Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response) Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently

Design of Reflective Intensity Modulated Fiber-Optic Sensor Based on TracePro and Taguchi Method

Abstract: Compare with traditional way of numerical simulation by establishing the mathematical model through geometry optic, we design a TracePro model to analyze the sensing process of reflective intensitymodulated fiber optic sensor base on ray tracing. This type of sensor has advantages over other fiber optic sensor, including simple structure, flexible design, reliable perform, low cost etc. In this paper, to design the reflective intensity modulated fiber optic sensor with concave reflected surface, TracePro software is used for modeling, TP modeling results are consistent with the existing conclusions show that the method is reasonably effectively, can improve the design efficiency. Meanwhile the Taguchi method is used to optimize coupling efficiency of receiving fiber in fiber optic displacement sensor design. Through optimizing three controllable factors the optimization configuration of A1B1C1 combinations is gain, presents a viable solution for the design of this sensor type

TELEX HEBDOMADAIRE NR 95 DU 17.09.82 DESTINE A L'ENSEMBLE DES DELEGATIONS EXTERIEURES ET BUREAUX DE PRESS ET D'INFORMATION INDEPENDANTS DANS LES PAYS TIERS = WEEKLY MEMO NO. 95 FOR 17.09.82 TO FOREIGN DELEGATIONS AND PRESS BUREAUS OF THIRD COUNTRIES

<p>High-performance liquid chromatography (HPLC) results of (A) commercial surfactin sample, and (B) our extract surfactin of <i>B</i>. <i>subtilis</i> HH2 in LB medium. There were three main peaks (Peak A-C) of the extract and the surfactin standard in the same location.</p

The Mitochondrial Genome of Baylisascaris procyonis

BACKGROUND: Baylisascaris procyonis (Nematoda: Ascaridida), an intestinal nematode of raccoons, is emerging as an important helminthic zoonosis due to serious or fatal larval migrans in animals and humans. Despite its significant veterinary and public health impact, the epidemiology, molecular ecology and population genetics of this parasite remain largely unexplored. Mitochondrial (mt) genomes can provide a foundation for investigations in these areas and assist in the diagnosis and control of B. procyonis. In this study, the first complete mt genome sequence of B. procyonis was determined using a polymerase chain reaction (PCR)-based primer-walking strategy. METHODOLOGY/PRINCIPAL FINDINGS: The circular mt genome (14781 bp) of B. procyonis contained 12 protein-coding, 22 transfer RNA and 2 ribosomal RNA genes congruent with other chromadorean nematodes. Interestingly, the B. procyonis mtDNA featured an extremely long AT-rich region (1375 bp) and a high number of intergenic spacers (17), making it unique compared with other secernentean nematodes characterized to date. Additionally, the entire genome displayed notable levels of AT skew and GC skew. Based on pairwise comparisons and sliding window analysis of mt genes among the available 11 Ascaridida mtDNAs, new primer pairs were designed to amplify specific short fragments of the genes cytb (548 bp fragment) and rrnL (200 bp fragment) in the B. procyonis mtDNA, and tested as possible alternatives to existing mt molecular beacons for Ascaridida. Finally, phylogenetic analysis of mtDNAs provided novel estimates of the interrelationships of Baylisasaris and Ascaridida. CONCLUSIONS/SIGNIFICANCE: The complete mt genome sequence of B. procyonis sequenced here should contribute to molecular diagnostic methods, epidemiological investigations and ecological studies of B. procyonis and other related ascaridoids. The information will be important in refining the phylogenetic relationships within the order Ascaridida and enriching the resource of markers for systematic, population genetic and evolutionary biological studies of parasitic nematodes of socio-economic importance

Towards Malay named entity recognition: an open-source dataset and a multi-task framework

Named entity recognition (NER) is a key component of many natural language processing (NLP) applications. The majority of advanced research, however, has not been widely applied to low-resource languages represented by Malay due to the data-hungry problem. In this paper, we present a system for building a Malay NER dataset (MS-NER) of 20,146 sentences through labelled datasets of homologous languages and iterative optimisation. Additionally, we propose a Multi-Task framework, namely MTBR, to integrate boundary information more effectively for NER. Specifically, boundary detection is treated as an auxiliary task and an enhanced Bidirectional Revision module with a gated ignoring mechanism is proposed to undertake conditional label transfer. This can reduce error propagation by the auxiliary task. We conduct extensive experiments on Malay, Indonesian, and English. Experimental results show that MTBR could achieve competitive performance and tends to outperform multiple baselines. The constructed dataset and model would be made available to the public as a new, reliable benchmark for Malay NER

