Path Planning of Multi-Axis Robotic Arm Based on Improved RRT*

An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.

Extraction of Soil Organic Matter Information by Multi-spectral Remote Sensing Based on Diverse Landforms

Based on diverse landforms, the correlation between soil organic matter content and multi-spectral band of remote sensing image was analyzed in this pa- per. In addition, the inversion models were built for the soil organic matter content in different landforms. The results showed that the spectral reflectance was nega- tively related to soil organic matter content; linear regression analysis of remove was performed throughout the bands using SPSS. When the inversion models were built based on all the bands, better fitting effect was obtained. The precision of in- version models built based on different landforms was higher than those built re- gardless landforms. Compared with the actual value, the identification level of soil organic matter content was 91 65% under the allowable error was 7%. It indicated that the extraction of soil organic matter with inversion model that was built based on different landforrrs was feasible with higher precision.

Low-dimensional multi-spectral space for color reproduction based on nonnegative constrained principal component analysis

In order to overcome the shortcomings that the reconstructed spectral reflectance may be negative when using the classic principal component analysis （PCA）to reduce the dimensions of the multi-spectral data, a nonnegative constrained principal component analysis method is proposed to construct a low-dimensional multi-spectral space and accomplish the conversion between the new constructed space and the multispectral space. First, the reason behind the negative data is analyzed and a nonnegative constraint is imposed on the classic PCA. Then a set of nonnegative linear independence weight vectors of principal components is obtained, by which a lowdimensional space is constructed. Finally, a nonlinear optimization technique is used to determine the projection vectors of the high-dimensional multi-spectral data in the constructed space. Experimental results show that the proposed method can keep the reconstructed spectral data in [ 0, 1 ]. The precision of the space created by the proposed method is equivalent to or even higher than that by the PCA.

Extracting Feature Bands for Damaged Rice Leaves by Planthoppers Using Multi-spectral Imaging Technology

[Objective] The aim of this study was to extract effective feature bands of damaged rice leaves by planthoppers to make identification and classification rapidly from great amounts of imaging spectral data. [Method] The experiment, using multi-spectral imaging system, acquired the multi-spectral images of damaged rice leaves from band 400 to 720 nm by interval of 5 nm. [Result] According to the principle of band index, it was calculated that the bands at 515, 510, 710, 555, 630, 535, 505, 530 and 595 nm were having high band index value with rich information and little correlation. Furthermore, the experiment used two classification methods and calcu-lated the classification accuracy higher than 90.00% for feature bands and ful bands of damaged rice leaves by planthoppers respectively. [Conclusion] It can be con-cluded that these bands can be considered as effective feature bands to identify damaged rice leaves by planthoppers quickly from a large scale of crops.

Three-dimensional Tool Radius Compensation for Multi-axis Peripheral Milling

Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUTwith different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of threeto five-axis machine tools as a general form.

Anisotropic Force Ellipsoid Based Multi-axis Motion Optimization of Machine Tools

The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In motion optimization, the stiffness characteristics of the whole machining system, including machine tool and cutter, are not considered. The paper presents a new method to establish a general stiffness model of multi-axis machining system. An analytical stiffness model is established by Jacobi and point transformation matrix method. Based on the stiffness model, feed-direction stiffness index is calculated by the intersection of force ellipsoid and the cutting feed direction at the cutter tip. The stiffness index can help analyze the stiffness performance of the whole machining system in the available workspace. Based on the analysis of the stiffness performance, multi-axis motion optimization along tool paths is accomplished by mixed programming using Matlab and Visual C＋＋. The effectiveness of the motion optimization method is verified by the experimental research about the machining performance of a 7-axis 5-linkage machine tool. The proposed research showed that machining stability and production efficiency can be improved by multi-axis motion optimization based on the anisotropic force ellipsoid of the whole machining system.

Robust key point descriptor for multi-spectral image matching

Histogram of collinear gradient-enhanced coding （HCGEC）, a robust key point descriptor for multi-spectral image matching, is proposed. The HCGEC mainly encodes rough structures within an image and suppresses detailed textural information, which is desirable in multi-spectral image matching. Experiments on two multi-spectral data sets demonstrate that the proposed descriptor can yield significantly better results than some state-of- the-art descriptors.

