This paper proposes an uncalibrated workpiece positioning method for peg-in-hole assembly of a device using an industrial robot.Depth images are used to identify and locate the workpieces when a peg-in-hole assembly t...This paper proposes an uncalibrated workpiece positioning method for peg-in-hole assembly of a device using an industrial robot.Depth images are used to identify and locate the workpieces when a peg-in-hole assembly task is carried out by an industrial robot in a flexible production system.First,the depth image is thresholded according to the depth data of the workpiece surface so as to filter out the background interference.Second,a series of image processing and the feature recognition algorithms are executed to extract the outer contour features and locate the center point position.This image information,fed by the vision system,will drive the robot to achieve the positioning,approximately.Finally,the Hough circle detection algorithm is used to extract the features and the relevant parameters of the circular hole where the assembly would be done,on the color image,for accurate positioning.The experimental result shows that the positioning accuracy of this method is between 0.6-1.2 mm,in the used experimental system.The entire positioning process need not require complicated calibration,and the method is highly flexible.It is suitable for the automatic assembly tasks with multi-specification or in small batches,in a flexible production system.展开更多
The northward movement of the storm over Bengal Bay was the main weather system producing heavy snow over southern Tibet in Nov. 1995. The effect of the Tibetan Plateau on the track of the storm over Bengal Bay and it...The northward movement of the storm over Bengal Bay was the main weather system producing heavy snow over southern Tibet in Nov. 1995. The effect of the Tibetan Plateau on the track of the storm over Bengal Bay and its cloud system was discussed by analyzing the GMS-5 water vapor image. It is estimated from this discussion that the altitude of the Plateau obstruct effect on synoptic systern can reach up to 300 hPa.展开更多
In this paper,we study a robust estimation method for the observation-driven integervalued time-series models in which the conditional probability mass of current observations is assumed to follow a negative binomial ...In this paper,we study a robust estimation method for the observation-driven integervalued time-series models in which the conditional probability mass of current observations is assumed to follow a negative binomial distribution.Maximum likelihood estimator is highly affected by the outliers.We resort to the minimum density power divergence estimator as a robust estimator and showthat it is strongly consistent and asymptotically normal under some regularity conditions.Simulation results are provided to illustrate the performance of the estimator.An application is performed on data for campylobacteriosis infections.展开更多
文摘This paper proposes an uncalibrated workpiece positioning method for peg-in-hole assembly of a device using an industrial robot.Depth images are used to identify and locate the workpieces when a peg-in-hole assembly task is carried out by an industrial robot in a flexible production system.First,the depth image is thresholded according to the depth data of the workpiece surface so as to filter out the background interference.Second,a series of image processing and the feature recognition algorithms are executed to extract the outer contour features and locate the center point position.This image information,fed by the vision system,will drive the robot to achieve the positioning,approximately.Finally,the Hough circle detection algorithm is used to extract the features and the relevant parameters of the circular hole where the assembly would be done,on the color image,for accurate positioning.The experimental result shows that the positioning accuracy of this method is between 0.6-1.2 mm,in the used experimental system.The entire positioning process need not require complicated calibration,and the method is highly flexible.It is suitable for the automatic assembly tasks with multi-specification or in small batches,in a flexible production system.
文摘The northward movement of the storm over Bengal Bay was the main weather system producing heavy snow over southern Tibet in Nov. 1995. The effect of the Tibetan Plateau on the track of the storm over Bengal Bay and its cloud system was discussed by analyzing the GMS-5 water vapor image. It is estimated from this discussion that the altitude of the Plateau obstruct effect on synoptic systern can reach up to 300 hPa.
基金supported by National Natural Science Foundation of China(Nos.11871027,11731015)Science and Technology Developing Plan of Jilin Province(No.20170101057JC)Cultivation Plan for Excellent Young Scholar Candidates of Jilin University.
文摘In this paper,we study a robust estimation method for the observation-driven integervalued time-series models in which the conditional probability mass of current observations is assumed to follow a negative binomial distribution.Maximum likelihood estimator is highly affected by the outliers.We resort to the minimum density power divergence estimator as a robust estimator and showthat it is strongly consistent and asymptotically normal under some regularity conditions.Simulation results are provided to illustrate the performance of the estimator.An application is performed on data for campylobacteriosis infections.
