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.

谈谈各种营销术

谈谈各种营销术周虎良，周庆章亮产术。商品质量是否可靠，是顾客普遍疑虑的问题之一。特别是看不见、摸不着的内含滋补成分的各种固体、液体营养品，更是如此。例如，中华鳖精，里面究竟有无鳖精，即使有，又含有多少鳖精成分，顾客总是有疑问的。正因为有疑问，所以，有...

Process model of IT impacts on firm competitiveness based on application capability of information technology

To investigate the process of information technology （IT） impacts on firm competitiveness, an integrated process model of IT impacts on firm competitiveness is brought forward based on the process-oriented view, the resource-based view and the complementary resource view, which is comprised of an IT conversion process, an information system （IS） adoption process, an IS use process and a competition process. The application capability of IT plays the critical role, which determines the efficiency and effectiveness of the aforementioned four processes. The process model of IT impacts on firm competitiveness can also be used to explain why, under what situations and how IT can generate positive organizational outcomes, as well as theoretical bases for further empirical study.

MODEL OF FLIGHT TECHNICAL ERROR IN SYMMETRICAL PLANE FOR PERFORMANCE BASED NAVIGATION

In the performance based navigation（PBN）,the flight technical error（FTE）and the navigation system error（NSE）are two main parts of total system error（TSE）.The implementation of PBN requires pre-flight prediction and en-route short-term dynamical prediction of TSE.Once the sum of predicted FTE and NSE is greater than the specified PBN value,PBN cannot operate.Thus,it requires accurate modeling and thorough analysis of the two main contributors.Multiple-input multiple-output（MIMO）longitudinal flight control system of ARIC model is designed using the linear quadratic Gaussian and loop transfer recovery（LQG/LTR）method,and FTE in symmetrical plane of aircraft is analyzed during the turbulence disturbed approach.The error estimation mapping function of FTE in symmetrical plane and its bound estimation model are proposed based on the singular value theory.The model provides an approach based on the forming mechanism of FTE,rather than the costly flight test and the data fitting.Real-data based simulation validates the theoretical analysis of FTE in symmetrical plane.It also shows that FTE is partially caused by the turbulence fluctuation disturbance when the automatic flight control system（AFCS）is engaged and increases with escalating the environmental turbulence intensity.

Tribological behaviors of Fe-Al-Cr-Nb alloyed layer deposited on 45 steel via double glow plasma surface metallurgy technique

Double glow plasma surface metallurgy technique was used to fabricate a Fe?Al?Cr?Nb alloyed layer onto the surface of the 45 steel. The microstructures and composition of th?eA Fl?eCr?Nb alloyed layer were analyzed by scanning electronic microscopy, X-ray diffraction and energy dispersive spectroscopy. The results indicate thatthe 20 μm alloyed layer is homogeneous and compact. The alloyed elements exhibit a gradient distribution along the cross section. Microhardness and nanoindentation tests imply that the surface hardness of the alloyed layer reaches HV 580, which is almost 2.8 times that of the substrate. Compared with the substrate, the alloyed layer has a much smaller displacement and a larger elastic modulus. According to the friction and wear tests at room temperature, the? FeAl?Cr?Nb alloyed layer has lower friction coefficient and less wear mass, implying that the Fe?Al?Cr?Nb alloyed layer can effectively improve the surface hardness and wear resistance of the substrate.

Corrosion resistance of Fe-based amorphous metallic matrix coating fabricated by HVOF thermal spraying

The Fe-based amorphous metallic matrix coating （Fe-AMMC） was fabricated with the powder mixtures of Fe-based metallic glass synthesized with industrial raw materials, NiCr alloy and WC particle by high velocity oxy-fuel （HVOF） spraying. The corrosion resistance of Fe-AMMC was investigated by potentiodynamic polarization tests in 1 mol/L HCl, NaCl, H2SO4 and NaOH solutions, respectively. The surface morphologies corroded were observed by SEM. The results indicate that Fe-AMMC exhibits excellent corrosion resistance, higher corrosion resistance than 304L stainless steel in the chloride solutions. The low corrosion current density and passive current density of Fe-AMMC with a wide spontaneous passivation region are about 132.0μA/cm2 and 9.0 mA/cm2 in HCl solution, and about 2.5 μA/cm2 and 2.3 mA/cm2 in NaCl solution. The excellent corrosion resistance demonstrates that Fe-based amorphous metallic matrix powder is a viable engineering material in practical anti-corrosion and anti-wear coating applications.

