A Study of Stereo Visual/Force Feedback Based on Prediction

【中文文摘】提出了一种多传感器混合的机器人伺服控制方案 ,该方案在任务初始阶段利用视觉传感器对对象进行跟踪 ,在任务的末段利用力传感器对对象运动进行引导。这样就避免了使用单个传感器所产生的强冲击 ,增加了机器人控制的柔顺性和鲁棒性。在视觉跟踪阶段 ,为了提高跟踪速度 ,利用约束卡尔曼滤波器建立预测器 ,对物体图像的未来位置进行预测 ,这样就减小了图像处理的区域 ,提高了图像处理的速度。从仿真结果来看 ,视觉 /力反馈的混合控制提高了机器人对任务的适应性和工作过程的柔顺性。 【英文文摘】A new control scheme of multiple sensors fusing is expressed,in this scheme,the visual sensors are used to track objects in the beginning phase and the force sensor is used to control object moving in the end phase,in this way the extra impact force is avoided when single sensor is used and the movement of robot is submissive and robust.In order to get a high tracking speed,a constraint Kalman filter is used to predict the position of feature point,in this way the region of image processing is minished and the speed of image processing is improved. Simulation results show that the adaptability and submissiveness of robot is improved when fusing stereovisual and fo rce feedback is used.自然科学基金重大 ( 5 9990 470 )资助项

Study of Visual Servoing for Microassembly Based on Focus of Microscope

【中文文摘】利用显微镜聚焦理论,沿显微镜光轴方向移动物体,不断计算图像的灰度变化之和,可判断出物体沿光轴的坐标,将这一坐标集成在伺服控制方程中,可完成立体视觉跟踪。这样,采用单目视觉系统就可以获得物体的三维坐标,避免了双目立体视觉系统的复杂结构。为了提高系统图像处理速度,利用卡尔曼滤波器对跟踪的特征点进行预测,并用窗口处理技术减小图像处理区域。实验和仿真结果表明,上述方法可完成复杂微装配的视觉跟踪,系统有好的实时性。 【英文文摘】When the object is moved along optical axis of microscope and the variational gray-level of the image is added at the same time,using focus theory,the coordinate of object is obtained along optical axis of microscope,the coordinate of object can be used in servo control equation to finish three dimension vision tracking of microassembly.In this way,when single vision system is used,the three dimension coordinate of object can be obtained and complicated stereo vision system can be avoided.In order to improve the speed of image processing, the Kalman filter is used to predict the next place of tracked point. The results on experimentation and simulation show that complex microassembly task can be finished and the speed of image processing can be improved国家自然基金(50275078)资助项

便携式拉曼光谱仪快速检测废水中残留有机溶剂

本文通过使用便携式拉曼光谱仪来快速检测废水中残留有机溶剂的种类和含量。首先利用便携式拉曼光谱仪建立标准拉曼谱图库,然后用便携式拉曼光谱仪检测废水样品并与标准谱图库比对,即可获得废水中含有的有机溶剂的种类和含量。该方法简便、灵敏、快速,对于实时监测废水的排放具有重要意义。国家自然科学基金(21522508);;浙江省重点研发计划(2017C03002,2018C03077

STUDY OF VISUAL SERVOING FORVIRTUAL MICROASSEMBLYBASED ON SOLID MODEL

微装配的主要问题是装配的器件小,装配精度高,一般用显微镜作为视觉传感器对装配运动进行控制。在大放大倍数下,显微镜的视场和景深很小,这时操作对象和操作工具就不会同时处在焦平面内,使得图像模糊,操作很难完成。利用显微镜的聚焦理论,提取对象的三维信息,构造对象的实体模型,使微装配在虚拟环境中进行,而实际环境只起监视的作用,当对象和工具不动时,虚拟操作环境不变化,而当操作对象和工具位置变化时,重构三维环境,使得虚拟环境和实际环境具有严格的位置对应关系。试验和仿真结果表明,该方法可以克服物体在显微镜下的失焦问题,而且操作方便。The major obstacles encountered in microassembly are that the to-be-assembled objects are very small in size and thus strict precision on assembly is required. Usually a microscope is used as a visual sensor to control the assembling movement. Under high magnitude of resolution and amplification, the viewing field and focal depth are too small and too short to allow the objects and tools become focused within the same focal plane at the same time, resulting in the blurred images, therefore the microscope fails to accomplishes the expected task. The focus theory of microscope is exploited fully to obtain the three dimension information of object and tool to constitute a solid model, the microassembly is carried out in virtual environment, object and tool in reality environments serve to check the correspondence between virtual microassembly and the changes in reality. When there are no changes in the objects and tool, virtual environment is kept stable, upon the changes in the objects and tool, virtual environment become reconstituted. Our results on experimentation and simulation show that virtual microassembly approach helps to avoid the defocus problem under the microscope and also to make the operation feasible and easier.国家自然科学基金(50275078)资助项

月球熔岩管探测中月表杂波识别方法仿真

月球上可能存在大量可用于抗辐射、躲避陨石撞击和月球表面极端温度变化的熔岩管。月球表面杂波识别以及与熔岩管目标回波的区分是月球熔岩管目标探测的重要问题。根据高频电磁波与低频电磁波在月壤中的路径衰减快慢不同，熔岩管道高低频功率比与月表杂波高低频功率比不同的特征，提出了一种利用高低频电磁波功率比进行月表杂波识别的方法。基于分辨率、回波功率、信杂比和信噪比对熔岩管探测雷达进行了参数优化设计，建立了仿真系统，利用伪谱时域方法对不同走向的月球熔岩管回波进行了仿真研究。仿真结果表明了利用回波的高低频功率比区分月表杂波和熔岩管回波的有效性，熔岩管道高低频回波和月表杂波高低频回波功率比与熔岩管埋深度呈正相关，与频率比呈正相关

