释“动”

"动"字最早见于毛公鼎的金文,"动"之本义为背得动,引申为改变原来的位置或状态,表示移动、摇动、振动,并通过隐喻和转喻的综合作用产生了"动"的一词多义。"动"字的多个义项之间以认知原型为中心,呈现出放射性的发展模式。

Enabling Technologies for Autonomous Robotic Systems in Manufacturing

Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication techniques.These enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by learning.This paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such systems.Application case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and machining.The various solutions have in common that they use a generic digital twin concept as their core.After making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.

Imaging simulation and analysis of attitude jitter effect on topographic mapping for lunar orbiter stereo optical cameras

The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.

New Method to Restrain Pumping Voltage of Braking Procedure for Brushless DC Motor of Electric Armored Vehicle

In order to restrain the high pumping voltage of braking procedure which is harmful to the system of electric armored vehicle. Based on the analysis of pumping voltage of the braking procedure, the relation between pumping voltage and PWM ratio is derived and a new digital control method to restrain the pumping voltage by changing PWM ratio is put forward. Because the capacitance is decreased effectively, the volume of controller is reduced and the performance to price ratio is improved. The results of computer simulation and experiment proved that this method is feasible and valid.

Fish maneuver analysis system based on sequence images

The aim is to establish an automatic system to analyze the maneuver performance of fish. A high speed camera （1 000 frame/s） is employed to record fast-start maneuver. Three steps are taken to analyze the kinematics： first, the midline in the first image is partitioned into equal interval lengths and the coordinates of all inter segmental points are saved. Secondly, these points coordinates are searched in the next frame with the digital image correlation （DIC） method, then these points are fitted with a spline curve function. Repeat this step until all the midlines are figured out frame by frame. Finally, according to the variety of midlines, the kinematics of the fast-start is calculated. Using this system to test carp C-start, the duration is divided into two stages： stage 1 is defined as the formation of the C shape and stage 2 as the return flip of the tail followed with forward motion. By tracing the middle line, the kinematic parameters of turning rate, centre of mass （CM） turning rate, CM turning radius, etc. are obtained.

CNC SYSTEM OF FLEXIBLE FIXTURE IN AIRCRAFT COMPONENT MANUFACTURING AND ASSEMBLY

The computer numerical control（CNC） system is suited to control varied types of flexible fixtures in aircraft component manufacturing and assembly. The mechanisms and control requirements of flexible fixtures are presented and analyzed. The hardware and software architecture and implementation of CNC system are pro- posed. The flexible fixture mechanism is described using configuration parameters. According to the parameters, the CNC system automatically generates the control feature and the human machine interface （HMI） operation function. The CNC system is implemented in a flexible fixture for skin-strlnger assembly, and results show the effectiveness of the system.

Design and implementation of digital closed-loop drive control system of a MEMS gyroscope

In order to effectively control the working state of the gyroscope in drive mode, the drive characteristics of the micro electromechanical system （MEMS） gyroscope are analyzed in principle. A novel drive circuit for the MEMS gyroscope in digital closed-loop control is proposed, which utilizes a digital phase-locked loop （PLL） in frequency control and an automatic gain control （AGC） method in amplitude control. A digital processing circuit with a field programmable gate array （FPGA） is designed and the experiments are carried out. The results indicate that when the temperature changes, the drive frequency can automatically track the resonant frequency of gyroscope in drive mode and that of the oscillating amplitude holds at a set value. And at room temperature, the relative deviation of the drive frequency is 0.624 ×10^-6 and the oscillating amplitude is 8.0 ×10^-6, which are 0. 094% and 18. 39% of the analog control program, respectively. Therefore, the control solution of the digital PLL in frequency and the AGC in amplitude is feasible.

A New CMOS Image Sensor with a High Fill Factor and the Dynamic Digital Double Sampling Technique

A single CMOS image sensor based on a 0.35μm process along with its design and implementation is introduced. The architecture of an active pixel sensor is used in the chip. The fill factor of a pixel cell can reach 43%,higher than the traditional factor of 30%. Moreover, compared with the conventional method whose fixed pattern noise （FPN） is around 0.5%, a dynamic digital double sampling technique is developed, which possesses simpler circuit architecture and a better FPN suppression outcome. The CMOS image sensor chip is implemented in the 0.35μm mixed signal process of a Chartered by MPW. The experimental results show that the chip operates welt,with an FPN of about 0.17%.

