Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots

Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot＇s base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product- of-exponential （POE） formula. In the first step the robot＇s base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot＇s reference configuration and the base coordinate frame＇s pose are equivalently transformed to the zero-position errors of the robot＇s joints. The simplified model of the robot＇s positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot＇ s 39 kinematic parameters are finished in the second step. It＇s proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot＇s base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.

Accurate vision measurement for kinematic parameters of satellite separation tests

The accurate measurement of kinematic parameters in satellite separation tests has great significance in evaluating separation performance. A novel study is made on the measuring accuracy of monocular and binocular, which are the two main vision measurement methods used for kinematic parameters. As satellite separation process is transient and high-dynamic, it will bring more extraction errors to the binocular. Based on the design approach of intersection measure and variance ratio, the monocular method reflects higher precision, simpler structure and easier calibration for level satellite separation. In ground separation tests, a high-speed monocular system is developed to gain and analyze twelve kinematic parameters of a small satellite. Research shows that this monocular method can be widely applied for its high precision, with position accuracy of 0.5 mm, speed accuracy of 5 mm/s, and angular velocity accuracy of 1 (°)/s.

Seasonal and spatial variations of kinematic parameters of internal solitary waves in the Andaman Sea

The horizontally variable density stratification and background currents are taken into the variable-coefficent extended Korteweg-de Vries(evKdV)theory to obtain the geographical and seasonal distribution of kinematic parameters of internal solitary waves in the Andaman Sea(AS).The kinematic parameters include phase speed,dispersion parameter,quadratic and cubic nonlinear parameters.It shows that the phase speed and dispersion parameter are mainly determined by the topographic feature and have limited seasonal variation.The maximum phase speed is 2.6 m/s,which occurs in the cool season(November)in the middle of the AS,while the phase speed in the cool season is slightly larger than those in other seasons,up to 11.4%larger than that in the rainy season(July)in the southern AS.The dispersion parameter in the cool season can be 22.3%larger than that in the hot season.The nonlinear parameters have significant seasonal variation,and they can even change their signs at the continental slope in the north of the AS,from season to season.Meanwhile,the algebraic solitons dominate in the AS with minimum amplitudes(aal)ranging from 0.1 m to 102 m,and the maximum aal occurs in the cool season in the southern AS.The effect of the background flow on the parameters is also studied.The background flow has a great influence on the nonlinear parameters,e.g.,the value of cubic nonlinear parameter can be reduced by 1/3 when the background flow is not considered.

The Response of Cockerel Semen Kinematic Parameters LIN, STR, WOB, ALH and BCF to Induced Oxidative Stress

Computer-assisted sperm class analyser (CASA) analysis of avian semen following cryopreservation indicates that their semen motility and viability parameters become compromised, due in part to oxidative stress. To mimic these observations we have treated cockerel semen with an oxidative stress inducing agent, namely hydrogen peroxide (H2O2) and monitored the motility, kinematic and viability parameters over time. Briefly, five healthy and fertile South African Venda cockerels were selected and their semen was collected using the abdominal massage technique. The semen was then treated with H2O2 at 0 µM, 5 µM, 50 µM and 200 µM concentrations for 0, 3, 16 and 24 hrs. The semen motility, kinematic and viability parameters were then determined using the CASA system while the viability was determined using the SYBR-14/PI staining. The Pearson’s correlation coefficient was determined to test the relationships between the levels of induced oxidative stress, period of exposure to oxidative stress inducing agent and the motility plus kinematic parameters. Our data revealed that in raw cockerel semen, there was high and positive correlations between total motility (TM), progressive motility (PM), rapid (RAP), curvilinear velocity (VCL), straight line velocity (VSL) and average path velocity (VAP) while the kinematic parameters LIN, STR, WOB, ALH and BCF had low or negative correlations with them. Furthermore, TM, PM, RAP, VCL and VSL remained highly and positively correlated with the induced oxidative stress and also, linearity (LIN), straightness (STR), wobble (WOB), amplitude of lateral head displacement (ALH) and beat cross frequency (BCF) remained negatively correlated with the induced oxidative stress, after 3 hrs. After 24 hrs, TM, PM, RAP, VCL, VSL, VAP and ALH, became negatively correlated with the induced oxidative stress while LIN, STR, WOB and BCF became positively correlated with the induced oxidative stress. Conversely, when the H2O2 concentration used was correlated with motility and kinematic parameters over time, TM, PM, RAP, VCL, VSL, VAP became negatively correlated with oxidative stress while LIN, STR, WOB, ALH and BCF show negative or low correlations with the induced oxidative stress. This data indicates that LIN, STR, WOB, BCF and to some extend ALH, reveal the least correlations with the induced oxidative stress under persistent oxidative stress conditions in cockerel semen. In conclusion, cockerel semen, like buck semen, does not easily succumb to oxidative stress since the raw semen correlations of CASA analysed parameters are comparable to these observed after 3 hrs of H2O2 treatment. In addition, the oxidative stress levels tolerated by cockerel semen should not 5 µM H2O2 oxidative stress levels. Lastly, lack of correlation between LIN, STR, WOB, BCF and ALH and induced oxidative stress can be used in cockerel semen to show intolerable cryopreservation conditions.

Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terrain

Based on the study of passive articulated rover,a complete suspension kinematics model from wheel to inertial reference frame is presented,which uses D-H method of manipulator and presentation with Euler angle of pitch,roll and yaw.An improved contact model is adopted aimed at the loose and rough lunar terrain.Using this kinematics model and numerical continuous and discrete Newton's method with iterative factor,the numerical method for estimation of kinematical parameters of articulated rovers on loose and rough terrain is constructed.To demonstrate this numerical method,an example of two torsion bar rocker-bogie lunar rover with eight wheels is presented.Simulation results show that the numerical method for estimation of kinematical parameters of articulated rovers based on improved contact model can improve the precision of kinematical estimation on loose and rough terrain and decrease errors caused by contact models established based on general hypothesis.

Slip rate and interseismic coupling along the Moxi-Shimian segment of the Xianshuihe fault, Eastern Qinghai-Xizang Plateau

On September 5,2022,the Luding M6.8 earthquake occurred in the Moxi-Shimian segment of the Xianshuihe fault,coinciding with the historical ruptured zone of the 1786 Moxi earthquake.Its seis-mogenic environment provides a foundation for comprehending the mechanism of the earthquake and its future hazard.In the Moxi-Shimian segment,we establish a series of near-field Global Navigation Satellite Systems(GNsS)stations to enhance the spatial resolution of observational data for the inversion of the interseismic kinematic parameters.In this study,with an elastic screw dislocation model con-strained by GNsS observations,the slip rate of the Moxi-Shimian segment is estimated to be 10.9±1.0 mm/yr,while the locking depth is 15.7±6.2 km.Additionally,we utilize a block-dislocation model to invert the interseismic fault coupling along the Kangding-Moxi-Shimian segment.The result indicates a gradual deepening of the locking depth along the section from Kangding to Shimian.The coseismic rupture of the 2022 event occurred within the high coupling regions in the Kangding-Moxi-Shimian segment,which indicates that the rupture kinematics in this event might be controlled by the interseismic deformation.The seismic moment accumulated within the ruptured zone of the Luding earthquake since 1786 ranges in[1.42-3.40]×10^(19) N-m,which is significantly greater than the seismic moment released during the 2022 event.As a result,we infer that the Luding earthquake released only a portion of the accumulated energy within the original rupture zone since 1786,indicating that the 2022 event has not caused a complete rupture in the Moxi-Shimian segment.Consequently,there remains a substantial seismic hazard in this area.

QUADRATIC OPTIMIZATION METHOD AND ITS APPLICATION ON OPTIMIZING MECHANISM PARAMETER

In order that the mechanism designed meets the requirements of kinematics with optimal dynamics behaviors, a quadratic optimization method is proposed based on the different characteristics of kinematic and dynamic optimization. This method includes two steps of optimization, that is, kinematic and dynamic optimization. Meanwhile, it uses the results of the kinematic optimization as the constraint equations of dynamic optimization. This method is used in the parameters optimization of transplanting mechanism with elliptic planetary gears of high-speed rice seedling transplanter with remarkable significance. The parameters spectrum, which meets to the kinematic requirements, is obtained through visualized human-computer interactions in the kinematics optimization, and the optimal parameters are obtained based on improved genetic algorithm in dynamic optimization. In the dynamic optimization, the objective function is chosen as the optimal＇ dynamic behavior and the constraint equations are from the results of the kinematic optimization, This method is suitable for multi-objective optimization when both the kinematic and dynamic performances act as objective functions.

