Research on Automatic Micro Operation Based on Global and Local Vision

在基于视觉的微操作与微装配中，采用显微视觉作为非接触式的传感器，以实现自动化闭环控制，提高操作和装配精度。在显微视觉控制中，要提高操作精度往往采用小视场，即具有高的放大倍数。然而小视场所包含的操作对象少，不能实现连续、快速的定位，自动化程度低，时间成本高；大视场所包含的对象多，但是需要牺牲显微视觉系统的放大倍数，操作精度低。因此，显微镜的视场大小所造成的操作精度和批量操作速度间的矛盾，使得传统的操作很难同时保证精度和速度。 本文提出了一种基于全局/局部视觉控制的自动化微操作方法，该方法能够解决微操作中操作精度和批量操作速度的矛盾。文中首先利用特征运动误差对视觉系统和世界空间进行标定，然后在操...In the micro-operation and micro-assembly that is based on vision, the micro vision was used as a non-contact sensor for automatic closed loop control to improve the speed of operation and assembly. In the micro vision control, the high operation resolution often means the small vision, that is, the amplification factor of the vision system is big. But the small vision contains small number of ope...学位：工学硕士院系专业：物理与机电工程学院机电工程系_机械制造及其自动化学号：1992009115249

一种基于视觉的全局扫描与局部装配的控制方法

在基于视觉的微装配中,要提高精度则需要减小视场,然而小视场所包含的装配对象少,不能实现连续、快速的定位,因此很难同时保证快速和高精度。利用双视觉,提出一种全局扫描和局部装配的控制方法,也就是在大视场中获取批量装配对象坐标及关系,然后在小视场中进行单个对象的局部装配。该方法的批量对象扫描提高了装配速度,局部装配保证了装配精度

XH-04B乙苯脱氢催化剂的工业应用

介绍了XH-04B乙苯脱氢催化剂的特性及工业应用情况。应用结果表明,该催化剂活性和选择性均较高,能够适应较低n(汽)/n(烃),机械强度较高,床层阻力较小且使用寿命较长,可代替进口催化剂在国内大型引进苯乙烯装置上使用

Immunorecognition of Estrogen Receptor in the Optic Ganglion of Scylla serrata

【中文摘要】 利用免疫细胞化学SABC法对锯缘青蟹(Scylla serrata)视神经节雌激素受体(ER)进行定位研究.结果表明:视神经节的视外髓、视内髓和视端髓存在ER免疫阳性细胞.视神经节存在的ER免疫阳性细胞可以为雌激素提供结合位点.本研究为雌激素参与视神经节神经内分泌调节作用提供了形态学依据. 【英文摘要】 Antisera generated in vertebrate and immunocytochemical SABC method was applied to observe the immunoreactive neurons and neuropils of estrogen receptor(ER) in optic ganglia of Scylla serrata.The results showed that:ER-immunoreactive substance was located in medulla externa,medulla interna and medulla terminalis in optic ganglion.ER-immunoreactive neurons in optic ganglia might provide the binding sites for estrogen and accept the feedback regulation of estrogen.This present work provides the morphological ...国家自然科学基金(30300269)资