MULTI-SPECTRAL AND HYPERSPECTRAL IMAGE FUSION USING 3-D WAVELET TRANSFORM

Image fusion is performed between one band of multi-spectral image and two bands of hyperspectral image to produce fused image with the same spatial resolution as source multi-spectral image and the same spectral resolution as source hyperspeetral image. According to the characteristics and 3-Dimensional （3-D） feature analysis of multi-spectral and hyperspectral image data volume, the new fusion approach using 3-D wavelet based method is proposed. This approach is composed of four major procedures： Spatial and spectral resampling, 3-D wavelet transform, wavelet coefficient integration and 3-D inverse wavelet transform. Especially, a novel method, Ratio Image Based Spectral Resampling （RIBSR）method, is proposed to accomplish data resampling in spectral domain by utilizing the property of ratio image. And a new fusion rule, Average and Substitution （A＆S） rule, is employed as the fusion rule to accomplish wavelet coefficient integration. Experimental results illustrate that the fusion approach using 3-D wavelet transform can utilize both spatial and spectral characteristics of source images more adequately and produce fused image with higher quality and fewer artifacts than fusion approach using 2-D wavelet transform. It is also revealed that RIBSR method is capable of interpolating the missing data more effectively and correctly, and A＆S rule can integrate coefficients of source images in 3-D wavelet domain to preserve both spatial and spectral features of source images more properly.

Chlorophyll Content Retrieval of Rice Canopy with Multi-spectral Inversion Based on LS-SVR Algorithm

To monitor growth and predict the yield of rice over a large area, the chlorophyll contents in the rice canopy were estimated using the unmanned aerial vehicle(UAV) remote sensing technology. In this work, multi-spectral image information of the rice crop was obtained using a 6-channel multi-spectral camera mounted on a fixed wing UAV, which was flown 600 m above the ground, between 11: 00-14: 00 on a sunny day in summer. The measured chlorophyll values were collected as sample sets. The s-REP index was screened out to estimate chlorophyll contents through the analysis of six kinds of spectral indexes of chlorophyll estimated capacity. An inversion model of the chlorophyll contents was then built using the least square support vector regression(LS-SVR)algorithm, with calibration and prediction R-square values of 0.89 and 0.83, respectively. Finally, remote sensing mapping for a UAV image of the Fangzheng County Dexter Rice Planting Park was accomplished using the inversion model. The inversion and measured values were then compared using regression fitting. R-square and root-mean-square error of the fitting model were 0.79 and 2.39,respectively. The results demonstrated that accurate estimation of rice-canopy chlorophyll contents was feasible using the LS-SVR inversion model developed using the s-REP vegetation index.

The development of real time data driving multi-axis linkage and synergic movement control system of 3D variable cross-section roll forming machine

The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement

Design of a Multi-axis Motion Control Platform Based on LabVIEW’s Fuzzy Control Algorithm

This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.

Multi-Spectral and Fluorescence Imaging in Prevention of Overdose of Herbicides: The Case of Maize

Evaluation of the impact of herbicides on maize was done through multi- spectral and multi-modal imaging and multi-spectral fluorescence imaging combined with statistical methods. Spectra containing 13 wavelengths ranging from 375 nm to 940 nm were derived from multi-spectral images in transmission, reflection and scattering mode and fluorescence images obtained using high-pass filters (F450 nm, F500 nm, F550 nm, F600 nm, F650 nm) on control maize samples and maize samples treated with Herbextra herbicide were used. The appearance of the spectra allowed us to characterize the effect of the herbicide on the maize pigment concentration. The fluorescence images allowed us to track the fate of absorbed energy and through PLS-DA and SVM-DA to discriminate the two leaf categories with very low error rates for the test, i.e. 4.9% and 2% respectively. The results of this technique can be used in the context of precision agriculture.

Laser Interferometer Based Measurement for Positioning Error Compensation in Cartesian Multi-Axis Systems

Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.