Physiological Analysis of Two Arabidopsis thaliana Mutants in Response to CO2

[Objective] The 15urpose was to seek for the different phenotypes between wild type and Arabidopsis Mutants in response to CO2. [Method] The epidermis bioassays and seed germination test were carried out to analyze the physiological characteristics of two Arabidopsis mu- tants and their wild type. [Result] There existed distinct differences in stomata apertures, water loss and leaf temperature compared with wild type except for stomata density. In addition, seed germination test on the medium indicated that cdfl was insensitive to ABA, mannitol and NaCI, but cdsl performed contrary to cdil. [ Conclusion] There are some different physiological characteristics between wild type and mutants.

Shelf-cultivation of Strawberry with Mulch and Heat Preservation Technology with Natural Energy

It is proved that the treatment with white mulch and black thin films per- formed the best in terms of heat preservation in cultivation of strawberry with shelves. In winter, drip irrigation performed significantly in transporting hot water through solar energy. The combination of the two methods resolved the issue of heat preservation difficulty and guaranteed growth of strawberry in winter.

Microbiological Transformation of Ginsenoside Rg_1

Forty-nine microbial strains were used to screen their ability for the microbiological transforma-tion of ginsenoside Rg1. Aspergillus niger (3.1858) and Absidia coerulea (3.3538) were found to convert ginsenoside Rg1 efficiently to less polar metabolites. Preparative scale transformation with both fungi Absidia coerulea (3.3538) and Aspergillus niger (3.1858) have resulted in the production of one same metabolite (MT1). Its structure was char-acterized as 6-O-b-D-glucopyranosyl-20(S)-protopanaxatriol (Ginsenoside Rh1) on the basis of its TOF-MS and 1H, 13C NMR spectral data. The biotransformation kinetic curves for Ginsenoside Rg1 and MT1 were reported for the first time, and the biotransformation pathway was proposed.

Characteristics analysis of rocket projectile based on intelligent morphing technology

Nose deflection control is a new concept of fast response control model.The partial nose of projectile deflects a certain angle relative to the axis of projectile body and then pressure difference emerges on the windward and leeward sides of warhead.Consequently,aerodynamic control force is generated.This control way has high control efficiency and very good application prospects in the ammunition system.Nose deflection actuator based on smart material and structure enables projectile body morphing to obtain additional aerodynamic force and moment,changes the aerodynamic characteristics in the projectile flight process,produces the corresponding balance angle and sideslip angle resulting in motor overload,adjusts flight moving posture to control the ballistics,finally changes shooting range and improves firing accuracy.In order to study characteristics of self-adaptive control projectile,numerical simulations are conducted by using fluid dynamics software ANSYS FLUENT for stabilized rocket projectile.The aerodynamic characteristics at different nose delectation angles,different Mach numbers and different angles of attack are obtained and compared.The results show that the nose deflection control has great influence on the head of rocket projectile,and it causes the asymmetry of the flow field structure and the increase of pressure differences of the warhead on the windward and leeward surface,which results in a larger lift.Finally,ballistics experiments are done for verification.The results can offer theoretical basis for self-adaptive rocket projectile design and optimization and also provide new ideas and methods for field smart ammunition research.

Akebia ― a valuable wild fruit under domestication

Akebia is a wild fruit originating in the Yangtse river valley and the surrounding areas. It includes mainly three species （subspecies）： Akebia trifoliata, Akebia trifoliata subsp, australis, and Akebia quinata. It has many good traits, such as large fruit size, early fruit-setting and high yield, excellent eating quality, and good environmental adaptability. However, there are some shortcomings with the fruit, including thick skin, excessive number of seeds, and relatively small proportion of edible flesh. Akebia is also a traditional Chinese medicine, which has the functions of relieving internal heat and diuresis, dredging venation and improving blood circulation, cleansing facial chloasma, detoxication and anti-cancer activities. Akebia can be used as fresh fruit, for processing, and for pharmaceutical purposes. We have been undertaking a series of research on the domestication and utilization of Akebia, including cultivar selection, techniques for cultivation, storage and processing, and related basic studies. A Chinese trade name “Hehuanguo” and an English trade name “Joyfruit” have been registered for Akebia to facilitate its commercial development.

Energy Dependence of Interface Trap Density——Investigated by Relaxation Spectral Technique

According to the definition of interface traps,a new application of relaxation spectral technique to sub-threshold swing shift and sub-threshold gate voltage shift is proposed to extract interface trap density in 1.9nm MOSFET.And thus the energy distribution of interface trap can be determined.According to the two methods,the energy profile of interface traps agrees with those reported in literature.Compared to other methods,this method is simpler and more convenient.