Study on the Comparison of Arthropod Communities in Three Kinds of Cruciferous Vegetable Fields at High Mountainous Area

[Objective]This research aimed to compare arthropod communities in different cruciferous vegetable fields at high mountainous area and provide guidance for pest control. [Method] The main arthropod species in 3 kinds of erueiferous vegetable fields at high mountainous area were investigated, the composition of arthropod community in different vegetable fields were analyzed. [Result] The main arthropod species in erueiferous vegetables fields at high mountainous area were similar, but had different quantity compositions. The richness was the highest in radish field. [Conclusion] Crop species had great influence on biological community; we should focus on the main pests in the process of pest control.

西汉结果补语的发展

西汉时期获得长足发展的使成格式"V1+V2+O"并非动补结构,而是连动结构。在非使成式结果补语中,一个引人注目的变化是"得"字结果补语的产生。

Design and Development of the DTC Induction Motor Drive for Electric Vehicle

The design and development of the traction controller for electric vehicle is introduced, which is based on the induction motor. This drive is developed by using a digital signal processor at low cost and carried out with the module design concept of both software and hardware. Nevertheless, a scheme of the sensorless direct torque control is based on the developed hardware, of which the feasibility is tested by a trial program. Additionally, both the interface function of the drive hardware and the feasibility of its software are proved to be good by the trail programs. A test motor can run about 18?r/min by a variable frequency program with the space vector pulse width modulation technology, of which the torque is visible pulsatile. In this presentation, based on the theoretical approach, the sensorless torque control is to be studied and applied to electric vehicles, of which the quick, smooth and stable torque response is emphasized because it quite benefits improving the drive performance of electric vehicles.

Reachability analysis of web service compositions via NWA

In order to improve the design and implementation quality of web service compositions,formal methods are used to model them and certain properties are verified.WCFA （web service interface control flow automata）is used to model web services,especially the control flow and possible interactions with other web services.A web service composition consists of a set of interacting WCFA.The global behavior of web service compositions is captured by NWA（nested word automata）.A variation of the depth-first search algorithm is used to transform a set of WCFA into an NWA.State formulae and call stacks at each node of NWA are computed by a path-sensitive reachability analysis.Safety properties,call stack inspection properties and pre/post-conditions of service invocations are described by assertions.Then verification of these assertions is carried out by an automated SAT tool.

Influence of Diesel Nozzle Geometry on Cavitation Using Eulerian Multi-Fluid Method

Dependent on automatically generated unstructured grids, a comprehensive computational fluid dynamics(CFD)numerical simulation is performed to analyze the influence of nozzle geometry on the internal flow characteristics of a multi-hole diesel injector with the multi-phase flow model based on Eulerian multi-fluid method.The diesel components in nozzle are considered as two continuous phases, diesel liquid and diesel vapor respectively.Considering that both of them are fully coupled and interpenetrated, sepa...

HIT prosthetic hand based on tendon-driven mechanism

An underactuated finger structure actuated by tendon-driven system is presented.Kinematics and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and feasible.Based on the design of finger,a prosthetic hand is designed.The hand is composed of 5 independent fingers and it looks more like humanoid.Its size is about 85% of an adult's hand and weights about 350 g.Except the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension joints.The thumb finger which is different from other existing prostheses is a novel design scheme.The thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a tendon.The underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so on.To improve the reliability of the hand,structures and sensors are designed and made as simply as possible.The hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.

Measuring the Condition of Parking Lot by Image Processing

Aim To study the parking management in the condition of vehicles' increasing. Methods The methods of pattern recognition and image processing were used to analyze the eigenvalues of parking lot images. Results The automatic identification of every parking place in the parking plot was realized. The automatic measuring of parked vehicle count and parking lot utilization was completed. Conclusion It can complete the real time recognition, and has some practicabilities.

Fractal Measures of Drainage Network to Investigate Surface Deformation from Remote Sensing Data: A Paradigm from Hindukush (NE-Afghanistan)