In Situ Atomic Reconstruction Engineering Modulating Graphene-Like MXene-Based Multifunctional Electromagnetic Devices Covering Multi-Spectrum

With the diversified development of big data,detection and precision guidance technologies,electromagnetic(EM)functional materials and devices serving multiple spectrums have become a hot topic.Exploring the multispectral response of materials is a challenging and meaningful scientific question.In this study,MXene/TiO_(2)hybrids with tunable conduction loss and polarization relaxation are fabricated by in situ atomic reconstruction engineering.More importantly,MXene/TiO_(2)hybrids exhibit adjustable spectral responses in the GHz,infrared and visible spectrums,and several EM devices are constructed based on this.An antenna array provides excellent EM energy harvesting in multiple microwave bands,with|S11|up to−63.2 dB,and can be tuned by the degree of bending.An ultra-wideband bandpass filter realizes a passband of about 5.4 GHz and effectively suppresses the transmission of EM signals in the stopband.An infrared stealth device has an emissivity of less than 0.2 in the infrared spectrum at wavelengths of 6-14μm.This work can provide new inspiration for the design and development of multifunctional,multi-spectrum EM devices.

New Abnormal Cervical Cell Detection Method of Multi-Spectral Pap Smears

Considering the problem of traditional cervical cancer detection method that brings high false negative rate （FNR） and high false positive rate （FPR）, a new abnormal cervical cells detection method of multi-spectral Pap smear is proposed in this thesis, on the basis of multi-spectral microscopic imaging technology and computer automotive recognition technology. At first, image in a specific wave band is segmented according to the relationship between intensity and spectrum of each pixel. Then, multi-spectral features of each pixel are extracted making use of improved cosine correlation analysis （CCA） algorithm. Combined with the characteristic of each cell＇s area, final definition is made. Experiments have proved the new approach could identify abnormal cells efficiently as well as lower FNR and FPR.

DEVELOPMENT OF NEW GENERATION THERMOMECHANICAL SIMULATOR-MULTI-AXIS RESTRAINT COMPRESSION(MARC-STRAIN^(TM))SYSTEM

Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumulative roll bonding (ARB) techmpues. This paper will introduce a moftiaxis deformation technique which can achieve essentially unlimited strain with constant deformation volume. The mul- tiaxis deformation can be fully restrained or unrestrained.The bulk volume of a multiaxis restraint compression specimen can be easily machined into mechanical testing specimens for mechanical property measurement and other studies.

Observation of tropospheric NO_2 by airborne multi-axis differential optical absorption spectroscopy in the Pearl River Delta region,south China

An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining the measurements in nadir and zenith directions and analyzing the UV and visible spectral region using the DOAS method, information about tropospheric NO2 vertical columns was obtained. Strong tropospheric NO2 signals were detected when flying over heavilly polluted regions and point sources like plants. The AMAX-DOAS results were compared with ground-based MAX-DOAS observations in the southwest of Zhuhai city using the same parameters for radiative transport calculations. The difference in vertical column data between the two instruments is about 8%. Our data were also compared with those from OMI and fair agreement was obtained with a correlation coefficient R of 0.61. The difference between the two instruments can be attributed to the different spatial resolution and the temporal mismatch during the measurements.

Solar Multi-Spectral Radiometric Observations of Atmospheric Optical Thickness over Passarlapudi Gas Well Blow-Out Site in India

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Research on Contour Error Based on CNC Multi-axis Motion Control System

The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.

Microstructure and mechanical properties of isothermal multi-axial forging formed AZ61 Mg alloy

Microstructure and mechanical properties of AZ61 Mg alloy during isothermal multi-axial forging （MAF） were studied. The mechanisms of grain refinement and relationship between the microstructures and mechanical properties were discussed. The results show that the average grain size decreases with increasing the number of MAF passes. The grains are significantly refined at the 1st and 2nd MAF passes, and gradually refined at higher MAF passes. The initial grain size of 148 lam decreases to about 14 gm after 6 MAF passes. The grain refinement occurs mainly by continuous dynamic recrystallization. With increasing the MAF passes, both the tensile strength and the elongation to failure of the alloy are significantly enhanced.