检索结果-内蒙古大学图书馆

A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

Procedia Computer Science 2024年 250卷 235-243页

作者： Juntian Shi Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency.

关键词： Manufacturing Laser centerline extraction Hessian matrix

来源：评论

学校读者我要写书评

暂无评论

Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method

Speed Fluctuation Suppression of Current Scaling Errors Base...

引用

International Conference on Electrical Machines and systems (ICEMS)

作者： Haoyi Mu Guodong Yu Shaobin Li Pengcheng Zhu Yongxiang Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of a Flexible Capture Mechanism Inspired by Sea Anemone for Non-cooperative Targets

引用

Chinese Journal of Mechanical Engineering 2021年第4期34卷 236-248页

作者： Jiankun Yang Chengwei Ren Chenghao Yang Youyu Wang Shumin Wan Rongjie Kang Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin 300350China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Beijing Institute of Spacecraft System Engineering CAST Beijing 100094China

Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined ***,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured *** this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is *** is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning ***-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness *** finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.

关键词： Non-cooperative targets Continuum arm group Wire-driven mechanism

来源：评论

学校读者我要写书评

暂无评论

Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Prototype Design and Efficiency Analysis of a Novel Robot Dr...

引用

IEEE International Conference on robotics and Biomimetics

作者： Le Qi Dapeng Yang Baoshi Cao Zhiqi Li Yikun Gu Zongwu Xie Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg).

关键词： Actuators Torque Shape Gears Biomimetics Loading Prototypes

来源：评论

学校读者我要写书评

暂无评论

A novel piezoelectric actuated micro-tweezer with force sensing for optical fiber manipulation

A novel piezoelectric actuated micro-tweezer with force sens...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Haoxiang Zhao Haoran Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Heilongjiang University of Science and Technology Harbin China

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on Longitudinal Ultrasonic Vibration Assisted Flip Chip Bonding Process

Research on Longitudinal Ultrasonic Vibration Assisted Flip ...

引用

International Conference on (ICEPT) Electronic Packaging Technology

作者： Dapeng Liu Jianxin Qiao Longqiu Li Zhi Qiao Bin Zhou Yunkang Su State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

The current flip-chip bonding technology still faces defects such as surface thermal burnout of chips due to excessively high process temperature and significant mechanical stress leading to solder joint fracture and chip damage. This paper proposes a longitudinal ultrasonic-assisted flip-chip bonding process. By introducing ultrasonic vibration of a certain frequency in the bonding direction, stress on the device during the bonding process is reduced, leading to lower bonding temperatures and improved bonding quality and reliability. However, unreasonable ultrasonic bonding parameters may result in the fracture at the bonding interface by hammering effect. Based on the longitudinal ultrasonic-assisted bonding experimental platform was constructed to conduct bonding experiments. Through orthogonal contrast experiments, it has been determined that longitudinal ultrasonic assisted technology could reduce the bonding temperature at most by 180°C and bonding duration by 3-5s with ultrasonic parameter of 26W/cm 2 sound intensity and 4~4.66MPa prebonding pressure. This study provides valuable insights for optimizing flip-chip bonding processes.

关键词： Vibrations Temperature distribution Ultrasonic imaging Acoustics Flip-chip devices Bonding Surface cracks

来源：评论

学校读者我要写书评

暂无评论

Research and Introduction of the Process Flow of 3D-IC Thermo-Compression Intelligent Collective Bonding Equipment

Research and Introduction of the Process Flow of 3D-IC Therm...