This approach represents the relative susceptibility of the topography of the earth to active deformation by means of geometrical distinctiveness of the river networks. This investigation employs the fractal analysis of drainage system extracted from ASTER Global Digital Elevation Model (GDEM-30m resolution). The objective is to mark active structures and to pinpoint the areas robustly influenced by neotectonics. This approach was examined in the Hindukush, NE-Afghanistan. This region is frequently affected by deadly earthquakes and the modern fault activities and deformation are driven by the collision between the northward-moving Indian subcontinent and Eurasia. This attempt is based on the fact that drainage system is strained to linearize due to neotectonic deformation. Hence, the low fractal dimensions of the Kabul, Panjsher, Laghman, Andarab, Alingar and Kocha Rivers are credited to active tectonics. A comprehensive textural examination is conducted to probe the linearization, heterogeneity and connectivity of the drainage patterns. The aspects for these natural textures are computed by using the fractal dimension (FD), lacunarity (LA) and succolarity (SA) approach. All these methods are naturally interrelated, i.e. objects with similar FD can be further differentiated with LA and/or SA analysis. The maps of FD, LA and SA values are generated by using a sliding window of 50 arc seconds by 50 arc seconds (50" × 50"). Afterwards, the maps are interpreted in terms of regional susceptibility to neotectonics. This method is useful to pinpoint numerous zones where the drainage system is highly controlled by Hindukush active structures. In the North-Northeast of the Kabul block, we recognized active tectonic blocks. The region comprising, Kabul, Panjsher, Andrab, Alingar and Badakhshan is more susceptible to damaging events. This investigation concludes that the fractal analysis of the river networks is a bonus tool to localize areas vulnerable to deadly incidents influencing the Earth’s topography and consequently intimidate human lives.

Design and implementation of GM- APD array readout circuit for infrared imaging

Based on an avalanche photodiode（ APD） detecting array working in Geiger mode（ GM-APD）, a high-performance infrared sensor readout integrated circuit（ ROIC） used for infrared 3D（ three-dimensional） imaging is proposed. The system mainly consists of three functional modules, including active quenching circuit（ AQC）, time-to-digital converter（ TDC） circuit and other timing controller circuit. Each AQC and TDC circuit together constitutes the pixel circuit. Under the cooperation with other modules, the current signal generated by the GM-APD sensor is detected by the AQC, and the photon time-of-flight（ TOF） is measured and converted to a digital signal output to achieve a better noise suppression and a higher detection sensitivity by the TDC. The ROIC circuit is fabricated by the CSMC 0. 5 μm standard CMOS technology. The array size is 8 × 8, and the center distance of two adjacent cells is 100μm. The measurement results of the chip showthat the performance of the circuit is good, and the chip can achieve 1 ns time resolution with a 250 MHz reference clock, and the circuit can be used in the array structure of the infrared detection system or focal plane array（ FPA）.

A study on the feasibility of CET oral test based on automatic essay marking

This paper discusses the approach to the CET （college English test） oral test based on automatic essay marking （AEM）. The reliability and validity arouses a dispute on Internet-based CET （iB-CET） oral test in China, leading to the penetration into oral test contents in dialogue, description or comment, and question answering. Then, a probe into transformation from a spoken document into a textual document is touched on a conversion ratio of 72% adopted at the present time, AEM to be carried forward being a necessary hypothesis for Afterwards, this paper focuses on the pipeline in AEM with the content features and the language itself, which is established in two different models in marking for extraction and detection. Through experiments, this paper reveals the fact that an iB-CET oral test can be performed perfectly in the pipeline of spoken documents transformed into textual documents which can be automatically marked. Hence the design of the iB-CET oral test reaches its reliability and validity.

Dynamic experiment and numerical simulation of solute transmission in heap leaching processing

Solute transmission in saturated ore heap was studied numerically and experimentally. The convection-diffusion equation (CDE) used to describe the mass transportation in porous media was solved by characteristic difference method to give the distribution of the concentration of ferrous ion in the ore column. To calibrate the computational model, a column test was performed using infiltration of sulfide ferrous solution (the initial concentration is c0=0.04 mol/L) on a 100 cm high column composed of ore particles smaller than 10 mm for 2.5 h. The numerical analysis shows that the results obtained from numerical modeling under the same operating conditions as used for column test are in good agreement with those from experimental procedure on the whole trend, which indicates that the model, the numerical method, and the parameters chosen can reflect the rule of ferrous ion transmission in ore heap.

Digital driver for 2-inch LTPS AM-OLED displays

For LTPS AM-OLED displays,the spatial variation in the electrical characteristics of polysilicon TFTs will cause non-uniform pixel brightness and poor grayscale accuracy.The technological solution for this problem will open up the larger size application of LTPS AM-OLED displays.In this paper,a digital driver employing a FPGA device is designed to serve 2-inch color LTPS AM-OLED displays with 128×(160×3) resolution.A digital method of simultaneous address-display (SAD) and the digital visual interface (DVI) are introduced in the driving scheme.100% display per.ratio can be obtained.Moving image with 16 grayscales is realized and has good image uniformity.