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International Conference on ASIC

作者： Cao Wei Hou Hui Lai Jin Mei Mao Zhi Gang Tong Jia Rong Min Hao State Key Laboratory of ASIC and System Fudan University Shanghai China Microelectronics Center Harbin Institute of Technology Harbin China

A new reconfigurable multi-BMA VLSI architecture was proposed to select different levels of trade-off between video quality, computing complexity and power for power aware applications. The architecture can reuse the smaller blocks' SADs to calculate 41 motion vectors of a 16times16 block in parallel for H.264's VBSME. TSMC 0.18 um CMOS technology was adopted and the circuit's power consumption can be changed between 13.8 and 247 mW with the typical algorithms. Under a clock frequency of 157 Mhz, the architecture allows the real-time processing of VGA at 30 fps with FS in a search range [-16, +15] at the high level.

关键词： Very large scale integration Motion estimation Computer architecture Energy consumption Image quality CMOS technology Circuits Clocks Frequency Switches

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Effects of Cu Addition on Growth of Au-Sn Intermetallics at Sn-xCu/Au Interface during Aging Process

Effects of Cu Addition on Growth of Au-Sn Intermetallics at ...

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International Symposium on High Density Packaging and Microsystem Integration (HDP)

作者： Yanhong Tian Chunqing Wang Wei Liu Yarong Chen Microjoining Laboratory State Key Laboratory of Advanced Welding Production Technology Harbin Institute of Technology Harbin China

The growth of Au-Sn intermetallic compounds (IMCs) is a major concern to the reliability of solder joints in microelectronic, optoelectronic and micro-electro-mechanical system (MEMS) which has a layer of Au metallization on the surface of components or leads. This paper presents the growth behavior of Au-Sn IMCs at interfaces of Au metallization and Sn-based solder joints with the addition Cu alloying element during aging process, and growth coefficients of the Au-Sn IMCs were calculated. Results on the interfacial reaction between Sn-xCu solders and Au metallization during aging process show that three thick layers of Au-Sn IMCs including AuSn, AuSn 2 and AuSn 4 formed at the interface region. The thickness of each Au-Sn IMC layer vs square root of aging time followed linear relationship. Calculation of the IMC growth coefficients show that the diffusion coefficients decrease with the addition Cu elements, which indicates that Cu addition suppresses the growth of Au-Sn IMCs layer.

关键词： Intermetallic Gold Aging Metallization Soldering Microelectronics Microelectromechanical systems Micromechanical devices Lead Alloying

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Supervisory Control of Telerobotic system for Remote Welding

Supervisory Control of Telerobotic System for Remote Welding

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IEEE International Conference on Integration technology (ICIT)

作者： Haichao Li Hongming Gao Lin Wu State Key Laboratory of Advance Welding Production Technology Harbin Institute of Technology Harbin Heilongjiang China

This paper presents supervisory control concept of telerobotic system for remote welding in unstructured environment. Three supervisory control strategies are presented and implemented, which are namely laser vision sensing based teleteaching, graphics simulation based plan and control, and local autonomous control. The three control modes are integrated into a multi-modal human-machine interface. Interacting with the human-machine interface effectively, the operator's decisionmaking and control commands are participated into every control levels of the system. The experiments results demonstrate that the three supervisory control modes improve the performance of are welding telerobotic system, which are flexible enough to perform remote welding task in unstructured environment.

关键词： Supervisory control Telerobotics Welding Man machine systems Control systems Optical control Space technology Robot sensing systems Laser modes Graphics

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Vision-based weld seam tracking in gas metal arc welding

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中国高等学校学术文摘·材料科学 2007年第3期1卷 268-273页

作者： GAO Jinqiang WU Chuansong LIU Xizhang XIA Dianxiu State Key Laboratory of Advanced Welding Production Technology Harbin Institute of TechnologyHarbin 150001China Institute of Materials Joining Shandong UniversityJinan 250061China Post-doctorate Work Station Jinan Iron and Steel Group CorporationJina Institute of Materials Joining Shandong UniversityJinan 250061China Post-doctorate Work Station Jinan Iron and Steel Group CorporationJinan 250101China