引用

International Conference on (ICEPT) Electronic Packaging Technology

作者： Bin Zhou Jianxin Qiao Longqiu Li Yunkang Su Dapeng Liu Haichuan Shi Wentao Huang State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

Three-dimensional integrated (3D IC) technologies have attracted substantial academic interest due to their enhanced performance and reduced interfacial dimensions. Conventional 3D packaging for chips of four layers must be stacked and bonded four and three times, respectively, bringing about the low reliability of bumps and productivity. Additionally, the decreasing size and spacing of solder bumps present challenges for defect detection. This paper proposes a collective intelligent bonding equipment for flip-chip 3D packaging. The equipment includes a bonding head system, downward vision, chip shift table, upward vision, bonding zone, in-situ monitoring system, and substrate movement platform. The bonding head system, downward vision, chip shift table, upward vision, and bonding zone complete the collective bonding. The defect detection is accomplished by the in-situ monitoring system. The chips need to be stacked four times, and the time of bonding is once. Meanwhile, during the bonding process, the defects can be monitored in real-time by the in situ monitoring system based on active infrared technology. Four layers in chips can be simultaneously bonded, and alignment accuracy is ±15μm@3sigma. The breakage, misalignment, and other defects can be monitored during the bonding progress. The introduction of this equipment will enhance productivity while ensuring bump reliability. Moreover, its successful development holds significant importance for the advancement and manufacturing of semiconductor packaging equipment domestically.

关键词： Productivity Three-dimensional displays Machine vision Packaging Reliability Bonding Soldering

来源：评论

学校读者我要写书评

暂无评论

A Trajectory Planning Algorithm of Spray Robot for Workpieces with Complex Geometric Features based on 3D Point Cloud 5

A Trajectory Planning Algorithm of Spray Robot for Workpiece...

引用

5th IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2021

作者： Kong, Minxiu Li, Ang Gao, Feng Harbin Institute of Technology School of Mechatronics Engineering Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665415989

Trajectory planning of spray robot for workpieces with complex geometric features is always a challenging problem. Combined with the actual process requirements of surface spraying and edge spraying, a new spraying path design method based on 3D point cloud is proposed in this paper. During surface spraying, the automatic segmentation algorithm of spraying area based on the determination of hole ratio and Euclidean clustering is studied. For the area with dense features, the point cloud slicing algorithm is used to generate the spray path. For the narrow area, the flexible midline extraction algorithm is proposed. We also discussed the edge extraction algorithm to generate the edge spray path. According to the simulation results of coating thickness, this method can not only ensure the uniformity of coating thickness, but also ensure high spraying efficiency with low paint waste. © 2021 IEEE.

关键词： Clustering algorithms

来源：评论

学校读者我要写书评

暂无评论

A reusable SMA actuated non-explosive lockrelease mechanism for space application

引用

International Journal of Smart and Nano Materials 2020年第1期11卷 65-77页

作者： Xueting Pan Yuliang Zhang Yifan Lu Fei Yang Honghao Yue State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Beijing Spacecraft BeijingChina

After the satellite is launched with the carrier rocket,it is necessary to separate the satellite from the rocket at an appropriate time to ensure that the satellite enters the intended *** this process,it is vital to ensure a reliable connection and accurate *** the increasing use of microsatellite in orbit,the contradiction between the shock of separation and the requirement of the platform’s dynamic environment is becoming increasingly ***,the traditional pyrotechnic separation device can no longer meet the *** paper presents a reusable non-explosive release actuator using shape memory alloy(SMA)wire for high load and low *** system is based on the Fast Acting Shock-less Separation Nut(FASSN)*** the shape memory effect of SMA,a biased SMA wire trigger has been developed,which is used as the driver source of the *** the moment of receiving the electrical signal,the SMA wire generates stress and *** trigger set free the constraints on the mechanical components,and the target is *** results indicate that the trigger device can unlock successfully and well meet the technical objectives.

关键词： SMA actuator non-explosive lock-release space application

来源：评论

学校读者我要写书评

暂无评论

Natural Gas Load Forecasting Based on Multi-Stage Model Identification 14

Natural Gas Load Forecasting Based on Multi-Stage Model Iden...

引用

14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Zhang, Pengbin Wang, Hongrui Xing, Kunpeng Yuan, Mingzhe Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China China Nuclear Power Engineering Co. Ltd. Shenzhen518124 China

ISBN: (纸本)9798331506056

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively. © 2024 IEEE.

关键词： Prediction models

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：