基于UG的五轴后置处理器实现与运动学模型研究

文章对五轴机床控制系统在开启或者关闭RPCP功能模式下,基于UG的后置处理器的实现及双转台五轴机床的运动学模型进行了研究。在分析了RPCP的功能特点后,以牧野V33-5XB五轴立式加工中心后置处理器的开发为例,阐述了G43.4代码的设置流程及RPCP与非RPCP模式下\"机床\"参数项的不同设置,由此论证RPCP功能对后置处理器构建的影响。最后在分析双转台五轴机床的坐标系平移与旋转变换关系图的基础上,提出线性变换矩阵及逆矩阵的运动学模型,并推导出两旋转轴运动及三轴直线轴运动的坐标公式。福建省科技计划重大专项(2015HZ0002-1);;福建省高端装备制造协同创新中心支持项

改进的多目标回归实时人脸检测算法

针对物体检测实时多目标回归算法中分别优化各四个位置参数,割裂了四个位置变量之间的关系,造成对物体的边框回归不够准确且训练不易收敛的问题,提出一种带检测评价函数(Intersection over Union,IoU)作为损失函数的实时多目标回归人脸检测算法。首先基于Redmond等提出实时多目标回归模型,采用该模型检测实时性的机制,然后融合了IoU函数作为位置参数的损失函数,将实时多目标回归模型中的四个独立位置参数整合成一个单元进行优化,避免了基础模型的缺陷。算法在人脸检测基准库FDDB上进行测试,实验结果表明:在人脸检测的有效性上优于主流的传统人脸检测算法,检测速度上领先于其他经典深度学习方法。提出的算法在检测人脸的有效性和检测速度两者之间取得了一个较好的平衡,为构建实用的人脸相关应用系统提供了参考价值。2016年工信部智能制造综合标准化与新模式应用项目(No.2016-213

Urothelial Carcinoma Clear Cell Variant of the Urinary Bladder : A Case Report

A 69-year-old woman who had been treated with hemodialysis for 16 months for chronic renal failure presented with a chief complaint of gross hematuria in March 2007. Cystoscopic examination revealed a non-papillary, pedunculated tumor located in the right wall of the urinary bladder. A transurethral resection of the bladder tumor (TURBT) was performed in September 2007. The pathological diagnosis was urothelial carcinoma clear cell variant. The patient is now apparently free of disease 20 months after TURBT. Urothelial carcinoma clear cell variant of the urinary bladder is a rare primary tumor, and this is the fourth case of urothelial carcinoma clear cell variant of the bladder to be reported

一种快速搜索散乱点云数据k邻近的算法

针对逆向工程中散乱点云数据的k近邻搜索,提出一种快速搜索散乱点云k邻近点的算法。该算法根据点云数据的范围、点的总数及最近点数目k,确定合适的立方体边长,采用空间划分策略,把数据划分成多个子立方体;然后用哈希表记录每个子立方体所包含的数据点及每个点所在的立方体索引号,并排除不包含数据的子立方体,以此确定邻近点的最佳搜索范围。实验结果表明:该算法有效的提高k近邻搜索的速度,同时保证了搜索结果的正确性。福建省自然科学基金(2009J01266

Capacitive Pressure Microsensor

文中主要介绍一种新型电容式测压微传感器的结构及测量电路。通过对测量电路的理论分析、仿真和实验验证,证明这种微型传感器由于采用独特的结构和测量电路,因而具有良好的线性范围和较高的灵敏度,并能有效地减小温度误差This paper introduce the structure and measuring circuit of a new type of capacitive pressure microsensor . Through theoretic analysis,simulations and experiments,it has been proved that this type of microsensor has excellent linearity,ralatively high sensivity and can compensate the temperature error effectively

A Novel Capacitive Pressure Microsensor

文中从应用开发MEMS产品的实用角度出发 ,着力介绍一种新型的电容式微型压力传感器的结构组成和它的MEMS制造工艺。文中详细给出了这种电容式微型压力传感器的结构组成图、组成尺寸和它各部分部件的材料构成以及在硅材料加工过程中存在的主要技术难题。最后 ,详细给出了电容式微型压力传感器的加工工艺过程This paper introduces the producing technology of the capacitive pressure microsensor and MEMS structure of the capacitive microsensor.The information about composite diagram and dimension and material are given in the paper.In order to solve the special technics problem in producing microsensor,the diagrams for the producing technology are given in detail

