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Smoothness-oriented path optimization for robotic milling processes

Science China(Technological Sciences) 2020年第9期63卷 1751-1763页

作者： peng jingfu DING Ye ZHANG Gang DING Han State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai200240China HUST-Wuxi Research Institute Wuxi214174China

Industrial robots are increasingly used for five-axis machining operations, where the rotation of the end effector along the toolaxis direction is functionally redundant. This functional redundancy should be carefully resolved when planning the robot path according to the tool path generated by a computer-aided manufacturing(CAM) system. Improper planning of the redundancy may cause drastic variations of the joint motions, which could significantly decrease the machining efficiency as well as the machining accuracy. To tackle this problem, this paper presents a new optimization-based methodology to globally resolve the functional redundancy for the robotic milling process. Firstly, a global performance index concerning the smoothness of the robot path at the joint acceleration level is proposed. By minimizing the smoothness performance index while considering the avoidance of joint limits and the singularity and the constraint of the stiffness performance, the resolution of the redundancy is formulated as a constrained optimization problem. To efficiently solve the problem, the sequential linearization programming method is employed to improve the initial solution provided by the conventional graph-based method. Then, simulations for a given tool path are presented. Compared with the graph-based method, the proposed method can generate a smoother robot path in which a significant reduction of the magnitude of the maximum joint acceleration is obtained, resulting in a smoother tool-tip feedrate profile. Finally, the experiment on the robotic milling system is also presented. The results show that the optimized robot path of the proposed method obtains better surface quality and higher machining efficiency, which verifies the effectiveness of the proposed method.

关键词： robot milling functional redundancy path optimization smoothness sequential linear programming

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垂荡板对半潜式风机动力响应影响研究

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水动力学研究与进展（A辑） 2024年第4期39卷 500-508页

作者：李浩然彭婧芙郑金海张继生彭伟张炫河海大学港口海岸与近海工程学院南京210098 中山大学海洋工程与技术学院珠海519082

在海洋环境作用下,半潜式风机支撑平台会产生六自由度运动。平台底部增设垂荡板能有效抑制平台运动响应,提升风机稳定性。该文以底部具有单层圆形垂荡板的OC4-Deep Cwind半潜式风机平台为原型,设计了单层圆形开孔垂荡板及双层圆形垂荡板... 详细信息

在海洋环境作用下,半潜式风机支撑平台会产生六自由度运动。平台底部增设垂荡板能有效抑制平台运动响应,提升风机稳定性。该文以底部具有单层圆形垂荡板的OC4-Deep Cwind半潜式风机平台为原型,设计了单层圆形开孔垂荡板及双层圆形垂荡板,在频域及时域下研究了不同形式垂荡板对半潜式风机平台水动力性能及动力响应的影响。研究发现:开孔垂荡板减小了平台在垂荡、纵摇方向的附加质量与辐射阻尼,降低了风机稳定性,且风机稳定性随垂荡板开孔率增大而减小;双层垂荡板增大了平台在垂荡、纵摇方向的附加质量与辐射阻尼,抑制了风机运动,垂荡板间距为垂荡板厚度时,风机稳定性更优。

关键词：半潜式风机垂荡板附加质量辐射阻尼动力响应

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基于超级电容器的NiMnS/碳纤维复合电极

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电源技术 2022年第4期46卷 433-436页

作者：马骏彭景富苏冬云孟祥康江苏工程职业技术学院航空与交通工程学院江苏南通226007 南京大学南通材料工程技术研究院江苏南通226019 南通职业大学机械工程学院江苏南通226007 南京大学现代工程与应用科学学院江苏南京210093

为了进一步提高超级电容器电极材料的比电容,同时保证其循环稳定性,采用快速电沉积法制备了NiMnS/碳纤维复合材料。在弥补碳材料比电容低的缺点的同时,进一步提高了复合材料的性能,克服了传统碳基材料的局限,所制备的复合材料具有较宽... 详细信息

