表面组装技术的应用与发展（上）

本文主要对表面组装技术的特点、表面组装工艺和表面组装技术的现状及发展趋势进行了全面的介绍，并分析了贴片机、网板印刷机、回流焊、波峰焊对表面组装工艺的影响。     

电机定子端部线圈整形初探

对某产品电机定子端部线圈整形夹具进行了分析，探讨了整形夹具的设计思路。     

压电陶瓷用于纳米定位系统的研究

压电陶瓷PZT用于纳米定位系统的研究，给出了一种二维纳米定位机构和有效消除压电陶瓷压电误差的方法，设计了闭环数字控制系统．实验表明：该定位系统行程10μm,定位精度10nm，定位分辨率达2nm．     

成组分度铣夹具应用两则

成组分度铣夹具应用两则南昌飞机制造公司黎自芳１成组铣六方夹具图１所示是六方类零件组的典型零件，以外圆及端面定位加工六方，品种规格繁多。为了减少专用分度铣夹具，缩短生产准备周期，加快新产品研制，在零件分类编组的基础上，将六方零件进行标准化、系统化、通用...     

懂理论,会动手-新型高职高专人才培养的思考与实践

近几年来,关于高职高专人才培养模式改革的讨论,国内专家学者及各个高职高专学校,在理论上和实践中,提出了许多有开创性建议和有价值的方案.趋于一致的认识是,高职高专教育必须从过去专业学科本位转向岗位能力本位,高职高专培养的人才应该是适应社会经济发展需要的生产第一线的应用性人才.     

视觉及其融合惯性的SLAM技术发展综述

当前视觉同时定位与建图（Simultaneous localization and mapping,SLAM）技术已经成为导航定位领域重要的导航方式之一。为提升视觉SLAM全天候多场景的综合性能,融合多种信息的视觉SLAM技术得到了快速发展。本文系统综述了近年国内外视觉SLAM的研究成果。首先归纳整理了视觉及视觉/惯性SLAM中的前端里程计、后端优化、回环检测和地图构建关键环节。在纯视觉SLAM技术分析方面,围绕传统基于几何变换和现代基于深度学习的两大类视觉SLAM方法开展讨论,并梳理了相关具有代表性的视觉SLAM技术。在详细阐述视觉/惯性组合导航的多信息融合SLAM方法基础上,分析了近年基于异源图像的视觉及其与惯性组合的SLAM导航技术进展。最后对视觉SLAM的未来发展方向进行了针对性展望。     

基于工业机器人的机身系统件定位方法研究

针对传统系统件安装工艺采用固定式定位工装导致装配系统开敞性差、柔性程度低的问题,提出了基于工业机器人的机身系统件定位方法,确定了系统件辅助定位工装的标定方法,基于奇异值分解法和位姿等价变换原理确定了工业机器人的位姿调整算法,最后通过系统件辅助定位工装定位试验得出了系统件的定位精度。     

Accurate single-observer passive coherent location estimation based on TDOA and DOA

This paper investigates the problem of target position estimation with a single-observer passive coherent location(PCL) system. An approach that combines angle with time difference of arrival(ATDOA) is used to estimate the location of a target. Compared with the TDOA-only method which needs two steps, the proposed method estimates the target position more directly. The constrained total least squares(CTLS) technique is applied in this approach. It achieves the Cramer–Rao lower bound(CRLB) when the parameter measurements are subject to small Gaussian-distributed errors. Performance analysis and the CRLB of this approach are also studied. Theory verifies that the ATDOA method gets a lower CRLB than the TDOA-only method with the same TDOA measuring error. It can also be seen that the position of the target affects estimating precision.At the same time, the locations of transmitters affect the precision and its gradient direction.Compared with the TDOA, the ATDOA method can obtain more precise target position estimation.Furthermore, the proposed method accomplishes target position estimation with a single transmitter,while the TDOA-only method needs at least four transmitters to get the target position. Furthermore,the transmitters' position errors also affect precision of estimation regularly.     

Multi-sensor control for precise assembly of optical components

In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers （LVDT） is designed to adjust the relation of position and attitude between the spher- ical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.