Circular Interpolation Algorithms of 5-Axis Simultaneous CNC System

Spatial circular arc can be machined conveniently by a 5-axis NC machine tool.Based on the data sampling method,circular interpolation in two-dimensional plane is discussed briefly.The key is to solve the problem of circular center ex- pressed in the workpiece coordinate system by means of the transformation matrix.Circular interpolation in three-dimensional space is analyzed in detail.The method of undetermined coefficient is used to solve the center of the spatial circle and the method of coor- dinate transformation is used to transform the spatial circle into the XY-plane.Circular arc in three-dimensional space can be ma- chined by the positional 5-axis machining and the conical surface can be machined by the continuous 5-axis machining.The velocity control is presented to avoid the feedrate fluctuation.The interpolation algorithms are tested by a simulation example and the inter- polation algorithms are proved feasible.The algorithms are applied to the 5-axis CNC system software.

Realization Methodology of a 5-axis Spline Interpolator in an Open CNC System

By making use of the advantages of non-uniform rational B-spline （NURBS） curves to represent spatial curves, an instruction format with double NURBS curves suitable for 5-axis coordinated real-time interpolation is presented to replace the current 5-axis coordinated linear interpolation method defective in low-speed, low-accuracy and enormous numerical control （NC） files in sculptured surface machining. A generation procedure of the NC files with the presented format is introduced and the method to realize the interpolation in an open computer numerical control （CNC） system is developed by ourselves. These illustrated the feasibility of the proposed method and its capability of avoiding all the shortages of 5-axis linear interpolation method.

Development of practical postprocessor for 5-axis machine tool with non-orthogonal rotary axes

In order to develop a practical postprocessor for 5-axis machine tool,the general equations of numerically controlled(NC) data for 5-axis configurations with non-orthogonal rotary axes were exactly expressed by the inverse kinematics,and a windows-based postprocessor written with Visual Basic was developed according to the proposed algorithm.The developed postprocessor is a general system suitable for all kinds of 5-axis machines with orthogonal and non-orthogonal rotary axes.Through implementation of the developed postprocessor and verification by a cutting simulation and machining experiment,the effectiveness of the proposed algorithm is confirmed.Compatibility is improved by allowing exchange of data formats such as rotational total center position(RTCP) controlled NC data,vector post NC data,and program object file(POF) cutter location(CL) data,and convenience is increased by adding the function of work-piece origin offset.Consequently,a practical post-processor for 5-axis machining is developed.

Development of tool-path generation module for 5-axis control machining of impellers

An impeller is difficult to machine because of severe collision due to the complex shape,overlapping and twisted shape of the impeller blades.So,most computer aided manufacturing(CAM)software companies have developed CAM module for manufacturing impeller according to their CAM software.But these dedicated modules are difficult to use for inexperienced users.The purpose of this work is to develop a tool-path generation module for impellers.For this purpose,it is based on Visual Basic language and used CATIA graphical environment.The result of simulation for generated tool-path by the module is satisfactory.And it has slow processing speed compared to other commercial modules,but it is easy to use.

A Real-time NURBS Surface Interpolator for 5-axis Surface Machining

A real-time non-uniform rational B-spline （NURBS） surface interpolator is proposed and 5-axis machining method with a flat-end cutter is discussed. With the Taylor expansion and the coordinate transformation, the algorithms of NURBS interpolation, cutter effective machining radius, cutter offsetting and.inverse kinematics are deduced and implemented, respectively. Different from the conventional free-form surface machining, the proposed interpolator can real-time generate the motion commands of computer numerical control （CNC） machines with CC feedrate, rather than that of CL. An example part surface is demonstrated and the results of simulation show that the proposed method can be applied in actual 5-axis surface machining.

MOTION ERROR ESTIMATION OF 5-AXIS MACHINING CENTER USING DBB METHOD

In order to estimate the motion errors of 5-axis machine center, the double ball bar （DBB） method is adopted to realize the diagnosis procedure. The motion error sources of rotary axes in 5-axis machining center comprise of the alignment error of rotary axes and the angular error due to various factors, e.g. the inclination of rotary axes. From sensitive viewpoints, each motion error is possible to have a particular sensitive direction in which deviation of DBB error trace arises from only some specific error sources. The model of the DBB error trace is established according to the spatial geometry theory. Accordingly, the sensitive direction of each motion error source is made clear through numerical simulation, which is used as the reference patterns for rotational error estimation. The estimation method is proposed to easily estimate the motion error sources of rotary axes in quantitative manner. To verify the proposed DBB method for rotational error estimation, the experimental tests are carried out on a 5-axis machining center M-400 （MORISEIKI）. The effect of the mismatch of the DBB is also studied to guarantee the estimation accuracy. From the experimental data, it is noted that the proposed estimation method for 5-axis machining center is feasible and effective.

