针对液压千斤顶装配中人工上料方式存在的生产效率低下问题,设计了一套基于双目线激光视觉引导的上料系统。在分析缸筒和活塞杆的机械结构后,设计了机器人专用夹爪。在视觉识别过程中,利用SAD(Sum of Absolute Differences)算法实现工...针对液压千斤顶装配中人工上料方式存在的生产效率低下问题,设计了一套基于双目线激光视觉引导的上料系统。在分析缸筒和活塞杆的机械结构后,设计了机器人专用夹爪。在视觉识别过程中,利用SAD(Sum of Absolute Differences)算法实现工件的相似性度量,以经典的ICP(Iterative Closest Point)算法实现点云配准,从而获得模板点云与场景点云之间的旋转平移矩阵。根据预先示教的抓取点位姿坐标,结合相机标定结果,获得目标工件抓取点的实际位姿坐标,从而引导机器人实现缸筒和活塞杆的自动上料。展开更多
Dengue vector is responsible for millions of deaths every year and has caused disastrous impacts on health systems. The continuous use of chemical insecticides, such as carbamates, pyrethroids and organophosphates gen...Dengue vector is responsible for millions of deaths every year and has caused disastrous impacts on health systems. The continuous use of chemical insecticides, such as carbamates, pyrethroids and organophosphates generates resistant populations of the mosquito, therefore, new control methods must be investigated. The joint action of the population and guidelines for preventing the reproduction of the mosquito associated with the use of photoactivatable insecticides can be the alternative for the control of epidemiological outbreaks in affected regions. In this study, the photo-larvicidal activity of Photogem^（PG）, a derivative of hematoporphyrin, was investigated against 2nd-early 3rd instar of Aedes aegypti larvae （Diptera： Culicidae） under different lighting conditions （artificial lighting system and sunlight）. The dynamics of PG accumulation was characterized by CLSM （confocal laser scanning microscopy） and total time PG eliminationin solution was investigated by ultraviolet-visible spectrophotometry. The maximum photo-activity of PG was observed in 0.5 h under sunlight exposure which achieved 100% larval mortality. Fluorescence images showed a uniform distribution of PG along the digestive tract. PG remained stable in the sunlight for 48 h and in an artificial lighting system for longer periods, therefore, it can be used for the control ofAedes aegypti larvae as a new alternative to chemical insecticides. The method is considered environmentally friendly due to its rapid degradation in the presence of light. Further studies are required, so that the potential of the technique can be explored in real breeding places.展开更多
文摘Dengue vector is responsible for millions of deaths every year and has caused disastrous impacts on health systems. The continuous use of chemical insecticides, such as carbamates, pyrethroids and organophosphates generates resistant populations of the mosquito, therefore, new control methods must be investigated. The joint action of the population and guidelines for preventing the reproduction of the mosquito associated with the use of photoactivatable insecticides can be the alternative for the control of epidemiological outbreaks in affected regions. In this study, the photo-larvicidal activity of Photogem^（PG）, a derivative of hematoporphyrin, was investigated against 2nd-early 3rd instar of Aedes aegypti larvae （Diptera： Culicidae） under different lighting conditions （artificial lighting system and sunlight）. The dynamics of PG accumulation was characterized by CLSM （confocal laser scanning microscopy） and total time PG eliminationin solution was investigated by ultraviolet-visible spectrophotometry. The maximum photo-activity of PG was observed in 0.5 h under sunlight exposure which achieved 100% larval mortality. Fluorescence images showed a uniform distribution of PG along the digestive tract. PG remained stable in the sunlight for 48 h and in an artificial lighting system for longer periods, therefore, it can be used for the control ofAedes aegypti larvae as a new alternative to chemical insecticides. The method is considered environmentally friendly due to its rapid degradation in the presence of light. Further studies are required, so that the potential of the technique can be explored in real breeding places.