A low-cost visual sensmg system is developed to realize weld seam tracking in gas metal arc welding(GMAW).The system consists of a commercial CCD camera,narrow-band composite filter lens,an image capturing card,an industrial computer,a welding control unit,a GMAW power source,and a *** of root gap and its vicinity are captured in the GMAW welding process by the *** captured images arc processed by an algorithm on the basis of the analysis of gray characteristics of the root gap to get the offsetting information between torch and root gap *** offsetting information is then used to realize weld seam tracking in the GMAW *** seam tracking experiment is conducted by a simple proportional(P)*** results show that tracking error is basically less than ±0.5 mm.

关键词： seam tracking root gap gas metal arc welding (GMAW) image

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Performance of treating wastewater and anti-shockloading in oxic-settling-anaerobic (OSA) process for minimization of excess sludge

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Huanjing Kexue/Environmental Science 2007年第11期28卷 2488-2493页

作者： Wang, Jian-Fang Jin, Wen-Biao Zhao, Qing-Liang Liu, Zhi-Gang Lin, Ji-Kan State Key Laboratory of Urban Water Resources and Environment School of Municipal and Environmental Engineering Harbin Institute of Technology Harbin 150090 China Harbin Institute of Technology Campus of Shenzhen University Town Shenzhen 518055 China Golden Idea Bio-Treat Group Dongguan 523581 China

Efficiency of pollution degradation, performance of activated sludge, effect of temperature fluctuation and recalcitrant organic compounds on system stability were investigated in OSA process for minimization of excess sludge. CAS process and OSA process were run with synthetic wastewater for 240 d. The results indicate that the OSA process excels the CAS process as a whole. COD removal efficiency in OSA process was slightly more than that in CAS. Removal efficiency of nitrogen and phosphorus could be enhanced to 42.58% and 53.84% respectively. Biological phosphorus accumulation in aerobic sludge from OSA and CAS were 2.69g and 1.11 g per 100 g dry sludge, which further approved biological phosphorus removal in OSA process. Because of alternative aerobic and anaerobic environment in OSA process, sludge settleability and activity are improved. SVI in OSA process was 97 averagely. SOUR and dehydrogenase activity of sludge in OSA were higher appreciably than those in CAS. Protein concentration was higher above 1.69 mg · g-1 and polysaccharide concentration was lower 6.7 mg · g-1 in OSA sludge than those in CAS, which confirms the effect of anaerobic tank on sludge performance and microorganism diversity. Lower polysaccharide concentration in OSA sludge improves the settleability. Contrasting to CAS process, OSA process is more sensitive to impact of p-nitrophenol(PNP) and more inactive to temperature fluctuation. Temperature fluctuation led to an increase of the concentration of GOD, NH4+-N, SS in effluent while sludge production YMLSS/COD) was reduced to 0.403 mg · mg-1 and 0.227 mg · mg-1 in CAS and OSA. When concentration of PNP was increased abruptly to 10 mg · L-1, biological nutrient removal was ceased in OSA process. Once OSA system is impacted, it is difficult to restore.

关键词：污泥减量生物脱氮除磷污泥活性温度波动对-硝基苯酚

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Locomotion modeling and simulation of the biped robot with heterogeneous legs

Locomotion modeling and simulation of the biped robot with h...

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2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007

作者： Fu, Li Xu, Xinhe Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China State Key Laboratory for Intelligence Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)1424407370

This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, i.e., multi-axes mechanics with closed loop chain and reluctant coordinates, we use Routh method to develop dynamic model of BRHL and evaluate the relationship between force and moment, giving an algorithm of Routh equation for forward and reverse solution as well as constrain equations. This methodology establishes the basis for locomotion, control and perception of BRHL. In addition, the model thus developed is proven to be robust and the human motion process is well simulated in ADAMS software. © 2007 IEEE.

