针对工业生产线的堆叠矩形物品的识别与分拣问题,设计了一套由TOF(time of flight)相机、并联机器人与夹具等组合而成的产品分拣系统。采用一种基于深度图与RGB图结合的三维矩形检测算法,实现堆叠物品的识别与空间位姿的计算。运用机器...针对工业生产线的堆叠矩形物品的识别与分拣问题,设计了一套由TOF(time of flight)相机、并联机器人与夹具等组合而成的产品分拣系统。采用一种基于深度图与RGB图结合的三维矩形检测算法,实现堆叠物品的识别与空间位姿的计算。运用机器人定位,通过简易的手眼标定法,对算法进行验证。最后,结合视觉系统与机器人控制系统进行抓取测试。通过不同数量下反复抓取的实验,检测该系统的分拣能力。展开更多
A class of analytical solitary-wave solutions to the generalized nonautonomous cubic-quintic nonlinear Schrdinger equation with time- and space-modulated coefficients and potentials are constructed using the similar...A class of analytical solitary-wave solutions to the generalized nonautonomous cubic-quintic nonlinear Schrdinger equation with time- and space-modulated coefficients and potentials are constructed using the similarity transformation technique. Constraints for the dispersion coefficient, the cubic and quintic nonlinearities, the external potential, and the gain (loss) coefficient are presented at the same time. Various shapes of analytical solitary-wave solutions which have important applications of physical interest are studied in detail, such as the solutions in Feshbach resonance management with harmonic potentials, Faraday-type waves in the optical lattice potentials, and localized solutions supported by the Gaussian-shaped nonlinearity. The stability analysis of the solutions is discussed numerically.展开更多
Based on the density functional theory, the influences of strain on structural, elastic, thermal and optical properties of CuGaTe_2 are discussed in detail. It is found that the tensile strain on CuGaTe_2 is beneficia...Based on the density functional theory, the influences of strain on structural, elastic, thermal and optical properties of CuGaTe_2 are discussed in detail. It is found that the tensile strain on CuGaTe_2 is beneficial to the decrease of lattice thermal conductivity by reducing the mean sound velocity and Debye temperature. Moreover, all strained and unstrained CuGaTe_2 exhibit rather similar optical characters. But the tensile strain improves the ability to absorb sunlight in the visible range.These research findings can give hints for designing thermoelectric and photovoltaic devices.展开更多
We investigate the explicit novel localized nonlinear matter waves of the cubic-quintic nonlinear Schr¨odinger equation with spatiotemporal modulation of the nonlinearities and the harmonic-lattice potential usin...We investigate the explicit novel localized nonlinear matter waves of the cubic-quintic nonlinear Schr¨odinger equation with spatiotemporal modulation of the nonlinearities and the harmonic-lattice potential using a modified similarity transformation. We also find that when the modulus of the Jacobian elliptic function in the limit closes to 1, the shapes of the breathing solitons may exhibit some interesting features, i.e., one breathing soliton dividing into two in the ground state.The stability of the exact solutions is investigated numerically such that some stable breathing soliton solutions are found.展开更多
文摘针对工业生产线的堆叠矩形物品的识别与分拣问题,设计了一套由TOF(time of flight)相机、并联机器人与夹具等组合而成的产品分拣系统。采用一种基于深度图与RGB图结合的三维矩形检测算法,实现堆叠物品的识别与空间位姿的计算。运用机器人定位,通过简易的手眼标定法,对算法进行验证。最后,结合视觉系统与机器人控制系统进行抓取测试。通过不同数量下反复抓取的实验,检测该系统的分拣能力。
基金Project supported by the National Natural Science Foundation of China(Grant No.11175158)the Natural Science Foundation of Zhejiang Province of China(Grant No.LY12A04001)
文摘A class of analytical solitary-wave solutions to the generalized nonautonomous cubic-quintic nonlinear Schrdinger equation with time- and space-modulated coefficients and potentials are constructed using the similarity transformation technique. Constraints for the dispersion coefficient, the cubic and quintic nonlinearities, the external potential, and the gain (loss) coefficient are presented at the same time. Various shapes of analytical solitary-wave solutions which have important applications of physical interest are studied in detail, such as the solutions in Feshbach resonance management with harmonic potentials, Faraday-type waves in the optical lattice potentials, and localized solutions supported by the Gaussian-shaped nonlinearity. The stability analysis of the solutions is discussed numerically.
基金supported by the National Natural Science Foundation of China(Grant No.11304105)
文摘Based on the density functional theory, the influences of strain on structural, elastic, thermal and optical properties of CuGaTe_2 are discussed in detail. It is found that the tensile strain on CuGaTe_2 is beneficial to the decrease of lattice thermal conductivity by reducing the mean sound velocity and Debye temperature. Moreover, all strained and unstrained CuGaTe_2 exhibit rather similar optical characters. But the tensile strain improves the ability to absorb sunlight in the visible range.These research findings can give hints for designing thermoelectric and photovoltaic devices.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11175158 and 11374266)the Natural Science Foundation of Zhejiang Province,China(Grant No.LY12A04001)
文摘We investigate the explicit novel localized nonlinear matter waves of the cubic-quintic nonlinear Schr¨odinger equation with spatiotemporal modulation of the nonlinearities and the harmonic-lattice potential using a modified similarity transformation. We also find that when the modulus of the Jacobian elliptic function in the limit closes to 1, the shapes of the breathing solitons may exhibit some interesting features, i.e., one breathing soliton dividing into two in the ground state.The stability of the exact solutions is investigated numerically such that some stable breathing soliton solutions are found.