Control Method of Micro-Manipulation System for Fast Precision Probe Positioning

为了快速、精确定位操作细胞的探针,利用视觉空间的特征运动误差对视觉空间与机械手空间的映射矩阵进行校正,研究了局部视觉空间重复校正方法以及误差趋近极小值的最小二乘全局校正方法.为了减小随机噪声对精度的影响,用校正后的映射矩阵替换卡尔曼滤波器状态方程中的输入系数矩阵,利用卡尔曼滤波器估计方程控制特征运动.通过实验求取映射矩阵校正后的特征运动误差,由于取点有限以及影响精度的参数较多,经过重复校正使误差趋近极小值.应用最小二乘全局校正方法,可使特征运动误差控制在5个像素范围内.采用全局校正后的映射矩阵替换卡尔曼滤波器状态方程中的输入系数矩阵,并用卡尔曼滤波器控制特征运动,可使特征运动误差控制在1个像素范围内.系统校正后,当探针跟踪孔直径为100μM、相邻孔间距为400μM的孔阵列时,跟踪10个孔的时间为14 S.In order to position the probe that operates cells fast and precisely,the movement error of characteristic point in vision space was used to revise mapping matrix of vision space and manipulator space.Repeat revision method based on local vision space and the least squares method based on global revision which can make errors approach the minimum were researched.In order to reduce the influence of random noise on precision,the input coefficient matrix of state equation of Kalman filter was replaced by the revised matrix,and the movements of characteristic points were controlled by the estimate equation of Kalman filter.Through the experiments,the movement errors of characteristic points after revising were obtained.In addition,to make errors approach the minimum,repeat revision was needed due to limited points and too many parameters which influence precision.The movement errors of characteristic points were controlled within 5 pixel if the least squares method based on global revision was used.When the input coefficient of state equation of Kalman filter was replaced by the revised matrix and the movements of characteristic points were controlled by the Kalman filter,the movement error can be controlled within one pixel.After revising,the time spent on tracking 10 holes of array is 14 s when the diameter is 100 μm and distance between holes is 400 μm.国家自然科学基金资助项目(50875222);福建省自然科学基金资助项目(2009J01265

Integrating Automatic Bio-manipulation Algorithm Theory with Software

在生命科学研究中,生物操作主要存在操作者训练时间长、操作成功率和效率低、操作缺乏一致性和重复性等问题,自动化生物操作可以解决这些问题。将多个商用设备集成在一起,利用视觉系统与机械手系统的映射矩阵建立误差校正方程,采用局部递归和全局优化标定的方法减小目标点的定位误差。在此基础上,利用卡尔曼滤波器建立系统控制方程,控制操作探针精确定位。最后,用程序实现了算法理论,并将该算法与其他设备驱动模块集成在一起,建立了柔性的、用户界面友好的软件系统。实验结果表明:建立的算法理论和软件系统,可以自动控制操作探针精确运动,运动精度在1个像素范围内。For the study of life sciences,bio-manipulation faces such challenges as long time for operator training,low success rate,low efficiency,operation inconsistency and repetition.We believe that automatic bio-manipulation can solve these challenges.We integrate several commercial devices and use the matrix that maps the visual system with the robotic system to derive the error correction equation.We also use the local recurrence and global optimization calibration method to reduce the target point′s positioning error.On this basis,using the Kalman filter,we establish the systems′ control equations to control the precise positioning of the bio-manipulation probe.Finally,we implement the algorithm theory and integrate the algorithm with the drive modules of other devices,thus establishing a flexible and user-friendly software system.The experimental results show that the algorithm theory and software systems thus integrated can automatically control the probe′s accurate motion,the motion accuracy being within one pixel.国家自然科学基金项目(50875222);福建省自然科学基金项目(2009J01265)资

Vision based automatic assembly of rotor leads for micro-motors

将转子线圈的线头焊接到焊盘上是微马达制造的重要工序,由于操作对象的特殊性,线头焊接全部采用人工在显微镜下操作完成,人工焊接成本高、效率低、产品一致性差。针对这些问题,提出了一种基于视觉的微马达转子导线自动焊接方法,利用视觉自适应调整微马达的位姿。另外,采用气流定位法对转子导线进行定位,并分析了因位置和姿态调整产生耦合而造成的误差,提出了解决方案。实验结果表明,利用气流可以对导线进行精确定位,基于视觉控制的位置与姿态调整精度分别可以达到10μM和1°。In the manufacture of micro-motor,it is an important working procedure to weld the head of coil onto the bonding pad.Due to the particularity of the objects,all the welding working,in present,are completed by human labor under microscope,leading to high cost,low efficiency and poor consistence.Aiming at these problems,a technique about vision based automatic welding was presented,that is,adjusting the position and posture of motor using vision automatically.In addition,the head of coil was positioned by the use of airflow and the error made by the interference between adjustment of position and posture was analyzed and the solution was given finally.The results indicate that the head of coil can be positioned well by airflow and the precision of adjustment of position and posture using vision control reach 10 μm and 1° respectively

