A planar parallel manipulator based novel MEMS device bonding system

A novel MEMS device boning system is presented. Aiming at the high velocity, high precision and high flexibility requirements, a novel manipulator of planar parallel structure is developed to substitute ordinary X-Y table. In addition, the machine vision is implemented to improve the system＇ s flexibility. The initial angular positions of the joints are estimated by the extended Kalman filter algorithm. As a resuh, the manipulator＇s absolute locating accuracy in its workspace is guaranteed indirectly. For any MEMS device, the bonding system itself can be used as measurement equipment to create the device＇ s geometry model, which is the base to do off-line programming. A quite ideal trade-off between the system＇ s flexibility and efficiency is got. Finally, some verified motion specification of the manipulator, the bonding experimental results and the verified qualities of the bonded devices are provided.     

磷化处理对胶粘剂/金属界面力学性能的影响

对金属表面进行了磷化处理,测试了胶粘剂/金属界面的力学性能.着重分析了疲劳载荷对表面处理后胶接接头粘接性能的影响,并用显微红外光谱分析了疲劳前、后界面处化学键合的变化.结果表明金属表面经磷化处理后耐疲劳破坏的性能增强.     

仿人机器人视觉颜色空间的图像分割算法

提出了一种新颖的图像分割算法,用于提高仿人机器人足球比赛中机器人获取的颜色质最.为了使仿人机器人快速获得颜色图像,采用HSI颜色空间,并对现有算法进行了改进,根据每个像素点HSI 3值中有关J值的公式对当前像素的主要特征进行判断,采用了模糊K均值聚类的方法进行图像分割.根据每个像素点S值的分布,动态地决定当前选用的是H值还是I值,这样就能够有效地消除HSI模型的不足,使得机器人的视觉能够适应复杂的比赛环境.实验结果表明所提方法有效.     

A robotic tele-drill system over network using predictive display

0 IntroductionMuch research has been done for a long distancetelerobotic operation using exclusive communicationlines .These systems havetheir owncommunicationlines and areused for special purpose ,like space operation, nuclearmaterial handling,robotic telesurgery,etc . Withthe de-velopment of computer networklike Internet ,a teleopera-tionsystemusing it attracts much attention. Using Inter-net has more advantages than using exclusive communica-tionlines . For example ,it is cheaper and can …     

Biolog-Eco解析黄山风景区空气微生物碳代谢多样性特征

采用Biolog生态微平板分析黄山风景区6个景区空气样品的微生物碳代谢群落结构,旨在了解不同景区空气微生物碳代谢功能群落结构的特点与差异.结果表明:6个景区AWCD值变化趋势不同,空气微生物在碳源利用能力、微生物丰度等方面存在差异,可能与海拔、气象、游客集中与流动等因素有关;6个景区空气微生物对6类31种碳源的利用程度存在差异,但总体对羧酸类和碳水化合物类的利用程度较高,对其它化合物类的利用程度较低;主成分分析显示,6个景区空气微生物代谢基质主成分1的贡献度为58.7%,主成分2为28.5%;主成分1荷载0.55以上的基质有25种,主成分2只有7种.Biolog生态微平板技术能够客观、正确表征空气微生物碳代谢多样性的特征,是研究空气微生物群落功能多样性的较理想方法之一.     

A Research of China Stock Market by Capital-Asset Pricing Model

ＡＲｅｓｅａｒｃｈｏｆＣｈｉｎａＳｔｏｃｋＭａｒｋｅｔｂｙＣａｐｉｔａｌＡｓｅｔＰｒｉｃｉｎｇＭｏｄｅｌＺＨＡＮＹｕａｎｒｕｉＬＵＬｉｎｉｎｇＭａｎａｇｅｍｅｎｔＩｎｓｔｉｔｕｔｅＴｉａｎｊｉｎＵｎｉｖｅｒｓｉｔｙ，Ｔｉａｎｊｉｎ３００４００Ａｂｓ...     

钢表面硅烷处理层的粘接性能及防腐性能

介绍了硅烷与钢之间的作用机理、钢表面硅烷处理层的形成过程以及硅烷处理层与环氧树脂涂层之间的结合.研究了硅烷处理工艺参数对环氧树脂/钢界面粘接强度以及硅烷处理层防腐性能的影响,分析了其内在规律,探讨了粘结性能与防腐性能之间的相关性.     

基于GA-ANN的建筑工程质量评价模型研究

综述建筑工程质量评价的研究现状,建立建筑工程质量评价指标体系.在此基础上,利用人工神经网络强大的非线性函数逼近能力,实现对建筑工程质量水平的评价.针对人工神经网络的不足,本研究将遗传算法引入神经网络,实现两种算法的优势互补.最后,通过实例验证该方法的可行性与有效性.     

Research on bionic quadruped robot based on hydraulic driver

A prototype of hydraulically powered quadruped robot is presented.The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of endurance and high load carrying ability.The current version is 1.1m long and 0.48 m wide,and weights about 150 kg.Each leg has four rotational joints driven by hydraulic cylinders and one passive translational joint with spring.The torso carries the control system and the power system.A novel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the principle of joint function separation.The robot can not only cross a 150 mm high obstacle in static gait and trot at 2.5km/h and lkm/h on the level-ground and 10°sloped-terrain respectively,but also automatically keep balanced under lateral disturbance.In this paper,the mechanical structure and control systems are also discussed.Simulations and experiments are carried out to validate the design and algorithms.