Determination of optimal samples for robot calibration based on error similarity

Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements.     

Grinding performance evaluation of porous composite-bonded CBN wheels for Inconel 718

For high-efficiency grinding of difficult-to-cut materials such as titanium and nickel alloys, a high porosity is expected and also a sufficient mechanical strength to satisfy the function.However, the porosity increase is a disadvantage to the mechanical strength. As a promising pore forming agent, alumina bubbles are firstly induced into the abrasive layer to fabricate porous cubic boron nitride（CBN） wheels. When the wheel porosity reaches 45%, the bending strength is still high up to 50 MPa with modified orderly pore distribution. A porous CBN wheel was fabricated with a total porosity around 30%. The grinding performance of the porous composite-bonded CBN wheel was evaluated in terms of specific force, specific grinding energy, and grinding temperature, which were better than those of the vitrified one under the same grinding conditions. Compared to the vitrified CBN wheel, clear straight cutting grooves and less chip adhesion are observed on the ground surface and there is also no extensive loading on the wheel surface after grinding.     

VCSmx在大规模FPGA设计测试中的应用

为了满足各种复杂的大规模FPGA设计的测试任务的需要,同时保证测试质量,提高测试效率,必须拥有专业的测试技术和流程。软件仿真可调性强,借助高性能高容量的测试软件和测试服务器,可以有效地提高测试效率,能够测试目前乃至将来一段时间大规模复杂FPGA设计,保证了设计质量和开发的成功率。     

三维编织复合材料及其RTM成型工艺

文章阐述了三维编织工艺,并将三维编织复合材料的性能与传统铺层复合材料的性能作了比较。同时,还介绍了其成型方法—RTM工艺的原理及特点,并提供了一种适于RTM工艺的树脂体系。     

一种等离子体卡塞格仑抛物面隐身天线的设计

研究等离子体卡塞格仑抛物面隐身天线一体化设计的关键性问题。根据双反射面天线的经典理论设计公式得出卡塞格仑抛物面天线的设计参数,仿真计算传统卡塞格仑抛物面天线及等离子体卡塞格仑抛物面天线的辐射特性和散射特性。研究结果表明,等离子体卡塞格仑抛物面天线具有和传统金属反射体卡塞格仑抛物面天线一样的辐射性能,同时由于等离子体产生和消失的可控性,不工作时就只有介质外壳,具有极低的RCS,从而大大提高了反射面天线的隐身性能。     

Integrated Safety Culture Model and Application

A new safety culture model is constructed and is applied to analyze the correlations between safety culture and SMS. On the basis of previous typical definitions, models and theories of safety culture, an in-depth analysis on safety culture＇s structure, composing elements and their correlations was conducted. A new definition of safety culture was proposed from the perspective of sub-culture. 7 types of safety sub-culture, which are safety priority culture, standardizing culture, flexible culture, learning culture, teamwork culture, reporting culture and justice culture were defined later. Then integrated safety culture model （ISCM） was put forward based on the definition. The model divided safety culture into intrinsic latency level and extrinsic indication level and explained the potential relationship between safety sub-culture and all safety culture dimensions. Finally in the analyzing of safety culture and SMS, it concluded that positive safety culture is the basis of im plementing SMS effectively and an advanced SMS will improve safety culture from all around.     

Heavy-ion induced genetic changes and evolution processes.

On Moon and Mars, there will be more galactic cosmic rays and higher radiation doses than on earth. Our experimental studies showed that heavy ion radiation can effectively cause mutation and chromosome aberrations and that high-LET heavy-ion induced mutants can be irreversible. Chromosome translocations and deletions are common in cells irradiated by heavy particles, and ionizing radiations are effective in causing hyperploidy. The importance of the genetic changes in the evolution of life is an interesting question. Through evolution, there is an increase of DNA content in cells from lower forms of life to higher organisms. The DNA content, however, reached a plateau in vertebrates. By increasing DNA content, there can be an increase of information in the cell. For a given DNA content, the quality of information can be changed by rearranging the DNA. Because radiation can cause hyperploidy, an increase of DNA content in cells, and can induce DNA rearrangement, it is likely that the evolution of life on Mars will be effected by its radiation environment. A simple analysis shows that the radiation level on Mars may cause a mutation frequency comparable to that of the spontaneous mutation rate on Earth. To the extent that mutation plays a role in adaptation, radiation alone on Mars may thus provide sufficient mutation for the evolution of life.     

一种用于ACSR的主从机并行处理系统

以微机、ＬＨ－ＳＣ１６Ａ型Ａ／Ｄ板、ＳＣ５０型Ｄ／Ａ板以及ＴＭＳ３２０Ｃ３０Ａ型ＤＳＰ板为基础，建立了时域结构响应主动控制的主从机并行处理系统。这一系统具有多通道快速运算能力，可提高控制系统的控制律，更新速率，改善控制系统的跟踪能力。     

多媒体煤矿安全监测管理系统研究

介绍了现有的煤矿安全监测和安全考勤管理系统的特点及缺陷，探讨了如何将多媒体计算机技术应用于煤矿安全监测管理系统。该系统具有实时监视、紧急救援和事故分析三大特点。     

PWM full-bridge converter with natural input power factor correction

A pulsewidth modulated (PWM) full-bridge converter that simultaneously performs input power factor correction (PFC) and DC-DC conversion is proposed. The converter is the same as the standard voltage-fed PWM full-bridge converter with a diode-bridge low-pass filter front end, but with a slight modification that results in an improvement in power factor that is sufficient to satisfy the EN61000-3-2 requirements for electrical equipment. The operation of the converter is explained and analyzed, and the results of the analysis are used to determine the converter's steady-state characteristics, which are discussed in detail. A design procedure for the selection of components is then derived and demonstrated with an example. The feasibility of the converter and its ability to satisfy EN61000-3-2 requirements on electrical equipment is shown with results obtained from an experimental prototype.