Robot integrated processing technology research and application in the product processing

随着科技的发展，制造业中的加工方法从传统加工、数控加工到现今火热的机器人加工，机器人加工在工厂自动化领域已经得到了广泛的应用。在传统的数控加工领域，主要是使用CAD-CAM-CNC的数据链完成复杂的零件模型输入和刀轨生成等任务。由于一般机器人控制器不接受传统CAD/CAM系统输出的APT或G代码等刀轨数据，并且还存在坐标系转换问题，因此开发数控代码到机器人语言的转换器和后置处理器成为机器人加工的难点，急需解决这些问题。 本文针对目前机器人加工存在的问题，借鉴国内外先进的机器人加工方法，通过分析得出机器人集成加工技术，基于其原理设计出了一套机器人加工系统。本加工系统将数控加工CAD/CAM技术...With the development of science and technology, in manufacturing , processing methods are from the traditional processing、CNC machining to the robots processing, robotprocessing has been widely applied in the field of factory automation.In the field of traditional NC, it mainly used CAD, CAM, CNC model data links to complete the complex parts input and tool path generation tasks .Due to the robot ...学位：工学硕士院系专业：物理与机电工程学院_机械电子工程学号：1992012115271

Phytoplankton diversity in Futian mangrove wetland of Shenzhen:Composition and distribution

根据深圳福田红树林湿地的浮游植物周年调查资料,分析浮游植物群落多样性的组成与时空分布特征,并利用浮游植物群落多样性指数对湿地水体的营养状态进行评价。共记录浮游植物5门28属51种,各季度浮游植物数量均超过106Ind.l-1。硅藻分布广泛,在种类和数量上均占主导地位,优势种为微小小环藻(CyClOTEllA CASPIA)和诺氏海链藻(THAlASSIOSIrA nOrdEnSkIldI)等,耐受污染的藻类,如小颤藻(OSCIllATOrIA MInIMA)、鱼形裸藻(EuglEnA PISCIfOrMIS)在夏秋2季成为个别站位的优势种。浮游植物种类组成时空变化明显,而数量的空间变化较大、季节变化不大,优势种的时空变化明显,但种类单一,多样性指数的空间变化较大。群落多样性指数评价结果显示,深圳红树林湿地处于中-富营养化状态,有向富营养化过渡的趋势,应加强对内陆径流和污水排放进入红树林湿地的严格控制和管理。Based on the field survey in 2005-2006,the composition and spatiotemporal distribution of phytoplankton diversity in Futian mangrove wetland of Shenzhen were studied,and the water body’s trophic state of the wetland was assessed by using Shannon-Wiener diversity index,Pielou evenness index,Margalef abundance index,and dominance index.A total of 51 species (including 1 variety and 9 unidentified species) belonging to 28 genera in 5 phyta were identified.The phytoplankton density in each season all reached 106 ind·L-1 or more.In terms of species number and quantity,diatom was dominant in the phytoplankton community.Cyclotella caspia and Thalassiosira nordenskildi were the dominant species,while the other pollution-tolerance species such as Oscillatoria minima and Euglena pisciformis became dominant in some stations in summer and autumn.In contrast to the remarkable spatiotemporal variation of species composition,a greater spatial but little temporal variation of phytoplankton quantity was observed.Dominant species had remarkable spatiotemporal variation,but the simplicity was obvious.The four diversity indices presented more spatial variation,and the assessment with these indices showed that the water body’s trophic state of the wetland was at meso-eutrophic,and tended to be eutrophicated.It was necessary to strictly control the wastewater discharging and inland runoff into the mangrove wetland.国家海洋局908专项—中国海洋生物种类名录和图谱资助项目(908-ZC-Ⅱ-02

Effect of nutrient shortage and recovery on growth and biochemical composition of Thalassiosira weissflogii