Kinematic characterization and optimization of vehicle front-suspension design based on ADAMS

To improve the suspension performance and steering stability of light vehicles, we built a kinematic simulation model of a whole independent double-wishbone suspension system by using ADAMS software, created random excitations of the test platforms of respectively the left and the right wheels according to actual running conditions of a vehicle, and explored the changing patterns of the kinematic characteristic parameters in the process of suspension motion. The irrationality of the suspension guiding mechanism design was pointed out through simulation and analysis, and the existent problems of the guiding mechanism were optimized and calculated. The results show that all the front-wheel alignment parameters, including the camber, the toe, the caster and the inclination, only slightly change within corresponding allowable ranges in design before and after optimization. The optimization reduces the variation of the wheel-center distance from 47.01 mm to a change of 8.28 mm within the allowable range of ?10 mm to 10 mm, promising an improvement of the vehicle steering stability. The optimization also confines the front-wheel sideways slippage to a much smaller change of 2.23 mm; this helps to greatly reduce the wear of tires and assure the straight running stability of the vehicle.

Successful application of optimized aperture based CRS stack in the Shengli exploration area

The common reflection surface （CRS） stack is based on the local dip of the reflector and the reflection response within the first Fresnel zone. During the CRS stack all the information given by a multi-coverage reflection dataset can be successfully utilized. By now, it is known as the best zero-offset （ZO） imaging method. In this paper high quality CRS kinematic parameter sections are obtained by a modified CRS optimization strategy. Then stack apertures are calculated using the parameter sections which finally results in the realization of the CRS stack based on optimized aperture. Thus the advantages of CRS parameters are fully developed. Application to model and real seismic data reveals that, compared with the image section by a conventional CRS stack, the image section by CRS stack based on an optimized aperture improves both the signal-to-noise ratio and the continuity of reflection events.

Common reflection surface stack using dip decomposition for rugged surface topography

We present an extension of the Common Reflection Surface （CRS） stack that provides support for an arbitrary top surface topography. CRS stacking can be applied to the original prestack data without the need for any elevation statics. The CRS-stacked zero- offset section can be corrected （redatumed） to a given planar level by kinematic wave field attributes. The seismic processing results indicate that the CRS stacked section for rugged surface topography is better than the conventional stacked section for S/N ratio and better continuity of reflection events. Considering the multiple paths of zero-offset rays, the method deals with reflection information coming from different dips and performs the stack using the method of dip decomposition, which improves the kinematic and dynamic character of CRS stacked sections.

Oral supplementation of selenium improves post-thaw sperm quality in Saanen bucks

Objective:To determine the effect of oral selenium supplementation and semen collection methods on various post thaw semen quality parameters in Saanen bucks.Methods:Sixteen healthy bucks were divided into two equal groups(n=8 each).The treatment group received selenium at 10-day intervals for three months.Sperm kinematic parameters,morphological parameters,mitochondrial membrane potential,plasma membrane functionality,and sperm DNA integrity were evaluated weekly pre and post-cryopreservation.Results:The mean percentages of the morphological abnormalities were significantly lower in the selenium-supplemented samples when semen was collected by using artificial vagina method(P<0.05).Proximal droplet defects were significantly lower in the selenium supplementation group when semen was collected by electro-ejaculation(P<0.05).Post-thaw sperm parameters such as total motility and progressive motility were significantly higher when semen was obtained by artificial vagina in the selenium-supplemented bucks compared to the electro-ejaculation and the control groups(P<0.05).The sperm kinematic parameters such as curvilinear velocity,average path velocity,and amplitude of lateral head displacement were significantly higher when semen was collected by artificial vagina in the selenium-treated bucks(P<0.05).The percentages of sperm with intact and functional plasma membrane and functional mitochondria were significantly higher in the selenium-supplemented samples collected with artificial vagina compared to the electro-ejaculation method and the control groups(P<0.05).In vitro fertilizing potential was significantly higher in the selenium-supplemented samples collected with artificial vagina compared to the electro-ejaculation method and the control groups,respectively(P<0.05).Conclusions:Oral supplementation of selenium and artificial vagina semen collection improve post thaw sperm quality parameters of Saanen buck.