2-(5-溴-2-吡啶偶氮)-5-二甲氨基苯胺分光光度法同时测定铂与钯

提出了以2-(5-溴-2-吡啶偶氮)-5-二甲氨基苯胺(5-Br-PADAM)作显色剂光度法同时测定铂和钯的新方法。在0.2～3.0mol/L高氯酸介质中,Pd(Ⅱ)与5-Br-PADAM可形成稳定的络合物,其最大吸收波长位于609nm处;在pH3.5～4.8的弱酸性介质中,Pt(与5-Br-PADAM定量反应,铂络合物形成后非常稳定,以强酸酸化可转化为另一种质子化型体。在609nm处,二者的吸光度具有良好的加和性。基于二者显色酸度的差异,建立了铂、钯同时测定新方法,显色反应的摩尔吸光系数分别为εPd=8.2×104L.mol-1.cm-1和εPt=5.5×104L.mol-1.cm-1。铂、钯浓度分别在0～1.1mg/L和0～1.4mg/L符合比尔定律。方法用于合金和催化剂中微量铂和钯的同时测定,结果与AAS法测定结果相符,相对标准偏差在0.50%～2.0%之间。

2-(3,5-二氯-2-吡啶偶氮)-5-二甲氨基苯胺光度法同时测定铑与钯

建立了以2-（3，5-二氯-2-吡啶偶氮）-5-二甲氨基苯胺（3，5-diCl-PADAM）作显色剂同时测定铑和钯的新方法。Rh（Ⅲ）与3，5-diCl-PADAM可在pH4.0-5.2的弱酸性介质中定量反应，铑配合物一旦形成则非常稳定，加强酸酸化可转化为另一种质子化形体，最大吸收波长红移至614nm，且灵敏度显著提高；而Pd（Ⅱ）与3，5-diCl-PADAM可直接在强酸性介质中发生显色反应，其最大吸收波长位于616nm，同时二者的吸光度具有良好的加和性。基于二者显色酸度的差异，建立了铑、钯同时测定新方法，方法的εRh^614=1.40×10^5L·mol^-1·cm^-1，εPd^614=8.30×10^4L·mol^-1·cm^-1。Rh、Pd的质量浓度分别在0-0.72mg／L和0-1.2mg／L符合比尔定律。所拟方法已用于矿样和催化剂中铑和钯的同时测定，结果与AAS法相符。

5-(5-硝基-2-吡啶偶氮)-2,4-二氨基甲苯吸光光度法同时测定铜和钯

提出用5 (5 硝基 2 吡啶偶氮) 2,4 二氨基甲苯(5 NO2 PADAT)光度法同时测定铜和钯的新体系。室温下,铜与试剂仅能在pH4.5～6.0范围内定量反应,而钯与试剂于强酸性介质中即可显色完全。基于铜配合物可被EDTA分解而钯配合物不被分解,及铜、钯配合物形成的酸度差异,实现了铜、钯的同时测定。铜浓度在0～0.7μg·ml-1、钯浓度在0～0.9μg·ml-1范围内符合比耳定律,其表观摩尔吸光系数分别为ε519Cu=6.70×104L·mol-1·cm-1,ε592Pd=1.25×105L·mol-1·cm-1。方法已成功用于矿样和电镀活化废液中铜、钯的同时测定。

5-(5-硝基-2-吡啶偶氮)-2,4-二氨基甲苯光度法同时测定钴和钯

在3.0mol·L-1H2SO4介质中,钯(Ⅱ)与试剂可形成稳定的配合物,而钴(Ⅱ)与试剂在pH 5.5的HOAc-NaOAc介质中才能定量配合,配合物形成后,用硫酸酸化至一定酸度时则转变为另一稳定的深色配合物。同时两者的吸光度于586nm波长处具有良好的加和性。据此,建立了钴、钯同时测定的方法,已用于合成样中微量钴、钯的同时测定。