An expert system for FMS control

High flexibility and a quick response of the flexible manufacturing system make it extremely complicated to properly control the production activities. In this paper, the complicated FMS control problem is studied. The coloured Petri net is chosen to model the flexible manufacturing systems, presenting a generic functional view. Based on this model, an expert system is developed to improve the decision-making ability of the FMS control system. The expert system developed is flexible enough to be adapted to a variety of real-life applications. A simulation is performed on a practical flexible manufacturing system

Aripiprazole versus other atypical antipsychotics for schizophrenia

BACKGROUND: In most western industrialised countries, second generation (atypical) antipsychotics are recommended as first line drug treatments for people with schizophrenia. In this review we specifically examine how the efficacy and tolerability of one such agent - aripiprazole - differs from that of other comparable second generation antipsychotics. OBJECTIVES: To evaluate the effects of aripiprazole compared with other atypical antipsychotics for people with schizophrenia and schizophrenia-like psychoses. SEARCH METHODS: We searched the Cochrane Schizophrenia Group Trials Register (November 2011), inspected references of all identified studies for further trials, and contacted relevant pharmaceutical companies, drug approval agencies and authors of trials for additional information. SELECTION CRITERIA: We included all randomised clinical trials (RCTs) comparing aripiprazole (oral) with oral and parenteral forms of amisulpride, clozapine, olanzapine, quetiapine, risperidone, sertindole, ziprasidone or zotepine for people with schizophrenia or schizophrenia-like psychoses. DATA COLLECTION AND ANALYSIS: We extracted data independently. For dichotomous data we calculated risk ratios (RR) and their 95% confidence intervals (CI) on an intention-to-treat basis based on a random-effects model. Where possible, we calculated illustrative comparative risks for primary outcomes. For continuous data, we calculated mean differences (MD), again based on a random-effects model. We assessed risk of bias for each included study. MAIN RESULTS: We included 12 trials involving 6389 patients. Aripiprazole was compared to olanzapine, risperidone and ziprasidone. All trials were sponsored by an interested drug manufacturer. The overall number of participants leaving studies early was 30% to 40%, limiting validity (no differences between groups).When compared with olanzapine no differences were apparent for global state (no clinically important change: n = 703, 1 RCT, RR short-term 1.00 95% CI 0.81 to 1.22; n = 317, 1 RCT, RR medium-term 1.08 95% CI 0.95 to 1.22) but mental state tended to favour olanzapine (n = 1360, 3 RCTs, MD total Positive and Negative Syndrome Scale (PANSS) 4.68 95% CI 2.21 to 7.16). There was no significant difference in extrapyramidal symptoms (n = 529, 2 RCTs, RR 0.99 95% CI 0.62 to 1.59) but fewer in the aripiprazole group had increased cholesterol levels (n = 223, 1 RCT, RR 0.32 95% CI 0.19 to 0.54) or weight gain of 7% or more of total body weight (n = 1095, 3 RCTs, RR 0.39 95% CI 0.28 to 0.54).When compared with risperidone, aripiprazole showed no advantage in terms of global state (n = 384, 2 RCTs, RR no important improvement 1.14 95% CI 0.81 to 1.60) or mental state (n = 372, 2 RCTs, MD total PANSS 1.50 95% CI -2.96 to 5.96).One study compared aripiprazole with ziprasidone (n = 247) and both the groups reported similar change in the global state (n = 247, 1 RCT, MD average change in Clinical Global Impression-Severity (CGI-S) score -0.03 95% CI -0.28 to 0.22) and mental state (n = 247, 1 RCT, MD change PANSS -3.00 95% CI -7.29 to 1.29).When compared with any one of several new generation antipsychotic drugs the aripiprazole group showed improvement in global state in energy (n = 523, 1 RCT, RR 0.69 95% CI 0.56 to 0.84), mood (n = 523, 1 RCT, RR 0.77 95% CI 0.65 to 0.92), negative symptoms (n = 523, 1 RCT, RR 0.82 95% CI 0.68 to 0.99), somnolence (n = 523, 1 RCT, RR 0.80 95% CI 0.69 to 0.93) and weight gain (n = 523, 1 RCT, RR 0.84 95% CI 0.76 to 0.94). Significantly more people given aripiprazole reported symptoms of nausea (n = 2881, 3 RCTs, RR 3.13 95% CI 2.12 to 4.61) but weight gain (7% or more of total body weight) was less common in people allocated aripiprazole (n = 330, 1 RCT, RR 0.35 95% CI 0.19 to 0.64). Aripiprazole may have value in aggression but data are limited. This will be the focus of another review. AUTHORS' CONCLUSIONS: Information on all comparisons are of limited quality, are incomplete and problematic to apply clinically. Aripiprazole is an antipsychotic drug with a variant but not absent adverse effect profile. Long-term data are sparse and there is considerable scope for another update of this review as new data emerges from the many Chinese studies as well as from ongoing larger, independent pragmatic trials