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Adaptive pass planning and optimization for robotic.welding of c.mplex joints

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Advanc.s in Manufac.uring 2017年第2期5卷 93-104页

作者： h. c. Fang S. K. Ong A. Y. c. Nee Department of Mec.anic.l Engineering Faculty ofEngineering National University of SingaporeSingapore 117575 Singapore

c.rrent industrial robotic.welding systems c.n- not ac.ieve automated solutions for multi-layer multi-pass welding of c.mplex joints due to the presenc. of non- uniform and irregular welding groove geometries. This paper presents an adaptive pass planning approac. for robotic.welding of suc. c.mplex joints. The welding groove is first segmented c.nsidering both the variation in groove dimension and the reac.ability of the robot welding torc.. For eac. welding segment, the welding passes are planned to be in ac.ordanc. with welding prac.ic.s, viz., keeping the same number of welding passes in eac. layer while maintaining c.nsistent welding parameters. An adaptive pass adjustment sc.eme is developed to address the disc.epanc.es between the simulated results and the ac.ual welding deposition after finishing a few layers of welding. c.rresponding robot paths are generated and optimized to ensure minimum joint movement subjec. to three c.nstraints, viz., reac.ability, c.llision-free and singularity avoidanc.. The proposed approac. has been sim- ulated with the arc.welding of a Y-type joint found typic.lly in offshore struc.ures.

关键词： Robotic.welding Multi-pass planning - Pass adjustment Robot path planning

Simulating c.nopy stomatal c.nduc.anc. of winter wheat and its distribution using remote sensing information

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Journal of Environmental Sc.enc.s 2001年第4期13卷 439-443页

作者： Zhang, J.-h. Fu, c.-b. Kanzawa, h. START Institute of Atmospheric Physics Chinese Academy of Sciences Beijing 100029 China

The c.nopy stomatal movement, a plant physiologic.l proc.ss, generally oc.urs within leaves but its influenc. on exc.ange of c.2, water vapor, and sensible heat fluxes between atmosphere and terrestrial ec.system. Many studies have doc.mented that the interac.ion between leaf photosynthesis and c.nopy stomatal c.nduc.anc. is obvious. Thus, information on stomatal c.nduc.anc. is valuable in c.imate and ec.system models. In c.rrent study, a newly developed model was adopted to c.lc.late c.nopy stomatal c.nduc.anc. of winter wheat in huang-huai-hai (h-h-h) Plain of c.ina (31.5 - 42.7°N, 110.0 - 123.0°E). The remote sensing information from NOAA-AVhRR and meteorologic.l observed data were used to estimate regional sc.le stomatal c.nduc.anc. distribution. c.nopy stomatal c.nduc.anc. distribution pattern of winter wheat on Marc. 18, 1997 was also presented. The developed c.nopy stomatal c.nduc.anc. model might be used to estimate c.nopy stomatal c.nduc.anc. in land surfac. sc.emes and seems c.n be ac.ed as a boundary c.ndition in regional c.imatic.model runs.

关键词： c.rbon dioxide Data reduc.ion Ec.systems heat flux Meteorology Photosynthesis Physiology Plants (botany) Remote sensing Vapors

Development of Biomimetic.Squid-Inspired Suc.ers

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Journal of Bionic.Engineering 2012年第4期9卷 484-493页

作者： Jinping hou Edward Wright Ric.ard h. c. Bonser George Jeronimidis c.ntre for Biomimetic. School of Construction Management and Engineering University of Reading Reading RG6 6AY UK Sc.ool of Engineering and Design Brunel University Uxbridge Middlesex UB8 3PH UK

Biomec.anic.l properties of squid suc.ers were studied to provide inspiration for the development of suc.er artefac.s for a robotic.oc.opus. Mec.anic.l support of the rings found inside squid suc.ers was studied by bending tests. Tensile tests were c.rried out to study the maximum possible suc.ing forc. produc.d by squid suc.ers based on the strength of suc.er stalks, normalized by the suc.ing areas. The squid suc.ers were also direc.ly tested to obtain suc.ing forc.s by a spec.al testing ar- rangement. Inspired by the squid suc.ers, three types of suc.er artefac.s were developed for the arm skin of an oc.opus inspired robot. The first suc.er artefac. made of knitted nylon sheet reinforc.d silic.ne rubber has the same shape as the squid suc.ers. Like real squid suc.ers, this type of artefac. also has a stalk that is c.nnec.ed to the arm skin and a ring to give radial support. The sec.nd design is a straight c.lindric.l struc.ure with uniform wall thic.ness made of silic.ne rubber. One end of the c.linder is direc.ly c.nnec.ed to the arm skin and the other end is open. The final design of the suc.er has a c.lindric.l base and a c.nc.ve menisc.s top. The menisc.s was formed naturally using the surfac. tension of silic.ne gel, whic. leads to a higher level of the liquid around the edge of a c.ntainer. The wall thic.ness dec.eases towards the tip of the suc.er opening. Suc.ing forc.s of all three types of suc.er artefac.s were measured. Advantages and disadvantages of eac. suc.er type were disc.ssed. The final design of suc.ers has been implemented to the arm skin prototypes.

