The recognition and positioning of material baskets are key links in the automatic workpiece cleaning device.Aiming at the problems of low recognition accuracy and poor precision of traditional visual methods for mate...The recognition and positioning of material baskets are key links in the automatic workpiece cleaning device.Aiming at the problems of low recognition accuracy and poor precision of traditional visual methods for material basket recognition,a control system of automatic workpiece cleaning device based on YOLOv5 was designed.The YOLOv5 detection algorithm was improved by introducing the attention mechanism and optimizing the loss function,which enhanced the attention to the target area and improved the accuracy of feature extraction,thus realizing the position recognition and coordinate acquisition of workpiece material baskets.In addition,a cleaning system with Siemens S7-1200 PLC as the control core was designed.By controlling servo motors to drive the gantry and adjust the operation of the crane,the automatic grabbing and handling of material baskets were realized,and the automatic control of the cleaning process was achieved.Meanwhile,a human-computer interaction(HMI)and monitoring interface was designed,which could intuitively display the operating status of material baskets and improve the interaction capability of the automatic workpiece cleaning device.展开更多
Abstract Heavy metals in water can be deposited on graphite flakes, which can be used as an enrichment method for laser-induced breakdown spectroscopy （LIBS） and is studied in this paper. The graphite samples were p...Abstract Heavy metals in water can be deposited on graphite flakes, which can be used as an enrichment method for laser-induced breakdown spectroscopy （LIBS） and is studied in this paper. The graphite samples were prepared with an automatic device, which was composed of a loading and unloading module, a quantitatively adding solution module, a rapid heating and drying module and a precise rotating module. The experimental results showed that the sample preparation methods had no significant effect on sample distribution and the LIBS signal accumulated in 20 pulses was stable and repeatable. With an increasing amount of the sample solution on the graphite flake, the peak intensity at Cu I 324.75 nm accorded with the exponential function with a correlation coefficient of 0.9963 and the background intensity remained unchanged. The limit of detection （LOD） was calculated through linear fitting of the peak intensity versus the concentration. The LOD decreased rapidly with an increasing amount of sample solution until the amount exceeded 20 mL and the correlation coefficient of exponential function fitting was 0.991. The LOD of Pb, Ni, Cd, Cr and Zn after evaporating different amounts of sample solution on the graphite flakes was measured and the variation tendency of their LOD with sample solution amounts was similar to the tendency for Cu. The experimental data and conclusions could provide a reference for automatic sample preparation and heavy metal in situ detection.展开更多
Integration of water, fertilizer and pesticide is the final stage of agricultural development, which improves the utilization efficiency of water, fertilizer and pesticide. Starting from the design and realization of ...Integration of water, fertilizer and pesticide is the final stage of agricultural development, which improves the utilization efficiency of water, fertilizer and pesticide. Starting from the design and realization of water, fertilizer and pesticide integrated automatic control device, the paper discusses selection and application of fertilizer pesticides, use procedure, water, fertilizer and pesticide saving effect and receptive crowd in the application process of modern planting industry, so as to provide the basis for promotion and popularization of water, fertilizer and pesticide integration.展开更多
In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft grip...In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft gripper structures and a soft bionic bracket structure.We adopt the local thin-walled design in the soft gripper structures.This design improves the grippers’bending efficiency,and imitate human finger’s segmental bending function.In addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing movements.Due to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping devices.Particularly,to grasp small objects reliably,we further present a new Pinching Grasping(PG)method.The great performance of the fully SBGD is verified by experiments.This work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.展开更多
To increase the machine accuracy by improving the stiffness of bearings,a preload was applied to bearings.A variable preload technology was necessary to perform machining processes in both low and high speed regions.A...To increase the machine accuracy by improving the stiffness of bearings,a preload was applied to bearings.A variable preload technology was necessary to perform machining processes in both low and high speed regions.An automatic variable preload device was fabricated using an eccentric mass.By installing the fabricated device on a spindle,the effect of the automatic variable preload device on the performance of the spindle was analyzed.In the results of the vibration measurement of the spindle,the vibration is increased by 20%-37% according to measurement points at the maximum rotation speed of 5 000 r/min.And,in the results of the noise measurement of the spindle,the spindle rotation speed is increased by about 1.9% and 1.5% at the front and side of the spindle,respectively.Based on the results of this analysis,an improved method that reduces such effects on the performance of the spindle is proposed.展开更多
Considering the problem of too large area the shading disc covered,complex shadow band coefficients and too big diffuse radiation measurement bias,an automatic shading device for diffuse radiometer is designed and rea...Considering the problem of too large area the shading disc covered,complex shadow band coefficients and too big diffuse radiation measurement bias,an automatic shading device for diffuse radiometer is designed and realized. Set a shading ball on the automatic sun tracker,drive linkage parallelogram structure with the declination axis arm,the shading ball can rotate synchronously with the motion of the sun and shade beam radiation measured with pyranometer,thus shading beam radiation and measuring diffuse radiation can be realized automatically. The comparison test results show that the automatic shading device can realize diffuse radiation measurement automatically,the accuracy of diffuse radiation readings can get a 18. 7% improvement compared with traditional measure system,greatly improves the reliability and accuracy of the diffuse radiation measurement.展开更多
The principle of an automatic piecing device is presented, and the mathematic model of a specific combined mechanism of the automatic piecing device is analysed. The kinematics and dynamics equation of the combined me...The principle of an automatic piecing device is presented, and the mathematic model of a specific combined mechanism of the automatic piecing device is analysed. The kinematics and dynamics equation of the combined mechanism is established on the basis of the mathematic model. By the virtual prototype technology, the motion of this mechanism is simulated, whose result is post-processed by ADAMS. To improve the output motion, according to the simulation output and automatic piecing device's practical working condition, the optimisation of the cam mechanism is carried out by finite difference method. The simulation result of this combined mechanism turns out in accordance with its theoretical analysis of virtual prototype in this research, which, therefore, lays a principle basis for the further study of automatic piecing device.展开更多