关键词： Robotic arms

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Collaborative filtering recommendation algorithm based on cloud model

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Ruan Jian Xue Bao/Journal of Software 2007年第10期18卷 2403-2411页

作者： Zhang, Guang-Wei Li, De-Yi Li, Peng Kang, Jian-Chu Chen, Gui-Sheng State Key Laboratory of Software Development Environment Beihang University Beijing 100083 China Institute of Electronic System Engineering Beijing 100840 China Information Security Center Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China School of Computer Science and Technology Shandong Jianzhu University Ji'nan 250101 China

Recommendation system is one of the most important technologies applied in e-commerce. Similarity measuring method is fundamental to collaborative filtering algorithm, and traditional methods are inefficient especially when the user rating data are extremely sparse. Based on the outstanding characteristics of Cloud Model on the process of transforming a qualitative concept to a set of quantitative numerical values, a novel similarity measuring method, namely the likeness comparing method based on cloud model (LICM) is proposed in this paper. LICM compares the similarity of two users on knowledge level, which can overcome the drawback of attributes' strictly matching. This work analysis traditional methods throughly and puts forward a novel collaborative filtering algorithm, which is based on the LICM method. Experiments on typical data set show the excellent performance of the present collaborative filtering algorithm based on LICM, even with extremely sparsity of data.

关键词： Electronic commerce

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Synthesis methods and experiment validation of compliant force controller based inner position loop

Synthesis methods and experiment validation of compliant for...

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IEEE International Conference on robotics and Biomimetics

作者： Shangying Zhang Hui Zhao Junwei Han State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China School of Mechanical Automation Wuhan University of Science and Technology Wuhan China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424417612;1424417619

Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Compliant force control structure based on the inner position loop is introduced. The more systematic design methods of a serial PID type controller and a robust controller are presented in detail. Simulation and experiment results indicate efficiency of the designed force controllers and superiority of robust force controller.

关键词： Force control Parallel robots Control systems Robust control Orbital robotics Robotic assembly Three-term control Manufacturing automation Space technology Design methodology

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Analysis and experimental validation of dynamics simulation system containing position loop

Analysis and experimental validation of dynamics simulation ...

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IEEE International Conference on robotics and Biomimetics

ISBN: (纸本)9781424417612;1424417619

Dynamics simulation system containing position control loop is studied for simulating dynamics process of space docking on the ground. Working principle of the combined general dynamics test platform is pictured. Equivalent dynamics simulation problem with space docking simulation is put forward conceptually. Stability analysis and reasonable configuration of physical parameters of dynamics simulation system containing position control loop is developed. Experiment results validate the validity of the gained consequence.

关键词： Analytical models Vehicle dynamics Parallel robots Space technology Testing Space vehicles Position control Frequency Paper technology Stability analysis

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Investigation on the communication network of long wire transmitting in remote welding

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China Welding 2006年第1期15卷 61-66页

作者：刘立君张广军吴林 School of Material Science & Engineering Harbin University of Science and TechnologyHarbin150080 State Key Laboratory of Advanced Welding Production Technology Harbin Institute of TechnologyHarbin150001

According to the characteristics of remote welding, including multiple parameters, real-time, and reliability of long wire transmitting, a distributing computer control scheme is adopted. A serial communication network between the master and the slavery computers is constructed. A synchro-control network among slavery computers is designed. Uniform message format and communication protocols are made. Considering intensive high-frequency noises at the welding zone, a quadruple check mode, including data sum check, parameter type check, welding parameters check and Exclusive OR （ XOR ） check, is adopted to assure the reliability of communication among multiple computers. Based on disturbing circuit, common circuit and sensitive circuit, the measures are brought forward to ensure the stabilization of communication network of remote arc welding by analyzing the wiring principle of anti-high-frequency interference of system bus, signal wires and shielding twisted-pair（STP） wires. The results provide the theoretical and practical references for the manufacture of remote welding robot and the quality of remote welding.

关键词： high-frequency interference communication network remote welding long wire wiring principle

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