This paper presents an improved support vector machine （SVM） algorithm, which employs invariant moments-based edge extraction to obtain feature attribute. A heuristic attribute reduction algorithm based on rough set...This paper presents an improved support vector machine （SVM） algorithm, which employs invariant moments-based edge extraction to obtain feature attribute. A heuristic attribute reduction algorithm based on rough set＇s discernible matrix is proposed to identify and classify micro-targets. To avoid the complicated calibration for intrinsic parameters of camera, an improved Broyden＇s method is proposed to estimate the image Jacobian matrix which employs Chebyshev polynomial to construct a cost function to approximate the optimization value. Finally, a visual controller is designed for a robotic micromanipulation system. The experiment results of micro-parts assembly show that the proposed methods and algorithms are effective and feasible.展开更多
A novel lath-shaped CuO microassemble consisting of well-crystalized ultrafine nanocrystals was prepared by an ionothermal method with the assistance of ionic liquids （ILs, 1-butyl-3-methylimidazolium tetrafluorobor...A novel lath-shaped CuO microassemble consisting of well-crystalized ultrafine nanocrystals was prepared by an ionothermal method with the assistance of ionic liquids （ILs, 1-butyl-3-methylimidazolium tetrafluoroborate）. As anode material of lithium ion batteries, the ILs-CuO exhibits high specific capacity, durability and good rate per- formance, superior to bare CuO. At a high current density of 1000 mA·g^-1, after 100 cycles, ILs-CuO still retains a discharge capacity of 483.2 mAh·g^-1. The improved electrochemical performances could be ascribed to the unique microscale lath-shape CuO assembles composed of ultrafine nanostructure.展开更多
The development of micro-fabrication and micro-assembly technology is indispensable for the future manufacturing of miniaturized,functional,and integrated devices.This paper proposes a planar micro-assembly technology...The development of micro-fabrication and micro-assembly technology is indispensable for the future manufacturing of miniaturized,functional,and integrated devices.This paper proposes a planar micro-assembly technology to make the assembly of micro-objects easier.Firstly,delicate three-dimensional(3D)structures were fabricated on glass and silicon slice substrates using femtosecond laser two-photon polymerization(2PP).Secondly,transparent fluorescent scintillation ceramic powder,referred to as fluorescent powder,was assembled using a laboratory-made 3D moving heating micro-operator into a microstructure on a glass substrate,and this device is used to assemble the graphene powder into the microstructure on the silicon slice substrate.The fluorescence spectra and Raman spectra characterizations of the fluorescent powder and graphene powder in the microstructure were carried out by using excitation light at 405 nm and 532 nm,respectively.According to the above results,it can be concluded that the powder properties of the fluorescent powder and graphene powder assembled into the microstructure were not changed.The experimental device could not only assemble many micron-sized powder materials into hollow microstructures of arbitrary shape but also joined microstructures with different materials and characteristics to form a complex hybrid microstructure system.展开更多
A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedba...A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.展开更多
基金supported by National Natural Science Foundation of China (No.60873032)National High Technology Research and Development Program of China (863 Program) (No.2008AA8041302)
文摘This paper presents an improved support vector machine （SVM） algorithm, which employs invariant moments-based edge extraction to obtain feature attribute. A heuristic attribute reduction algorithm based on rough set＇s discernible matrix is proposed to identify and classify micro-targets. To avoid the complicated calibration for intrinsic parameters of camera, an improved Broyden＇s method is proposed to estimate the image Jacobian matrix which employs Chebyshev polynomial to construct a cost function to approximate the optimization value. Finally, a visual controller is designed for a robotic micromanipulation system. The experiment results of micro-parts assembly show that the proposed methods and algorithms are effective and feasible.
基金Acknowledgement This work was supported by the National Natural Science Foundation of China （Nos. 21671096, 21603094）, the Shenzhen Peacock Plan （Nos. KQCX20140522150- 815065）, and the Natural Science Foundation of Shenzhen （Nos. JCYJ20150630145302231, and JCYJ20150331101823677）. We also thanks to the support by Foundation of SRG7004276 and SRG7004545.
文摘A novel lath-shaped CuO microassemble consisting of well-crystalized ultrafine nanocrystals was prepared by an ionothermal method with the assistance of ionic liquids （ILs, 1-butyl-3-methylimidazolium tetrafluoroborate）. As anode material of lithium ion batteries, the ILs-CuO exhibits high specific capacity, durability and good rate per- formance, superior to bare CuO. At a high current density of 1000 mA·g^-1, after 100 cycles, ILs-CuO still retains a discharge capacity of 483.2 mAh·g^-1. The improved electrochemical performances could be ascribed to the unique microscale lath-shape CuO assembles composed of ultrafine nanostructure.
基金We are grateful for the financial support from the National Natural Science Foundation of China(Grant Nos.11704204 and 61604084)and the K.C.Wong Magna Fund in Ningbo University,China.
文摘The development of micro-fabrication and micro-assembly technology is indispensable for the future manufacturing of miniaturized,functional,and integrated devices.This paper proposes a planar micro-assembly technology to make the assembly of micro-objects easier.Firstly,delicate three-dimensional(3D)structures were fabricated on glass and silicon slice substrates using femtosecond laser two-photon polymerization(2PP).Secondly,transparent fluorescent scintillation ceramic powder,referred to as fluorescent powder,was assembled using a laboratory-made 3D moving heating micro-operator into a microstructure on a glass substrate,and this device is used to assemble the graphene powder into the microstructure on the silicon slice substrate.The fluorescence spectra and Raman spectra characterizations of the fluorescent powder and graphene powder in the microstructure were carried out by using excitation light at 405 nm and 532 nm,respectively.According to the above results,it can be concluded that the powder properties of the fluorescent powder and graphene powder assembled into the microstructure were not changed.The experimental device could not only assemble many micron-sized powder materials into hollow microstructures of arbitrary shape but also joined microstructures with different materials and characteristics to form a complex hybrid microstructure system.
基金supported by National Natural Science Foundation of China(No.61105036 and 61227804)
文摘A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.