Null Point and Gain Adjustable Capacitive Microsensor

文中介绍一种可调零点和增益的电容式微型传感器。通过对MOS电流镜电路的深入探讨 ,给出了由MOS电流镜电路组成的零点和增益可调的电容式微型传感器测量电路 ;通过对传感器测量电路的动态过程仿真 ,明确了测量电路的最佳工作频率范围 ;通过对传感器测量电路静态过程的仿真 ,确定了这种测量电路的线性度和增益。由以上研究表明 ,零点和增益可调的电容式微型传感器具有线性度好和测量增益高的特点 ,并能有效地消除电路中的寄生电容对测量的影响 ,大大降低测量噪声。A type of capacitive microsensor whose null point and gain can be regulated is introduced here. The paper presents the measurement circuit of this microsensor through the application of the MOS current mirror circuit. It can clarifies the best working frequency range of the measurement circuit through the simulation of the dynamic and process of the circuit and get its linearity and gain through the simulation of the process of the circuit. Above researches have proved that such type of microsensor has good linearity and high gain and it can eliminate the influence of the stray capacitance on measurement, moreover it can decrease the noise of measurement

基于卷积神经网络的单色布匹瑕疵快速检测算法

针对布匹生产企业存在人工检测布匹瑕疵效率低、误检率、漏检率高的问题,提出一种基于深度卷积神经网络的单色布匹瑕疵检测算法.首先由于布匹瑕疵的数据规模远小于大型深度卷积神经网络的数据规模,如果采用大型卷积神经网络,计算量大且容易导致过拟合,因此设计了浅层的卷积神经网络结构;然后提出双网络并行的模型训练方法,用一个大网络指导小网络的训练过程,提高模型的训练效果;最后为了使得深度卷积神经网络模型脱离GPU的限制,能够在普通电脑、移动设备、嵌入式设备中高速运行,且保证模型检测精度,提出结合特征图优化卷积核参数的模型压缩算法.实验结果表明该算法可实现高准确率、高检测速度,在PC机的CPU模式下,检测速度为135 m/min,准确率可达到96.99%.国家自然科学基金(51605403);;2016年工信部智能制造综合标准化与新模式应用项目(2016-213

Virtual teaching method for ABB IRB4600 robot

针对当前工业机器人示教中,虚拟示教方式存在场景真实度低、灵活性差等问题,对工业机器人的虚拟示教进行了研究,应用虚拟现实技术,提出了一种面向ABB IRB4600系列机器人的虚拟示教设计方法。分析了ABB IRB4600机器人的运动学特性,进行了其正逆运动学的求解。参照真实示教器,进行了虚拟示教器的开发：利用正则表达式设计了RAPID语言解释器,对机器人的运动轨迹进行了规划,用于运动指令的解析。以真实机器人车间为例,进行了虚拟示教场景的搭建。研究结果表明：所开发的机器人虚拟示教系统在一定程度上弥补了当前工业机器人虚拟示教存在的不足,具有较高的灵活性、沉浸感强,用户可以方便地进行机器人的示教。Aiming at existing problems of virtual robot teaching,like low-reality of scene,poor flexibility and so on,virtual teaching was studied.And a design method of virtual teaching is presented for ABB IRB4600 series robot with Virtual Reality technology.And kinematics characteristics of ABB IRB4600 robot was studied and kinematics problem were solved.With reference of real teaching pendant,the development of the virtual teaching pendant was carried out.And the interpreter was designed for the RAPID language with the use of regular expression;especially for motion command,the path planning of the robot was studied.And the virtual teaching scene was built in accordance with real robot station.The results indicate that the virtual teaching system in a manner makes up the shortcomings of virtual teaching pendant.There are high-flexibility and strong immersion,and the system can be used to teach industrial robot flexibly and conveniently.福建省科技重大专项资助项目（2015HZ0002-1