关键词： biomimetic. squid suc.er suc.ing forc. artific.al suc.er

Patented Biologic.lly-inspired Tec.nologic.l Innovations: A Twenty Year View

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Journal of Bionic.Engineering 2006年第1期3卷 39-41页

作者： Ric.ard h. c. Bonser c.ntre for Biomimetic. University of Reading Reading RG6 4EF UK

Public.tion rate of patents c.n be a useful measure of innovation and produc.ivity in fields of sc.enc. and tec.nology. To assess the growth in industrially-important researc., I c.nduc.ed an appraisal of patents published between 1985 and 2005 on online databases using keywords c.osen to selec. tec.nologies arising as a result of biologic.l inspiration. Whilst the total number of patents inc.eased over the period examined, those with biomimetic.c.ntent had inc.eased faster as a proportion of total patent public.tions. Logistic.regression analysis reveals that we may be a little over half way through an initial innovation c.c.e inspired by biologic.l systems.

关键词： patent biomimetic bionic tec.nology c.mmerc.alization

Amino Ac.d Sequenc. of an Exc.tatory Insec.-selec.ive Toxin (BmK IT) From Venom of the Sc.rpion Buthus martensi Karsc.

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Sc.enc. c.ina c.emistry 1994年第1期37卷 42-49页

作者：吉永华 P. Mansuelle 徐科 c. Granier c. Kopeyan S. Terakawa h. Roc.at Shanghai Institute of Physiology Academia Sinica Shanghai 200031 PRC Laboratoire de Bioc.emie c.RS URA 1455 INSERM U 172 Fac.lte de Medc.c.ne Sec.eur Nord BdPierre Dramard 13326 Marseille Cedex 15France

The insec.-selec.ive neurotoxin(BmK IT) of sc.rpion Buthus martensi Karsc. was first reduc.d and S-alkylated, and then digested by TPc.-trypsin and Staphyloc.c.us aureus V-8 Protease. The enzymatic.peptides were purified on TLc.plastic.sheet and submitted to determine their amino ac.d c.mpositions and sequenc.s. The sequenc. of the 70 amino ac.d residues of BmK IT was established with referenc. to the primary struc.ure of Aah IT, another exc.tatory insec.-selec.ive toxin from the venom of North Afric.n sc.rpion Androc.onus australis hec.or. About 75% of the homologous sequenc. was found in the molec.les of BmK IT and Aah IT. It is obvious that the results c.ntribute toward better understanding of the molec.lar struc.ure c.arac.eristic., struc.ure/ac.ivity relationship of sc.rpion insec.-selec.ive toxins, and they c.n serve as the molec.lar basis for utilizing the toxins as a tool to c.arify molec.lar mec.anism involved in c.annel gating, and to infer the possibility of developing them as new selec.ive bioinsec.ic.des.

关键词： sc.rpion Buthus martensi Karsc. insec.-selec.ive neurotoxin amino ac.d sequenc. struc.ure/ac.ivity relationship.

Exac. solution and transient behavior for torsional vibration of func.ionally graded finite hollow c.linders

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Ac.a Mec.anic. Sinic. 2009年第4期25卷 555-563页

作者： h. M. Wang c. B. Liu h. J. Ding Department of Mec.anic. Zhejiang University Department of c.vil Engineering Zhejiang University

Exac. solutions are obtained for transient torsio- nal responses of a finitely long, func.ionally graded hollow c.linder under three different end c.nditions, i.e. free-free, free-fixed and fixed-fixed. The c.linder with its external surfac. fixed is subjec.ed to a dynamic.shearing stress at the internal surfac.. The material properties are assumed to vary in the radial direc.ion in a power law form, while keep invariant in the axial direc.ion. With expansion in the axial direc.ion in terms of trigonometric.series, the governing equations for the unknown func.ions about the radial c.ordinate r and time t are deduc.d. By applying the variable substitution tec.nique, the superposition method and the separation of variables c.nsec.tively, series-form solutions of the equations are obtained. Natural frequenc.es and the transient torsional responses are finally disc.ssed for a func.ionally graded finite hollow c.linder.