4-(5-硝基-2-吡啶偶氮)-1,3-二氨基苯光度法同时测定钴和钯

基于Co（Ⅱ）、Pd（Ⅱ）与4-（5-硝基-2-吡啶偶氮）-1,3-二氨基苯（5-NO2-PADAB）在不同酸度介质中显色的差异,建立了差减法同时测定钴和钯的方法。在室温下,Co（Ⅱ）与5-NO2-PADAB仅能在pH 6.2～8.0定量反应,钴配合物形成后即非常稳定,加酸酸化后,其最大吸收波长由518 nm红移至580 nm,且灵敏度显著提高;而在强酸性介质中仅Pd（Ⅱ）与5-NO2-PADAB能发生显色反应,其最大吸收波长位于586 nm。在586 nm处,钴、钯配合物吸光度具有良好的加和性,其表观摩尔吸光系数分别为1.28×10^5L·mol^-1·cm^-1和1.04×10^5L·mol^-1·cm^-1。钴、钯的浓度分别在0～0.48 mg/L和0～1.2 mg/L符合比尔定律。所拟方法已用于矿样中钴、钯的同时测定,结果与原子吸收法相符,相对标准偏差（RSD,n=6）分别为1.6%和1.0%。

2014年云南鲁甸6.5级地震震源位置及震源区速度结构联合反演

利用震源位置和速度结构的联合反演,得到了2014年云南鲁甸6.5级地震序列的震源位置及震源区速度结构。结果表明,鲁甸地震序列呈共轭分布,余震主要分布在NNE向包谷垴—小河断裂上,另一小部分分布在近EW向的共轭未知断裂上。震源深度剖面结果显示包谷垴—小河断裂是一个走向NNW、高倾角、且倾向为SWW的断裂。震源区地壳结构复杂,存在大面积高速区,地震主要分布在P波速度较高的地区。

5轴联动数控系统速度控制方法

高速加工过程中,在刀具路径上容易产生过冲,影响加工精度,因此必须提前对加工速度进行优化处理。基于数据采样法,利用当量位移和坐标轴方向系数实现了5轴联动线性插补;利用直线加减速原理进行插补前加减速控制;对速度前瞻控制方法进行了深入探讨,实现了相邻程序段转接处速度优化、连续微小程序段速度计算、减速点提前预测及前瞻程序段数动态选择等。仿真结果表明,速度平滑连续,有效地解决了5轴联动线性插补中的速度控制问题,提高了加工精度和加工效率。

测定 2-重氮-1 萘醌-5-磺酰氯的含量

根据吸光度具有加合性的原理，分别在３８０ｎｍ和４０１ｎｍ处测定２１５磺酰氯的丙酮与无水乙醇溶液的吸光度，用联立方程计算２１５磺酰氯的含量，可以消除２１５磺酸对２１５磺酰氯含量测定的影响．平均回收率为９９．７２％，相对标准偏差为０．５１％．

5-氮杂-2'-脱氧胞苷与顺铂对MDA-MB-231细胞的联合作用

目的探讨5-氮杂-2'-脱氧胞苷(5-Aza-CdR,DAC)与顺铂(cisplatin,PDD)联合应用对人三阴性乳腺癌细胞株MDA-MB-231体外增殖及凋亡的影响。方法实验分组:5μM DAC处理组(DAC组),15μM PDD处理组(PDD组),2.5μM DAC与8μM PDD同步处理组(DAC+PDD组),2.5μM DAC与8μM PDD序贯处理组(DAC→PDD组)及空白对照组。分别以MTT法和流式细胞术(FCM)测定各处理组MDA-MB-231细胞的增殖、凋亡情况,以q值评价两药的联合效应。结果 DAC组的24h、48h、72h增殖抑制率分别为(8.12±0.79)%、(21.72±1.60)%及(30.39±1.31)%;PDD组为(35.14±2.00)%、(49.22±1.01)%及(65.52±1.53)%;DAC+PDD组为(54.25±3.82)%、(68.89±1.52)%及(87.26±2.37)%;DAC→PDD组为(6.84±0.68)%、(67.64±0.91)%及(88.76±3.54)%。联合组较单药组增殖抑制率均显著升高(P<0.01)。DAC+PDD组、DAC→PDD组24h、48h、72h的q值分别为1.12、1.14、1.15和0、1.12、1.17,两药联合有增效作用。对照组、DAC组、PDD组、DAC+PDD组、DAC→PDD组24h、48h、72h凋亡率分别为(1.57±0.38)%、(1.83±0.27)%、(2.26±0.42)%;(10.41±0.70)%、(15.37±0.74)%、(21.39±1.22)%;(16.63±0.65)%、(21.89±1.20)%、(30.39±2.20)%;(21.42±1.11)%、(33.86±1.16)%、(42.92±1.16)%;(8.26±0.68)%、(28.98±1.01)%、(41.98±1.12)%。联合组较单药组及对照组凋亡率显著升高(P<0.01)。结论 DAC与PDD均能抑制MDA-MB-231细胞株的增殖,促进其凋亡,且两者联合有增效作用。