通过室内纯培养,研究了营养盐亏缺以及解除亏缺对威氏海链藻(THAlASSIOSIrA WEISSflOgII)的细胞形态、细胞增殖、胞内蛋白质、可溶性糖含量变化的影响,考察了藻细胞生长和生化组成的恢复情况。结果表明,在多种营养盐亏缺(n亏缺、P亏缺、SI亏缺、n+P亏缺、贫营养)的条件下,威氏海链藻生长受到不同程度的抑制,全部受试细胞形态均出现不同程度变异,细胞增殖显著低于正常营养供给。恢复营养,细胞形态的损伤能得以有效恢复,细胞增殖能力得以一定程度的有限恢复,其中氮、磷亏缺的恢复效应最为明显。营养盐亏缺,各处理组细胞生化组成显著低于正常培养状态。恢复营养,氮、磷亏缺组藻细胞生化组成仍显著低于正常营养供给,生化组成的恢复效应不明显,生理活性无法恢复,而硅盐亏缺的藻细胞生长和生化组成均能恢复到正常水平。实验证明,微藻细胞的生化组成比形态变化与增殖更能反映营养盐亏缺,可作为微藻受氮、磷营养盐限制的指标。Marine microalgae Thalassiosira weissflogii was firstly cultured under the condition of nutrient shortage and recovered later to demonstrate the morphology and biochemical composition changes of cells.The influence of different levels of two phases in macro-nutrients on growth capability, including the contents of carbohydrate, protein, cell density and cell shape was investigated to assess physiological activity and survival ability of T.weissflogii.The results indicated that when it was nutrient shortage, the cells of T.weissflogii in each treatment ( including nitrate-shortage, phosphat-shortage, silicate-shortage, nitrate plus phosphate shortage, poor-suplly ) experienced with morphological changes and remarkably decrease in density.In nutrient recovery phases, T.weissflogii was effectively recovered in cell shape.Density increased to some degree in contrast to control of normal nutrients supply, which was markedly showed in nitrate-shortage, phosphat-shortage.Recovery of cell growth and reproduction of T.weissflogii was able.Shortage of nutrients might induce and modify the process of cell growth and reproduction of T.weissflogii rather than harmless.In nutrient shortage phases, cellular carbohydrate and protein contents of each treatment markedly decresed.The decresing trend was the same in nutrient recovery.Recovery of physiological activity of T.weissflogii was unable except cells of silicate-shortage treatment.Cellular biochemical characteristic observantly indicated nutrients variation than morphology.Cellular biochemical characteristic might indicate environmental conditions of marine microalgae.中国近海海洋综合调查与评价(908-01-ST06;FJ908-01-01-HS

Robot Grinding Technology Making Custom Uncemented Femoral Hip Prosthesis

非骨水泥股骨柄假体在股骨髓腔中的低填充率是股骨柄假体无菌松动的主要因素,为了提高股骨柄假体与股骨髓腔的填充率,利用机器人磨削系统加工与猪腿骨匹配的股骨柄假体.其方法是利用CT数据重建股骨髓腔三维模型,依据该三维模型设计股骨柄假体.将设计的股骨柄假体模型导入CAd/CAM/rObOTIC集成系统,生成磨削股骨柄假体的加工轨迹.加工轨迹后处理后导入机器人仿真软件中运行,消除刀具与CAd模型的干涉并生成机器人加工轨迹;将机器人加工轨迹下载到控制器中,磨削加工股骨柄假体.将股骨柄假体与猪腿骨髓腔匹配,分析股骨柄假体在髓腔中的填充率,验证机器人磨削技术和CAd/CAM/rObOTIC集成方法加工定制式股骨柄假体的可行性.实验结果表明,定制式股骨柄假体在猪腿骨髓腔中有好的填充率.The low filling rate of the uncemented femoral hip prosthesis to the femoral cavity is a main reason of unsuccessful total hip replacements.For purposes of improving the filling rate of the prosthesis in femoral cavity,in this paper,a robotic system is used to mill the prosthesis.The CAD model of prosthesis is designed according to reconstructed model of the CT data of pig femur.when the CAD model of prosthesis is imported to CAD/CAM/Robotics software,the milling path of robotic is produced.During the course of runing the milling path at CAD/CAM/Robotics software,the conflict of the milling machine and CAD model will be eliminated.After the milling path is imported into the robotic controller,the custom prosthesis can be fabricated.When the prosthesis that is fabricated by the robotic milling system is inserted into the femoral cavity,the filling rate of the prosthesis in femoral cavity can be analysed.The experiment results show that nice result of the custom prosthesis in femoral cavity can be obtained,the robotic milling system and CAD/CAM/Robotic integration method can be used to mill custom prosthesis