为了进一步提高超级电容器电极材料的比电容,同时保证其循环稳定性,采用快速电沉积法制备了NiMnS/碳纤维复合材料。在弥补碳材料比电容低的缺点的同时,进一步提高了复合材料的性能,克服了传统碳基材料的局限,所制备的复合材料具有较宽的工作电压(-0.2~0.8 V)和高的比电容(1 A/g时比电容可以达到780 F/g)。同时,NiMnS/碳纤维复合材料拥有出色的循环稳定性。在1 A/g的电流密度下循环10000次,保持率可达到89%。因此,所制备的NiMnS/碳纤维布复合电极未来在能量存储和转换方面有着较大的应用潜力。

关键词：超级电容器 NiMnS/碳纤维比电容循环稳定性

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高循环性能的FeCo_(2)S_(4)/碳纤维复合电极材料

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电源技术 2022年第12期46卷 1457-1460页

作者：马骏彭景富苏冬云吉内德·阿里·赛义德江苏工程职业技术学院航空与交通工程学院江苏南通226006 南通南京大学材料工程技术研究院江苏南通226019 南通职业大学机械工程学院江苏南通226007 卡拉奇大学化学研究所国际化学与生物科学中心卡拉奇75270

对电极材料的结构进行优化设计,提高电活性材料的有效利用率。提出一种简单的一步电沉积双金属硫化物的策略,成功设计并制备了FeCo_(2)S_(4)双金属硫化物,沉积在高导电性、高比表面积碳纤维布上的复合材料,并应用于超级电容器作为电极... 详细信息

对电极材料的结构进行优化设计,提高电活性材料的有效利用率。提出一种简单的一步电沉积双金属硫化物的策略,成功设计并制备了FeCo_(2)S_(4)双金属硫化物,沉积在高导电性、高比表面积碳纤维布上的复合材料,并应用于超级电容器作为电极材料。通过电沉积法获得的FeCo_(2)S_(4)/CFC(FeCo_(2)S_(4)/碳纤维布)复合材料不仅改善了机械稳定性,并且进一步提升了复合材料的倍率性能和储能能力。研究结果表明:FeCo_(2)S_(4)/CFC具有出色的电化学性能,在1 A/g时具有505.33 F/g的高比电容,并且具有良好的倍率性能(10 A/g时比电容仍达到324 F/g)。出色的倍率性能归因于碳纤维布的加入,提高了复合材料的导电性。同时,对FeCo_(2)S_(4)/CFC材料进行10000次循环后,仍然可保持95.25%的循环稳定性。

关键词：铁钴硫化物/碳纤维布超级电容器比电容电极材料

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Analytical methods and environmental processes of nanoplastics

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Journal of Environmental Sciences 2020年第8期32卷 88-99页

作者： peng Li Qingcun Li Zhineng Hao Sujuan Yu jingfu Liu State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China

The degradation of plastic debris may result in the generation of nanoplastics(NPs).Their high specific surface area for the sorption of organic pollutions and toxic heavy metals and possible transfer between organisms at different nutrient levels make the study of NPs an urgent ***,there is very limited understanding on the occurrence,distribution,abundant,and fate of NPs in the environment,partially due to the lack of suitable techniques for the separation and identification of NPs from complex environmental *** this review,we first overviewed the state-of-the-art methods for the extraction,separation,identification and quantification of NPs in the *** of them have been successfully applied for the field determination of NPs,while some are borrowed from the detection of microplastics or engineered *** the possible fate and transport of NPs in the environment are thoroughly *** great efforts have been made during the recent years,large knowledge gaps still exist,such as the relatively high detection limit of existing method failing to detect ultralow masses of NPs in the environment,and spherical polystyrene NP models failing to represent the various compositions of NPs with different irregular shapes,which needs further investigation.