基于动态特征点滤除与关键帧选择优化的ORB-SLAM2算法

同时定位与建图(SLAM)算法在有运动目标的情况下存在定位精度下降的问题,而引入实例分割等算法虽然可以应对动态场景,但难以保证SLAM算法的实时性,且在运动时相机抖动会导致关键帧选择不准确和跟踪易丢失的问题。针对上述问题,提出一种基于动态特征点滤除与关键帧选择优化的ORB-SLAM2算法,以保证SLAM算法的实时性,并有效减少动态特征点对SLAM算法定位精度的影响,同时应对由相机抖动造成的关键帧选择不准确的问题。所提算法通过在ORB-SLAM2算法的基础上引入YOLOv5算法识别运动目标,在跟踪线程滤除动态目标特征点,从而兼顾算法的实时性与定位精度。同时,在选择关键帧上提出一种基于帧间相对运动量的判别准则,从而提高关键帧选择的准确性。在freiburg3_walking_xyz数据集的上实验结果表明,与ORB-SLAM2算法相比,所提算法的平均耗时减少了38.54%,绝对轨迹误差中的均方根误差(RMSE)精度提高了95.2%。可见,所提算法能有效解决上述问题,提升SLAM算法的定位精度和准确性,进而提升地图的可用性。

应用2-(5-硝基-2-吡啶偶氮)-5-二甲氨基苯胺同时测定铑与钯

提出了以 2 - ( 5-硝基 - 2 -吡啶偶氮 ) - 5-二甲氨基苯胺 ( 5- NO2 - PADMA)作为铑、钯同时测定的新光度试剂。钯与试剂可在 0 .3～ 3.9mol/L 的高氨酸介质中形成稳定的配合物 ,其最大吸收位于 62 1 nm处 ;而铑与试剂则在 p H=5.2 5～ 6.75的近中性介质中定量配合 ,配合物一旦形成则很稳定 ,向其中加入强酸酸化该配合物不仅不被分解反而吸收红移、吸光度增大 ,同时二者的吸光度具有良好的加和性。基于二者显色酸度的差异 ,建立了铑、钯同时测定的新方法。方法的灵敏度为 εRh62 0 =1 .39× 1 0 5L·mol-1·cm-1;εPd62 0 =9.4× 1 0 4 L· mol-1·cm-1。铑浓度在 0～ 0 .56、钯浓度在 0～ 1 .4μg·m L-1范围内服从比耳定律。可用于工业样品中微量铑、钯的测定。

新试剂7-(2,4,6-三羟基苯偶氮)-8-羟基喹啉-5-磺酸光度法同时测定微量锆和铪

本文研究了新试剂7-(2,4,6-三羟基苯偶氮)-8-羟基喹啉-5-磺酸(THBAQS)与锆、铪的显色反应.酸性条件下锆、铪均可形成 M-THBAQS-CTMAB三元络合物,ε_(315nm)^(Zr)=3. 27×10~4,ε_(515nm)^(HI)=3.8×10~4,适量H_2O_2使锆络合物吸光度显著降低,据此实现了锆铪的同时测定.本法简便快速、适用范围为0～30μgZr/25 mL,0～25μg Hf/25 mL,且X_(Zr)+X_(Hf）<35μg/25 mL.

维生素B_2的定量方法-高效液相色谱法同时测定核黄素和核黄素-5'-磷酸钠的分析研究

建立高效液相色谱法同时测定核黄素与核黄素磷钠的方法。以5 mmol/L庚烷磺酸钠溶液(A相,用甲酸调至p H=3.0)和甲醇(B相)为流动相,以梯度洗脱,在优化实验条件下,2种物质在5~1000μg/L(R^2>0.999)线性良好,方法检出限(S/N=3)在15~24μg/L之间。该方法精密度良好,结果准确,可同时检测检测核黄素和核黄素磷酸盐的含量,定量维生素B_2,提供另一种定量婴幼儿食品维生素B_2的方法。

Dual Drive Curve Tool Path Planning Method for 5-axis NC Machining of Sculptured Surfaces

The problem of finished surface being not first-order continuous commonly exists in machining sculptured surfaces with a torus cutter and some other types of cutters. To solve this problem, a dual drive curve tool path planning method is proposed in this article. First, the maximum machining strip width of a whole tool path can be obtained through optimizing each tool position with multi-point machining （MPM） method. Second, two drive curves are then determined according to the obtained maximum machining strip width. Finally, the tool is positioned once more along the dual drive curve under the condition of tool path smoothness. A computer simulation and cutting experiments are carried out to testify the performance of the new method. The machined surface is measured with a coordinate measuring machine （CMM） to examine the machining quality. The results obtained show that this method can effectively eliminate sharp scallops between adjacent tool paths, keep tool paths smooth, and improve the surface machining quality as well as machining efficiency.