Research on Improved Deadbeat Control Strategy Based on Interpolation Prediction and Online Inductance Identification

Aiming at the problem of control delay and inductance deviation, which exist in the traditional deadbeat control of the full-bridge circuit, an improved deadbeat control strategy was proposed. An improved Newton interpolation prediction algorithm was proposed to compensate the delay problem of deadbeat control, and an on-line inductance identification algorithm based on double frequency sampling was proposed to correct the inductance deviation. A mathematical model of deadbeat control for full-bridge inverter was established; besides, the performance of different interpolation prediction algorithms was analyzed. An online inductor identification model is established, on the basis of which the online inductance identification compensation formula is derived. It is indicated that an output constant current of 10 A is available with the deadbeat control relative error of only 0.2%, the grid-connected power factor up to 0.999, and the output current’s total harmonic distortion of only 2.37%. The prototype experiment shows that the output current’s total harmonic distortion is as low as 2.403% and the power factor is as high as 0.998. The results show that the improved deadbeat control strategy can effectively improve the control accuracy and the quality of grid-connected power

Effect of Partial Substitution of Flour with Mealworm (Tenebrio molitor L.) Powder on Dough and Biscuit Properties

Mealworm (Tenebrio molitor L.) is a type of edible insect rich in protein that has become popular as a protein-alternative ingredient in flour-based products to improve the nutritional properties of baking products. The mealworm powder substitution affected the pasting, farinograph, extensograph properties of wheat flour and the texture, nutritional, and sensory properties of the resulting soda biscuit. The pasting parameters (peak viscosity, trough viscosity, breakdown viscosity, final viscosity, and setback viscosity) and the water absorption decreased with the increased mealworm powder substitution level, which was ascribed to the dilution effect of mealworm powder. The farinograph parameters remained similar up to 15% substitution level. The extensograph results showed that mealworm powder substitution decreased the elastic properties of wheat dough as indicated by the consistently decreased extensibility, stretching energy, and stretching resistance, resulting in a significantly decreased baking expansion ratio of the soda biscuit. The protein, lipid, and dietary fiber content of the biscuits increased accordingly with the increased mealworm powder substitution level. The protein content of the soda biscuit was gradually increased from 9.13/100 g for the control (M0) to 16.0/100 g for that supplemented with 20% mealworm powder (M20), accompanied with the significantly increased essential amino acid content. Meanwhile, the fat and dietary fiber content of M20 exhibited 20.5 and 21.7% increase compared to those of M0. The score of the sensory attributes showed no significant difference up to 15% substitution level. The results demonstrated the 15% mealworm powder substitution level would not significantly affect the farinograph property, microstructure of wheat dough, and sensory acceptability

Nucleation and Condensation of Magnesium Vapor in Argon Carrier

The nucleation and condensation of Magnesium (Mg) vapor carried by argon gas (Ar) were examined. The condensation of Mg vapor at a heat source temperature of 1273&ndash;1473 K and Ar flow rate of 0.1&ndash;0.4 m3/h was analyzed. The result indicated that the condensation temperature is affected by the heat source temperature and Ar flow rate, and the condensation temperature of Mg vapor was 1013.3 K at a heat source temperature of 1473 K and Ar flow rate of 0.2 m3/h. The effects of Mg vapor partial pressure and temperature of the condensation zone on the nucleation and condensation of Mg vapor carried by Ar were calculated and analyzed in terms of atomic collisions and critical nucleation radius. Increased vapor oversaturation and decreased condensation temperature were favorable for liquid nucleation growth. The Mg condensation products in Ar flow rate of 0.2 m3/h at a heat source temperature of 1473 K were analyzed by XRD, SEM, and EDS, which indicated that the condensed product was of high purity and not easily oxidized in Ar flow. In this paper, the quality of Mg vapor condensation was controlled, which provided the theoretical and experimental basis for a continuous Mg production process