关键词： Nanoplastics Separation Identification Quantification Fate

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Make U-Net Greater: An Easy-to-Embed Approach to Improve Segmentation Performance Using Hypergraph

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Computer Systems Science & Engineering 2022年第7期42卷 319-333页

作者： Jing peng jingfu Yang Chaoyang Xia Xiaojie Li Yanfen Guo Ying Fu Xinlai Chen Zhe Cui Chengdu Institute of Computer Application University of Chinese Academy of SciencesChengdu610041China School of Computer Science Chengdu University of Information TechnologyChengdu610225China University of Chinese Academy of Sciences Beijing100049China Department of Experimental Rheumatology Nijmegen6525GANetherlands

semantics information while maintaining spatial detail ***-range context information plays a crucial role in this ***-ever,the traditional convolution kernel only provides the local and small size of the receptiveﬁ*** address the problem,we propose a plug-and-play module aggregating both local and global information(aka LGIA module)to capture the high-order relationship between nodes that are far *** incorporate both local and global correlations into hypergraph which is able to capture high-order rela-tionships between nodes via the concept of a hyperedge connecting a subset of *** local correlation considers neighborhood nodes that are spatially adja-cent and similar in the same CNN feature maps of magnetic resonance(MR)image;and the global correlation is searched from a batch of CNN feature maps of MR images in feature *** inﬂuence of these two correlations on seman-tic segmentation is *** validated our LGIA module on various CNN segmentation models with the cardiac MR images *** results demonstrate that our approach outperformed several baseline models.

关键词： Convolutional neural network semantic segmentation hypergraph neural network LGIA module

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Measurement and calculation of solubility of quinine in supercritical carbon dioxide

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Chinese Journal of Chemical Engineering 2017年第5期25卷 641-645页

作者： Fatemeh Zabihi Mehrdad Mirzajanzadeh jingfu Jia Yaping Zhao Department of Chemical Engineering Islamic Azad UniversityAyatollah Amoli Branch Amol Department of Chemical Engineering Islamic Azad UniversityTehran Science and Research Branch School of Chemistry & Chemical Engineering Shanghai Jiaotong University

Solubility of quinine in supercritical carbon dioxide(SCCO_2) was experimentally measured in the pressure range of 8 to 24 MPa, at three constant temperatures: 308.15 K, 318.15 K and 328.15 K. Measurement was carried out in a semi-dynamic system. Experimental data were correlated by iso-fugacity model(based on cubic equations of state, CEOS), Modified Mendez–Santiago–Teja(MST) and Modified Bartle semi-empirical models. Two cubic equations of state: peng–Robinson(PR) and Dashtizadeh–Pazuki–Ghotbi–Taghikhani(DPTG) were adopted for calculation of equilibrium parameters in CEOS modeling. Interaction coefficients(k_(ij)& l_(ij)) of van der Waals(vdW) mixing rules were considered as the correlation parameters in CEOS-based modeling and their contribution to the accuracy of model was investigated. Average Absolute Relative Deviation(AARD) between correlated and experimental data was calculated and compared as the index of validity and accuracy for different modeling systems. In this basis it was realized that the semi-empirical equations especially Modified MST can accurately support the theoretical studies on phase equilibrium behavior of quinine–SCCO_2 media. Among the cubic equations of state DPGT within two-parametric vd W mixing rules provided the best data fitting and PR within one-parametric vd W mixing rules demonstrated the highest deviation respecting to the experimental data. Overall, in each individual modeling system the best fitting was observed on the data points attained at 318 K, which could be perhaps due to the moderate thermodynamic state of supercritical phase.

