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.     

Switched Capacitor Network Analysis by Means of TCM

The totally coded method (TCM) reveals the same objective law, which governs the gain calculating for signal flow graph as Mason formula does. This algorithm is carried out merely in the domain of code operation. Based on pure code algorithm, it is more efficient because figure searching is no longer necessary. The code-series (CS), which are organized from node association table, have the holoinformation nature, so that both the content and the sign of each gain-term can be determined via the coded method. The principle of this method is obvious and it is suited for computer programming. The capability of the computeraided analysis for Switched Capacitor (SCN) can be enhanced.     

Meshing Theoretical Study and Simulation on Cylindrical Tri-sine Oscillating Tooth Gear Drive

The structure of cylindrical tri-sine oscillating tooth gear drive is presented. Based on the space meshing theory, equations of meshing and tooth profile are established and its meshing theory is studied. Using Pro/E, this system is modeled and simulated,which is compared with the above-established equations.     

Kinetics of Chlorine Decay in Water Distribution Systems

A combined first and second-order model, which includes bulk decay and wall decay, was developed to describe chlorine decay in water distribution systems. In the model the bulk decay has complex relationships with total organic carbon (TOC), the initial chlorine concentration and the temperature. Except for the initial stages they can be simplified into a linear increase with TOC, a linear decrease with initial chlorine concentration and an exponential relationship with the temperature. The model also explains why chlorine decays rapidly in the initial stages. The parameters of model are determined by deriving the best fitness with experimental data. And the accuracy of model has been verified by using the experimental data and the monitoring data in a distribution system.     

小卫星分布式雷达

小卫星分布式雷达是一种新概念雷达系统 ,具有重要的应用前景。本文讨论了小卫星分布式雷达的基本概念 ,探讨了其在未来航天装备中的作用和地位 ,阐明了小卫星分布式雷达技术的科技内涵 ,最后提出了对我国发展天基雷达的几点思考     

时间函数与地表动态移动变形规律

详细分析了单参数的Knothe时间函数、双参数的Sroka-Schober时间函数和Kowalski 广义时间函数的优缺点及其相互关系,建立了应用Knothe时间函数进行地表动态移动变形预计的原理、无实测资料矿井时间参数的确定方法和开采单元划分的周期来压步距法.通过对不同工作面推进速度和不同时间影响系数条件下地表动态移动变形规律研究,获得了工作面稳定推进过程中回采速度、时间影响系数与地表最大动、静态变形关系的计算公式.经过1176东工作面观测资料的检验,证明了研究结果的有效性和实用性.     

远程SAN存储网络的设计与实现

描述了覆盖天津港务局全港的远程光纤存储网络的结构,对其可扩展性以及数据传输协议进行了分析,对10Gbit速率下长距离光纤扩展时的链路功率预算值进行了计算.结果表明,在设计和实现远程光纤存储网时选择iSCSI和FC SAN融合的技术路线有利于在保证性能的同时降低成本.该系统已经成功实施,并运转正常.     

电脉冲改善HRB335钢宏观凝固组织的作用

采用正交实验方法对hRB335钢进行电脉冲处理.考虑了最大脉冲电流、频率和处理时间的搭配作用,得出实验条件下的最佳参数范围.通过和前人结果的分析比较得出电脉冲效果可能与钢种无关的初步结论,以及对树枝晶打断理论的不同观点,指出实验过程中液面波动现象是金属中溶入了过多的氧所致.     

宽带钢热连轧工作辊热辊形模型

实现工作辊热辊形的在线预报是板形控制的难题之一.采用一维有限差分方法建立了工作辊热辊形在线计算模型,并利用该模型计算了热轧过程中和下机后任意时刻工作辊温度场及其热辊形.仿真和在线应用结果表明,此在线模型计算速度快,精度高,能满足板形在线过程控制的需要.     

原位颗粒含量对半固态7075铝合金组织的影响

制备具有不同原位TiC颗粒含量的喷射沉积7075铝合金,在610℃和620℃进行二次加热并保温30min,淬火固定半固态组织.采用扫描电镜观察其组织,利用平均截线法统计其晶粒尺寸,分析不同颗粒含量对喷射沉积7075铝合金半固态组织的影响规律.结果表明:当TiC颗粒含量达到2.91%(体积分数)时已经产生良好的钉扎效果,使得合金基本保持喷射沉积组织特征,能够满足后续的半固态成形工艺要求;TiC颗粒含量超过2.91%后,晶粒尺寸会进一步减小,但晶界上的颗粒明显增多并呈网状分布;TiC颗粒含量小于2.91%时,局部区域发生晶粒的异常长大现象,使合金组织的均匀化程度下降.