A virtual experiment showing single particle motion on a linearly vibrating screen-deck

A virtual sieving experimental simulation system was built using physical simulation principles.The effects of vibration frequency and amplitude,the inclination angle of the screen-deck and the vibration direction angle of screen on single particle kinematics were predicted.Properties such as the average velocity and the average throw height were studied.The results show that the amplitude and the angle of vibration have a great effect on particle average velocity and average height.The vibration frequency and the screen-deck inclination angle appear to have little influence on these responses.For materials that are difficult to screen the vibration frequency and amplitude,the screen-deck inclination angle and the vibration angle should be set to 14 Hz,6.6 mm,6° and 40°,respectively,to obtain optimal particle kinematics.A screening process can be simulated reliably by means of a virtual experiment and these results provide references for both screening theory research and sieving practice.

Exact Solution of a Cylinder Tube Made of Metallic Foam Under Inner Pressure

Exact solution of the stress and velocity fields of a cylinder tube of metallic foams under inner pressure is given in which the Triantafillou and Gibson constitutive law （TG model） for the material is taken as a basis of the calculation. The nonlinear equation is turned linear equation by introducing a kinematics parameter. The differences between the full condensed materials and the effect of the relative density are also discussed.

19 low mass hypervelocity star candidates from the first data release of the LAMOST survey

Hypervelocity stars are believed to be ejected out from the Galactic center through dynamical interactions between（binary） stars and the central supermassive black hole（s）. In this paper, we report 19 low mass F/G/K type hypervelocity star candidates from over one million stars found in the first data release of the LAMOST regular survey. We determine the unbound probability for each candidate using a MonteCarlo simulation by assuming a non-Gaussian proper-motion error distribution, and Gaussian heliocentric distance and radial velocity error distributions. The simulation results show that all the candidates have unbound possibilities over 50% as expected,and one of them may even exceed escape velocity with over 90% probability. In addition, we compare the metallicities of our candidates with the metallicity distribution functions of the Galactic bulge, disk, halo and globular clusters, and conclude that the Galactic bulge or disk is likely the birth place for our candidates.

Elliptical distortion of the Milky Way＇s rotation traced by high-mass star-forming regions

The gravitational potential of the Milky Way is non-axisymmetric, caused by a bar or triaxial halo, which dominates elliptical rotation of the Milky Way. Employing a likelihood analysis, we exploit the astrometric data of masers thoroughly and constrain the elliptical rotation of the Galaxy. Masers in high-mass star-forming regions, observed by VLBA, are more distant tracers than stars observed in the optical bandpass, and thus are more appropriate for studying the global feature of the Milky Way＇s rotation. A clear elliptical potential of the Milky Way is detected, with an ellipticity of ε0-0.09 at the Sun, and the ellipticity increases towards the outer disk. The minor axis of the elliptical potential （the major axis of the rotation orbit） is found to be near the Sun with a displacement of -32°. Based on the rotation model assumed for an elliptical potential, we also make a kinematical calibration of the Galactocentric distance of the Sun, which gives R0 = 7.63±0.34 kpc.

Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste

The recycling of construction and demolition waste(CDW)remains an urgent problem to be solved.In the industry,raw CDW needs to be manually sorted.To achieve high efficiency and avoid the risks of manual sorting,a sorting robot can be designed to grasp and sort CDW on a conveyor belt.But dynamic grasping on the conveyor belt is a challenge.We collected location information with a three-dimensional camera and then evaluated the method of dynamic robotic grasping.This paper discusses the grasping strategy of rough processed CDW on the conveyor belt,and implements the function of grasping and sorting on the recycling line.Furthermore,two new mathematical models for a robotic locating system are established,the accuracy of the model is tested with Matlab,and the selected model is applied to actual working conditions to verify the sorting accuracy.Finally,the robot kinematics parameters are optimized to improve the sorting efficiency through experiments in a real system,and it was concluded that when the conveyor speed was kept at around 0.25 m/s,better sorting results could be achieved.Increasing the speed and shortening the acceleration/deceleration time would reach the maximum efficiency when the load would allow it.Currently,the sorting efficiency reached approximately 2000 pieces per hour,showing a high accuracy.