关键词： Supercritical fluid Solubility Semi-empirical model Iso-fugacity Quinine

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￣（165）Ho（n，γ）￣（166m）Ho反应截面测量

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四川大学学报（自然科学版） 1995年第1期32卷 51-53页

作者：夏宜君龙先灌王春浩杨志华罗小兵刘慢天杨经福彭秀峰何福庆四川大学原子核科学技术所四川成都

用活化法相对于Ａｕ的中子俘获截面，测量了２０３，６７６和９７４ＫｅＶ中子引起的１６５Ｈｏ（ｎ，γ）１６６ｍＨｏ的反应截面。结果分别为３７．４±５．６，１２．２±２．４和１０．９±３．１ｍｂ．

关键词：活化法反应截面测量核反应

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Phenotyping of Salvia miltiorrhiza Roots Reveals Associations between Root Traits and Bioactive Components

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Plant Phenomics 2023年第4期5卷 746-756页

作者： Junfeng Chen Yun Wang peng Di Yulong Wu Shi Qiu Zongyou Lv Yuqi Qiao Yajing Li jingfu Tan Weixu Chen Ma Yu Ping Wei Ying Xiao Wansheng Chen The SATCM Key Laboratory for New Resources&Quality Evaluation of Chinese Medicine Institute of Chinese Materia MedicaShanghai University of Traditional Chinese MedicineShanghai 201203China School of Medicine Shanghai UniversityShanghai 200444China State Local Joint Engineering Research Center of Ginseng Breeding and Application Jilin Agricultural UniversityChangchun 130118China School of Computer Science Sichuan Normal UniversityChengdu 610066China Shangyao Huayu(Linyi)Traditional Chinese Resources Co. Ltd.Linyi 276000China School of Life Science and Engineering Southwest University of Science and TechnologyMianyang 621010SichuanChina Sichuan Academy of Traditional Chinese Medicine Chengdu 610041China Department of Pharmacy Changzheng HospitalSecond Military Medical UniversityShanghai 200003China

Plant phenomics aims to perform high-throughput,rapid,and accurate measurement of plant traits,facilitating the identification of desirable traits and optimal genotypes for crop *** miltiorrhiza(Danshen)roots possess remarkable therapeutic effect on cardiovascular diseases,with huge market *** great advances have been made in metabolic studies of the bioactive metabolites,investigation for *** roots on other physiological aspects is ***,we developed a framework that utilizes image feature extraction software for in-depth phenotyping of *** *** employing multiple software programs,*** roots were described from 3 aspects:agronomic traits,anatomy traits,and root system *** K-means clustering based on the diameter ranges of each root branch,all roots were categorized into 3 groups,with primary root-associated key *** a proof of concept,we examined the phenotypic components in a series of randomly collected *** roots,demonstrating that the total surface of root was the best parameter for the biomass prediction with high linear regression correlation(R^(2)=0.8312),which was sufficient for subsequently estimating the production of bioactive metabolites without content *** study provides an important approach for further grading of medicinal materials and breeding practices.

关键词： Root utilize anatomy

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基于多尺度变换和支持向量回归机的数字图像水印算法

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吉林大学学报（理学版） 2017年第4期55卷 927-932页

作者：李景富周鹏黄淮学院国际教育学院河南驻马店463000

针对当前数字图像水印算法存在的信息隐藏性能差、保密性低、易受攻击等缺陷,提出一种基于多尺度变换和支持向量回归机的数字图像水印算法.首先,采用小波变换对原始数字图像进行多尺度分解,得到多个不同子带;然后,对不同的子带系数采用... 详细信息

针对当前数字图像水印算法存在的信息隐藏性能差、保密性低、易受攻击等缺陷,提出一种基于多尺度变换和支持向量回归机的数字图像水印算法.首先,采用小波变换对原始数字图像进行多尺度分解,得到多个不同子带;然后,对不同的子带系数采用支持向量回归机进行训练,估计子带间的关系;最后,训练完成的支持向量回归机将水印嵌入到图像中,并通过具体数字图像水印仿真实验测试其性能.实验结果表明,该算法的水印信息隐蔽性好,具有良好的不可感知性,可以抵抗各种类型的攻击,提高了数字图像的安全性.

关键词：小波变换支持向量回归机水印算法信息隐蔽性

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