Robot Calibration Using Active Vision-based Measurement

This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and cost-effective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3 industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy.     

Localization of a Robotic Capsule for GI Motility Inspection with a Portable Ultrasonic System

IntroductionResearchesonmicromedicaldeviceandmicromedicalrobot,especiallytheinvivoinspectionsystemworkinginalimentarycanalorinbloodvesselwithlittledamageornondamagetohumanbodyhavebeenundertakenandreportedbyexpertsinmanycountries.Thesesystemsusuallyownmanyadvantagessuchas:smallvolume,lowpowerconsumption,littleinterferencetoworkingsurroundings,socangreatlyenlargethescopesofmedicalexaminationandrelievethepatientsofdiscomfortcausedbynormalprocedures.Thecapsuleendoscope“NORIKAsystem”developedby…     

浅论国有企业当前的利润分配

在社会主义经济条件下企业分配应遵循发展优先原则、制度约束原则与注重效率原则，根据我国现阶段分配原则及企业利润分配的一般程序，在我国国有企业当前利润分配中国企管理者及职工的付出与收入是不成比例的，应引起有关方面的足够重视。     

山西省地表水水功能区划分及其管理

水功能区的划分是实现水资源综合开发、合理利用、积极保护、科学管理的基础工作。根据“全国水功能区划技术细则”，结合对山西省黄河流域的自然、社会情况，尤其是水资源状况的综合分析，系统介绍了水功能区划的方法，对山西省黄河流域河流地表水进行了水功能区划并提出管理建议。     

Nuclear Technique and Agriculture in China

Nuclear technique is a powerful scientific tool in agricultural research, an area with fruitful achievements in China. Application of nuclear technique in agriculture (Nuclear Agricultural Sciences) based on the development of related science and technology is a high-tech area, and also a significant aspect of non-electrical power application of nuclear technique. As an important component of agricultural science and technology, Nuclear technique application in agricultural field has achieved a lot and made remarkable contributions to the economic, social and ecological development of China. The current paper reviews the achievements, and presents the situation of the application of nuclear technique in the Chinese a-griculture briefly. The author strongly suggests that Chinese     

Research Frontiers of Agricultural Economics and Management

The focus of research on Agricultural Economics and Management (AEM) has been switching from de-veloped countries to developing countries. In important international journals on AEM such as ““American Jour-nal of Agricultural Economics““ and ““Agricultural Eco-nomics““, the research objectives mainly focus on AEM problems in developing countries, e.g. the effects ofglobalization and liberalization on agricultural produc-tion in developing countries, and problems in agricul-tural resources and environmental protections in devel-oping countries.     

Fabrication and Properties of CoSm-Based Multilayer Thin Films

In recent years, SmCo series thin films have been found to be good candidates for fabricating integrated electromagnetic components and ultrahigh density magnetic recording media[1,2]. Up to now,intensive studies of such films have been carried out in order to obtain appropriate microstructure, crystallographic orientation and other properties. Substitution of Cu or Ni for Co in SmCo/Cr series films leads to a decrease of the saturation magnetization, magnetic switching volume, and to an increase of uniaxial anisotropy and coercivity[3-5].Various deposition conditions have also been investigated[6]. The large increase in coercivity for the annealed SmCo/Cr films is due to the growth of crystallitest[7,8]. In this article, we report a study of the deposition process,structure, and magnetic behavior of sputtered Sm (Co,Cu, Ti)/Cr series thin films.     

Growth of Magnetite Nanoparticles under Magnetic Fields

1 Introduction Over the past several years, the preparation and characterization ofnanoscale magnetic materials, especially one-dimensional (1D) nanostructure, have attracted much attention as the nanomaterials would allow investigating the fundamental aspects of magnetic-ordering phenomena in magnetic materials with reduced dimensions and could lead to new potential applications such as data storage technology[1-6].     

机械合金化工艺对Fe-Ni合金显微结构的影响

对机械合金化制备的Fe-Ni粉体利用X射线衍射(XRD)进行分析，得到了不同Ni含量和不同球磨时间Fe-Ni纳米晶的XRD谱．实验表明，w(Ni)=10％和20％时，Ni溶入Fe晶格，分别在球磨20h和50h后形成单一的a(bcc)相；w(Ni)=50％时，其先后经历了γ(fcc)→←a(bcc)正逆转变，在球磨120h后最终形成单一γ(fcc)相．无论是a(bcc)相还是γ(fcc)相．它们的固溶度均比块体Fe-Ni合金显著提高．w(Ni)=35％时，则始终是两相共存．对试样的XRD谱采用3种不同的方法测定了Fe-Ni粉体的晶粒尺寸和显微畸变，发现经球磨20h后，不同Ni含量的粉体均呈纳米结构，并随球磨时间延长，Fe-Ni纳米晶的晶粒尺寸下降而显微畸变上升．     

红豆杉细胞培养生产紫杉醇的研究进展

综述了近年来红豆杉细胞培养生产紫杉醇的研究进展, 包括红豆杉细胞培养生产紫杉醇的代谢调节、无机盐、植物生长调节因子、糖分及其它因素对红豆杉细胞生长和紫杉醇生产的影响等.着重介绍了前体饲喂、添加抑制剂和添加诱导子对红豆杉细胞生长及紫杉醇生产的影响.