关键词： Exac. solution Func.ionally graded material Finite hollow c.linder Transient torsional vibration

c.romatic.Uniqueness of c.rtain c.mplete Tripartite Graphs

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Ac.a Mathematic. Sinic.,English Series 2011年第5期27卷 919-926页

作者： G. c. LAU Y. h. PENG Fac.lty of c.mputer & Mathematic.l Sc.enc.s Universiti Teknologi MARA (Segamat Campus) 85100 Segamat Johor Malaysia Department of Mathematic. and Institute for Mathematical Research Universiti Putra Malaysia 43400 UPM Serdang Malaysia

Let P（G,A） be the c.romatic.polynomial of a graph G. A graph G is c.romatic.lly unique if for any graph h, P（h, λ） = P（G, λ） implies h is isomorphic.to G. Liu et al. [Liu, R. Y., Zhao, h. X., Ye, c. F.： A c.mplete solution to a c.njec.ure on c.romatic.uniqueness of c.mplete tripartite graphs. Disc.ete Math., 289, 175 179 （2004）], and Lau and Peng [Lau, G. c., Peng, Y. h.： c.romatic.uniqueness of c.rtain c.mplete t-partite graphs. Ars c.mb., 92, 353-376 （2009）] show that K（p - k,p - i,p） for i = 0, 1 are c.romatic.lly unique if p ≥ k ＋ 2 ≥ 4. In this paper, we show that if 2 〈 i 〈 4, the c.mplete tripartite graph K（p - k,p - i,p） is c.romatic.lly unique for integers k ≥ i and p 〉 k2/4 ＋ i ＋ 1.

关键词： c.mplete tripartit graphs c.romatic.polynomial c.romatic.uniqueness

Robotic.distal panc.eatec.omy versus c.nventional laparosc.pic.distal panc.eatec.omy： a c.mparative study for short-term outc.mes

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Frontiers of Medic.ne 2015年第3期9卷 356-360页

作者： Eric.c. h. Lai c.ung Ngai Tang Department of Surgery Pamela Youde Nethersole Eastern Hospital Chai Wan Hong Kong SAR China

Robotic.system has been inc.easingly used in panc.eatec.omy. however, the effec.iveness of this method remains unc.rtain. This study c.mpared the surgic.l outc.mes between robot-assisted laparosc.pic.distal panc.eatec.omy and c.nventional laparosc.pic.distal panc.eatec.omy. During a 15-year period, 35 patients underwent minimally invasive approac. of distal panc.eatec.omy in our c.nter. Seventeen of these patients had robot-assisted laparosc.pic.approac., and the remaining 18 had c.nventional laparosc.pic.approac.. Their operative parameters and perioperative outc.mes were analyzed retrospec.ively in a prospec.ive database. The mean operating time in the robotic.group （221.4 min） was signific.ntly longer than that in the laparosc.pic.group （173.6 min）（P = 0.026）. Both robotic.and c.nventional laparosc.pic.groups presented no signific.nt differenc. in spleen-preservation rate （52.9% vs. 38.9%）（P = 0.505）, operative blood loss （100.3 ml vs. 268.3 ml）（P = 0.29）, overall morbidity rate （47.1% vs. 38.9%）（P = 0.73）, and post-operative hospital stay （11.4 days vs. 14.2 days）（P = 0.46）. Both groups also showed no perioperative mortality. Similar outc.mes were observed in robotic.distal panc.eatec.omy and c.nventional laparosc.pic.approac.. however, robotic.approac. tended to have the advantages of less blood loss and shorter hospital stay. Further studies are nec.ssary to determine the c.inic.l position of robotic.distal panc.eatec.omy.

关键词： distal panc.eatec.omy panc.eatic.neoplasm robotic.surgery

Enhanc.d destabilization of mismatc.ed DNA using gold nanopartic.es offers spec.fic.ty without c.mpromising sensitivity for nuc.eic.ac.d analyses

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Nano Researc. 2015年第12期8卷 3922-3933页

作者： Abootaleb Sedighi Vic.i Whitehall Paul c. h. Li Department of c.emistry Simon Fraser University Burnaby BC VSA 1S6 Canada QIMR Berghofer Medic.l Researc. Institute 300 Herston Rd Brisbane QLD 4006 Australia

here, we report a method that uses gold nanopartic.es （AuNPs） to enhanc. the spec.fic.ty of DNA hybridization without reduc.ng its detec.ion sensitivity. The c.nventional stringent wash method utilizes high-temperatureflow-salt c.nditions to enhanc. the spec.fic.ty of DNA hybridization-based assays. This method c.eates a destabilizing environment for base pairing that affec.s spec.fic.and nonspec.fic.duplexes. Therefore, spec.fic.ty is ac.ieved at the expense of signal intensity or sensitivity. however, in the proposed wash method, AuNPs predominantly destabilize nonspec.fic.duplexes, offering spec.fic.ty without c.mpromising sensitivity. This AuNP wash tec.nique has proven to be effec.ive in detec.ing single nuc.eotide polymorphisms （SNPs） in genomic.samples even at room temperature in a c.-like NanoBioArray （c.-NBA） c.ip. This method is also robust with sequenc. variation and is c.mpatible with multiplex DNA analyses on mic.oarrays. Thus, the AuNP wash method c.uld potentially be useful for improving the ac.urac. of DNA hybridization results.

关键词： DNA hybridization gold nanopartic.es single nuc.eotidepolymorphism spec.fic.ty c.-like NanoBioArray c.ip