基于图像的非标定视觉反馈控制机器人全局定位方法

针对机器人非标定全局定位问题,研究Kalman滤波(Kalman filtering,KF)算法联合反馈型Elman神经网络(Elman neural network,ENN)学习机器人图像空间与运动空间非线性映射关系,从而建立基于图像的视觉反馈控制方法.首先利用ENN学习得到机器人全局定位的次优状态,以此为系统状态向量构建伺服系统状态方程与观测方程,进而利用KF估计得到机器人图像雅可比矩阵.其次,采用KF对ENN网络权重进行在线微调,KF联合ENN满足机器人全局定位稳定收敛的要求,并对环境干扰具有一定的自适应性.最后在摄像机参数未标定条件下,进行六自由度机器人\"眼在手\"(eye-in-hand)定位比较试验,结果验证了提出的非标定视觉伺服控制方法的有效性.国家自然科学基金(61703356);;福建省自然科学基金(2018J05114);;福建省中青年教师教育科研项目(JAT160363);;厦门理工学院高层次人才项目(YKJ15020R

分辨率对DOAS测量二硫化碳影响的研究

差分光学吸收光谱技术（DOAS）由于易操作,耗费低,且具有高准确性和高分辨率等优点,非常适合对大气中难闻的有毒气体二硫化碳（CS2）进行实时监测。在DOAS测量过程中,分辨率的选择直接决定了CS2测量准确度。文章主要研究了分辨率对CS2被检测到的特征吸收结构形状的影响,以及CS2差分吸收截面随分辨率的变化趋势,从而确定了分辨率对CS2的最低可检测浓度的影响。通过研究分辨率与光强的关系,确定了分辨率与信噪比（S/N）的函数关系式,得出了DOAS测量CS2的最佳信噪比范围为0.41～0.50nm（FWHM）。在此范围既能够实现对CS2的准确定性定量分析（五种标样线性相关性r=0.999 9,测量10次的相对标准偏差小于0.3%）,又能达到对CS2测量所需要的高灵敏度,高选择性和适用的时间分辨率同时保证了CS2具有区别于其他物质的特征吸收结构。最后对北京市丰台区的CS2进行了实时、连续地监测,取得了良好的效果

分辨率对大气中痕量污染气体的DOAS测量性能影响研究

在差分吸收光谱（DOAS）测量过程中，光谱分辨率的选择直接决定了污染气体浓度的测量准确度。主要研究了光谱分辨率对污染气体被检测到的特征吸收结构形状的影响，以及差分吸收截面随分辨率的变化趋势，从而确定了光谱分辨率对污染气体最低可检测浓度的影响，通过研究分辨率与光强的关系，确定了分辨率与信噪比（S／N）的函数关系式，得出了DOAS测量NO2，O2和SO2的最佳信噪比范围，对多种污染物标准气体进行了同时监测，计算出标准气体在不同光谱分辨率下的测量误差，确定了对NO2，O3和SO2监测的最适用的分辨率范围。在此分辨率范围既能够实现对痕量气体的准确定性定量测量，又能达到测量所需要的高灵敏度，强选择性和适用的时间分辨率。通过在北京丰台区的实际监测得到了与点式仪器测量结果很好的一致性

The Reorganization of Religious Services and the Establishment of Japanese Shrines in the Border Areas of Imperial Japan

第五期共同研究活動報告departmental bulletin pape

Research and Development of Agricultural Machinery (II)

為因應當前農業環境之重大改變,適應世界貿易自由化、國際化之潮流,並突破當前之農業困境,擬衡酌未來土地利用型農作物之發展趨勢,研究開發本土型之農作物種苗、栽培、管理、病蟲害防治、收穫及收穫後處理等作業所需之機械,以促進農業生產全面機械化,藉以解決農村勞力不足問題,降低生產成本,確保農產品之品質.本年度本計畫將繼續水果內部品質檢測之研究,並對NIR非破壞性檢測之應用,柿子加工去皮去梗修蒂機之研製,加工用印度棗清洗、選別及劃切之一貫化及菱角剝殼機之研究進一步發展以取代人工作業模式,提高品質.研究改良桿式噴藥機、動力雙軌車,草花種苗假植機以提高作業效率.開發鳳梨園用施肥機、曳引機承載夾起式洋蔥收穫機、自走式白蘿蔔收穫機,耕耘刀表面特殊處理技術與曳引機旁載式堆肥攪拌翻堆機等機械與技術,提高生產與管理的效率,降低成本.研製蒸氣處理介質土壤病蟲害防治設備與果實蠅誘蟲器監控系統,減少病蟲害影響並減低農藥之用量.研製連續式紅外線茶葉烘培機,低濕調溫乾燥機與進行自然通風器應用於溫室環控之研究,以建立現有控制技術在農產品處理與環境上之應用系統.預期依計畫進度完成相關農產品檢測、農作物栽培、管理收穫與處理機械,以降低生產成本,提高產品品質,加速國內農業之轉型,促進農業升級.To adopt the change of agriculture environment as well as the world trade structure, it is a must to develop machines for local crops, seedlings, cultures, management, protecting system of disease and insect pest, harvesting, and post-harvesting process. Thus, mechanization in agricultural production would solve the problem of labor shortage as well as lower the cost of production, and resulted in ensuring the quality of agricultural products. There are several sub-projects proposed in this project to replace the manual operation and to improve the quality. They are listed in the followings: evaluation of internal quality of fruits, application of non-destructive NIR method, development of skin peeling machine and stem trimming for the diospyros kaki process, development of the integrated operating machine consists of cleaning, sorting and scar-cutting for Indian jujube, and study on the manufacture of peeling machine for water caltrops. In addition, there are three sub-projects proposed to improve the efficiencies of operations, such as performance improvement of boom sprayer, development of double-rail car for spraying on slope land, and design and development of a transplanter for ornamental flower seedlings. To improve the efficiencies of production and management thus results in cost reduction, five sub-projects are proposed: the study for fertilizer of pineapple yard, studies on the mounted type of onion harvester, the studies on a self-propelled radish harvester, surface hardening treatment for tillage blades, and development study of compost turner side mounted type from tractor. To reduce disease and insect pest as well as lower the usage of pesticide, there are two sub-projects proposed, such as development of the steam treatment machinery for medium and soil and design and development of a monitoring system for the oriental fruit fly trap. In addition, there are two sub-projects proposed to apply the commercially available control techniques on agricultural productprocesses and environmental system. They are the development of infrared tea roasting machine for continuous type and the study and application of the energy-free turbo ventilator used in the green house. Based on the schedule of this project, it would complete the evaluation of some agricultural products, transplanting, machines for managing, harvesting and processing, to lower the cost as well as improve the quality so that helps local agriculture upgrade and transform in a considerable speed

Former Japanese Concessions in China and Korea

第三期共同研究活動報