保持了算法的鲁棒性,角点定位精度也得到了提升。     

Prediction model of surface residual stress within a machined surface by combining two orthogonal plane models

The variation of surface residual stress within a machined surface layer caused by face turning was studied. The size of the tool’s corner radius and the feed rate affect residual stress. A process model using the finite element method is proposed and the mechanical effects of the corner radius and feed rate on a machined surface were discussed. When a tool with a small corner radius is used, surface residual stress perpendicular to the cutting direction becomes compression stress. As well, surface residual stress changes from tension to compression as the feed rate decreases. The process model consists of an orthogonal cutting simulation and an indentation-like simulation of a corner radius into a work piece surface. The simulated results show quantitative agreement with the residual stress measured experimentally. The integrity of the machined surface will be controlled more efficiently if the cutting conditions during finishing are determined with the proper consideration of the surface generating process.     

一种提取随机排列胶囊分离边缘的方法

提取随机排列胶囊图像中分离的、单个的边缘,是胶囊缺陷检测与计数的前提。随机排列的胶囊具有倾斜度不确定和多胶囊粘连的特点。由此,本文先提取胶囊的边缘,再将＂点＂连接与＂线＂连接的胶囊边缘逐步分离,最终完成分离边缘的提取。经过现场实验测试,该方法的边缘识别正确率达到97%。     

蝶类昆虫识别算法的研究与分析

提出利用边缘检测及角点提取来识别蝶类昆虫的方法.通过用四种边缘检测算子对鳞翅目蝴蝶进行边缘检测并作比较分析,从中找出鳞翅目昆虫边缘检测的最佳边缘检测算子,然后对边缘检测后的图像进行了角点提取特征信息,通过实验能够得到蝶类图像的特征,为下一步蝶类识别奠定了基础.     

基于先验知识的月球车视觉系统特征提取方法

为了满足月面巡视探测器的自主导航要求。提出一种新的基于先验知识的特征点提取算法。首先,根据先验知识对原始图像进行预分割成危险区域和安全区域,然后在危险区域里面进行特征点的选取工作,对特征点用于以后的匹配和目标定位,进而用于视觉系统的导航工作。与传统算法相比,提取方法可以有效减少计算量,使选取特征点更加准确,提高后续匹配阶段的处理速度和匹配精度。在模拟试验场的双目视觉照片中,通过实验取得较好的效果。     

一种用于图像序列拼接的角点检测算法

分析了Harris角点检测算子的实现原理及其用于图像序列拼接时存在的不足,从几个方面提出了改进:用新的X和Y方向梯度算子求取图像导数,对灰度变化更敏感;改进了角点响应函数,避免了k值选择的随机性;根据图像序列首图像自动确定R阈值,提高了算法的自动处理能力和速度;根据目标像素点的8邻域范围进行亚像素精确定位,角点位置更加准确.实验结果表明,改进算法无需人工干预,特征点提取的速度比传统算法提高了约61.3%,能更好地适应图像拼接的实际应用,是一种快速有效的角点检测方法.     

A marker-less assembly stage recognition method based on corner feature

Fast and robust product assembly stage recognition is a key step in human–machine cooperative assembly. To solve the recognition problem of similar adjacent assembly stages, a marker-less assembly stage recognition method is proposed based on corner feature between an assembling product and a digital model. Considering the geometric features of mechanical products, a corner identification method is proposed based on the circumferential angle difference (CADF). Then a corner matching method based on distance constraint is studied for ICP registration to realize the point cloud registration between the product and digital model. Based on the registration relationship, a similarity algorithm based on proximity point proportion is used to calculate the similarity between models and the input assembling product. The model with the greatest similarity is taken as the stage recognition result. In experiments on four group assembling products, the average stage recognition accuracy is 96.15%, which indicates that the proposed method can solve the stage recognition problem. The corner identification method based on the CADF outperforms the Harris-3D corner detection method in the efficiency of assembly stage recognition.     

Exponentially Accurate Approximations to Periodic Lipschitz Functions Based on Fourier Series Partial Sums

The problem of accurately reconstructing a piecewise smooth. 2-periodic function f and its first few derivatives, given only a truncated Fourier series representation of f, is studied and solved. The reconstruction process is divided into two steps. In the first step, the first 2N + 1 Fourier coefficients of f are used to approximate the locations and magnitudes of the discontinuities in f and its first M derivatives. This is accomplished by first finding initial estimates of these quantities based on certain properties of Gibbs phenomenon, and then refining these estimates by fitting the asymptotic form of the Fourier coefficients to the given coefficients using a least-squares approach. The locations of the singularities are approximated to within O(N ^–M–2), and the associated jump of the kth derivative of f is approximated to within O(N ^–M–1+k ), as N , and the method is robust. These estimates are then used with a class of singular basis functions, which have certain built-in singularities, to construct a new sequence of approximations to f. Each of these new approximations is the sum of a piecewise smooth function and a new Fourier series partial sum. When N is proportional to M, it is shown that these new approximations, and their derivatives, converge exponentially in the maximum norm to f, and its corresponding derivatives, except in the union of a finite number of small open intervals containing the points of singularity of f. The total measure of these intervals decreases exponentially to zero as M . The technique is illustrated with several examples.