可食性膜在食品保鲜中的应用现状及研究进展

在食品保鲜领域,可食用天然抗菌保鲜膜是一种重要的可生物降解膜,具有易降解、成本低、来源广等特点。介绍了多糖膜、蛋白膜和脂质膜3种可食性涂膜在食品保鲜中的应用现状,综述了复合成膜技术、纳米颗粒制备技术及添加植物精油在制备可食性涂膜中的研究进展,以期为可食性包装材料在保鲜领域中的进一步研究提供参考借鉴。

Application of Participatory Monitoring and Evaluation in Development of Animal Husbandry Technology

[Objective] This study aimed to provide references for the application of participatory monitoring and evaluation in the development of animal husbandry tech- nology. [Method] With the livelihood improvement program for agricultural and pas- toral area in northern Yunnan as the example, the development process of partici- patory animal husbandry was overviewed. And the monitoring and evaluation pro- cesses of participatory animal husbandry were introduced and analyzed. [Result] The monitoring and evaluation indicator system of participatory animal husbandry technol- ogy included 4 layers, namely technology, institutional system, personnel ability con- struction and effectiveness, and 11 third-level indicators, namely, technical characteristics, superiority-inferiority comparison, community and farmers, technical personnel, project personnel, economic indicators and social indicators. [Conclusion] This study provided the references for the application of participatory monitoring and evaluation in the development of animal husbandry technology.

A New Technology to Measure the Thermoelectric Performance of Nanowire Array Structure

Recently, the study on one-dimensional thermoelectric materials is getting more and more attention. For those one-dimensional thermoelectric materials with nanowire array structure fabricated with alumina film as template, its thickness is often in the range of 10 to several tens micrometers, and the conventional measurement cannot be used. The key difficulties of the thermoelectric performance measurement for nanowire array materials include two aspects: 1) How to heat the two sides of the specimen uniformly and keep the temperature difference constantly at the same time; 2) How to measure the temperature of the two sides of the specimen with the thickness of 10 to several tens micrometers. A new type heating and temperature measuring technology has been used, and it can be simply described as liquid heating and separate temperature measurement. According to this principle, a thermoelectric performance measurement system has been established.

Application of H infinite control to ship steering system

Because the general object of ship steering control system is singular, the state Of rudder force and the state of disturbance are separated, and the generalized yaw output disturhance is obtained. Furthermore, singular system control problem of ship yaw and sway coupled system is transferred into nonsingular standard control problem. Then according to the linear fractional denoting algorithm of the rational function parameter perturbation system, the Linear Fractional Transform （LFT） model of yaw and sway coupled motion is solved, which is used to design the ship steering robust control system. For the ship steering system with the uncertain parameters, the robust control law is designed based on H^∞ μ-synthesis. And the robust performance of the system is analyzed and the simulation validation is made. Simulation results show that the designed control system has excellent control effect and robustness.

Analytical method of load-transfer of single pile under expansive soil swelling

The elastic differential equations of load-transfer of single pile either with applied loads on pile-top or only under the soil swelling were established,respectively,based on the theory of pile-soil interaction and the shear-deformation method.The derivation of analytic solution to load-transfer for single pile in expansive soil could hereby be obtained by means of superposition principle under expansive soils swelling.The comparison of two engineering examples was made to prove the credibility of the suggested method.The analyzed results show that this analytic solution can achieve high precision with few parameters required,indicating its' simplicity and practicability in engineering application.The employed method can contribute to determining the greatest tension along pile shaft resulting from expansive soils swelling and provide reliable bases for engineering design.The method can be employed to obtain various distributive curves of axial force,settlements and skin friction along the pile shaft with the changes of active depth,vertical movements of the surface and loads of pile-top.

Fabricating multifunctional polymeric nanofilm capable of resisting corrosion and activating copper surface by electrochemical and hydrolysis-condensation approach

A multifunctional polymeric nanofilm of triazinedithiolsilane monosodium salt, which can resist corrosion and activatecopper surface concurrently, was prepared by galvanostatic technique and the following hydrolysis-condensation approach.Electrochemical tests were carried out to evaluate the resistant ability of nanofilm. The changes of functional groups atop thenanofilms were monitored with Fourier transform infrared spectroscopy （FT-IR） and contact angles （CA） simultaneously. Thechemical composition and the morphology of the polymeric nanofilm were investigated by X-ray photoelectron spectroscopy （XPS）and scanning electron microscope （SEM）, respectively. The results reveal that the preferentially developed disulfide units protect thecopper during the whole preparation process, and the subsequently hydrolyzed nanofilms without/with heating shape into newinterface phases bearing the multifunctionality. This multifunctional interface （the polymeric nanofilm on copper surface） opens upthe possibilities for other OH-containing reagents to be anchored onto copper surface in demanding researches or industrialapplications.

Dynamics model of underwater robot motion control in 6 degrees of freedom

In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable. The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.

Cooperative co-evolution based distributed path planning of multiple mobile robots

This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.