Coupled Relationship among Hydrate Structure,Hydration Number, and Raman Spectrum

为了探讨不同气体组分和环境介质对形成笼状结构类型水合物和水合数的影响, 开展了一元体系 (CH4、CO2、C3H8 )和二元体系(CH4 +CO2、CH4 +C3H8、CH4 +N2 )的水合物生成结晶充填过程、结晶构型和动力学特性分析, 并对生成的水合物进行了拉曼光谱分析。结果表明单组分甲烷充填小孔穴 512和大孔穴 512 62 形成Ⅰ型笼状结构水合物(SⅠ), 二氧化碳和丙烷只占据大孔穴 512 64 形成Ⅱ型笼状结构水合物 (SⅡ ); 而二元混合组分中小孔穴中只充填有甲烷, 而没有CO2、N2 和C3H8。应用反褶积的ν1 对称谱带测定了CH4 分子在Ⅰ型结构大孔穴和小孔穴中的相对占有率,并根据谱带的面积比(对应于小孔穴与大孔穴)计算了平衡条件下甲烷水合物孔穴占有率及其耦合的水合数, 认为气体分子的大小不仅影响它所充填的孔穴形态和类型, 而且影响水合物生成的结构类型和水合数。To discuss the affects of the different gas compositions and environment media on the forming of the different complicated clathrate hydrates with the different structure types,and hydration numbers, this study (analyzed) the crystal filling process of the hydrate, the crystal construction type,and the dynamics characteristics in the singleness system(CH_4, CO_2, and C_3H_8,respectively)and in the duality system(CH_4+CO_2, CH_4+C_3H_8, and CH_4+N_2,respectively), and proceeded to analyse the results using Raman spectra. The results show that the methane fills the small cavities of 5~(12) and the large cavities of 5~(12)6~2 forming structure Ⅰ clathrate hydrate((SⅠ)),CO_2 and C_3H_8 only occupy the large cavities of 5~(12)6~4 forming structure Ⅱ clathrate hydrate((SⅡ) )in the singleness system,and that in the duality system the small cavities are only filled by CH_4,neither CO_2 nor N_2 and C_3H_8 is found. Applying the deconvoluting v_1 symmetric bands to measure the relative (occupancy) factors of CH_4 in the large cavities and in the small cavities of SⅠ, and according to the area ratio (corresponding to the small cavities and to the large cavities) of the bands, and computing the cavity occupancy factors and the coupling hydration numbers of methane hydrate under a few equilibrium terms,it is shown that the size of the gas molecule not only affects the appearance and the type of the filling cavities , but also do the structure type and the hydration number of hydrates.国家自然科学基金项目(40272066; 40472156);; 教育部厦门大学“211”工程资助项目

study on software requirements management based on iso9001 and cmm

软件需求的定义比较多，各种定义之间比较容易混淆，学术界倾向于把整个需求范围称之为“需求工程”。从软件工程角度来讲，把整个软件需求研究领域划分为“需求开发”和“需求管理”比较合适。图1表明了需求开发和需求管理在整个需求工程中的关系。中国计算机学

多业务传输的WDM-ROF-PON系统研究

针对多业务传输的WDM-ROF-PON（融合光载无线技术的波分复用-无源光网络）系统的稳定性和业务间串扰问题,设计了一种能同时传输两种无线业务的WDM-ROF-PON系统。实验过程中,对下行链路的4路ROF信道进行了测试,系统能同时传输60GHz 2.5Gbit/s的毫米波信号和5GHz 155Mbit/s的DPSK（差分相移键控）信号,传输距离为20km。各信道中低频业务传输20km后功率代价为0.4～2.8dB,毫米波信号传输20km后功率代价为1.5～3.2dB;仅传输毫米波业务时,接收机灵敏度提升0.6～2dB。实验结果表明,各信道中两种业务的信号传输性能均良好,系统较稳定,低频业务对毫米波业务的干扰较小