Aiming at the fact that the energy and mass exchange phenomena exist between barrel and gas-operated device of the automatic weapon, for describing its interior ballistics and dynamic characteristics of the gas-operat...Aiming at the fact that the energy and mass exchange phenomena exist between barrel and gas-operated device of the automatic weapon, for describing its interior ballistics and dynamic characteristics of the gas-operated device accurately, a new variable-mass thermodynamics model is built. It is used to calculate the automatic mechanism velocity of a certain automatic weapon, the calculation results coincide with the experimental results better, and thus the model is validated. The influences of structure parameters on gas-operated device's dynamic characteristics are discussed. It shows that the model is valuable for design and accurate performance prediction of gas-operated automatic weapon.展开更多
Objective:To explore the clinical application effect of self-designed automatic constant temperature moxibustion box.Methods:From June 2016 to January 2017,150 patients with neck,shoulder,back and leg pain admitted to...Objective:To explore the clinical application effect of self-designed automatic constant temperature moxibustion box.Methods:From June 2016 to January 2017,150 patients with neck,shoulder,back and leg pain admitted to our hospital were treated with moxibustion under the informed consent of the patients.The patients were randomly divided into control group and observation group,75 cases each.The group used traditional moxibustion box for moxibustion treatment,and the observation group used automatic constant temperature moxibustion box for moxibustion treatment for 15 days.After the treatment,the patient's safety,comfort,satisfaction and adverse reactions were compared,and the results were analyzed using SPSS 20 statistical software.Results:The comfort and satisfaction in study group were all superior to that of control group,with statistically significant difference(P<0.01).For patient's safety,the ratio of patients suffered from scald in study and control groups was 5.3/100 and 0,respectively.Conclusions:It is of great significance for improving clinical efficacy and preventing medical risks.It is worthy of clinical application.展开更多
With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement t...With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement technology,the flexible swap device is designed and the dynamics simulation of institutions by the automatic dynamic analysis of mechanical systems(ADAMS)simulation software is analyzed.Throughout the analysis process,this paper studies the effect of collision force of flexible mechanism and provides a basis for the optimization of flexible plug agencies.展开更多
Aiming at the problems of low success rate and high seedling injury rate of automatic vegetable transplanting,this study focused on cabbage substrate block seedlings and developed a progressive push-out automatic seed...Aiming at the problems of low success rate and high seedling injury rate of automatic vegetable transplanting,this study focused on cabbage substrate block seedlings and developed a progressive push-out automatic seedling device controlled by a PLC system.Based on the friction mechanical properties of seedlings-tray during seedling taking,the collision rebound theoretical analysis of substrate block seedling delivery and the finite element simulation analysis of the seedling taking mechanism were carried out to determine the conditions for stable seedling taking and delivery of the device and the working parameters of the key mechanisms.To evaluate individual parameter effects,a test bench was built,and the effective ranges of key factors were subsequently determined.Three key experimental factors,the inclination angle of the limit guide plate,the seedling separation channel width,and the seedling separation cylinder pressure,were investigated using an L9(34)orthogonal array design with blockage rate and breakage rate as evaluation metrics.The range and variance analysis methods were employed to determine the relative significance of each factor’s influence on the performance indicators.The optimal parameters were determined as:the inclination angle of the limiting guide plate was 3.5°,the width of the seedling separation channel was 50 mm,and the pressure of the seedling separation cylinder was 0.6 MPa.Under these conditions,the seedling taking effect was significantly improved:the blockage rate was 2.46%,the breakage rate was 3.18%,and the seedling taking success rate was 94.36%.The optimal parameter combination was verified by the experiment:the average blockage rate was 3.23%,the average breakage rate was 3.68%,and the average success rate was 93.09%.Compared with the orthogonal experiment,the relative success rate error was 1.27%,indicating that the device has high stability.This study will provide a reference for the design of automatic vegetable transplanters.展开更多
文摘The recognition and positioning of material baskets are key links in the automatic workpiece cleaning device.Aiming at the problems of low recognition accuracy and poor precision of traditional visual methods for material basket recognition,a control system of automatic workpiece cleaning device based on YOLOv5 was designed.The YOLOv5 detection algorithm was improved by introducing the attention mechanism and optimizing the loss function,which enhanced the attention to the target area and improved the accuracy of feature extraction,thus realizing the position recognition and coordinate acquisition of workpiece material baskets.In addition,a cleaning system with Siemens S7-1200 PLC as the control core was designed.By controlling servo motors to drive the gantry and adjust the operation of the crane,the automatic grabbing and handling of material baskets were realized,and the automatic control of the cleaning process was achieved.Meanwhile,a human-computer interaction(HMI)and monitoring interface was designed,which could intuitively display the operating status of material baskets and improve the interaction capability of the automatic workpiece cleaning device.
基金supported by National Natural Science Foundation of China(No.60908018)National High Technology Research and Development Program of China(No.2013AA065502)Anhui Province Outstanding Youth Science Fund of China(No.1108085J19)
文摘Abstract Heavy metals in water can be deposited on graphite flakes, which can be used as an enrichment method for laser-induced breakdown spectroscopy （LIBS） and is studied in this paper. The graphite samples were prepared with an automatic device, which was composed of a loading and unloading module, a quantitatively adding solution module, a rapid heating and drying module and a precise rotating module. The experimental results showed that the sample preparation methods had no significant effect on sample distribution and the LIBS signal accumulated in 20 pulses was stable and repeatable. With an increasing amount of the sample solution on the graphite flake, the peak intensity at Cu I 324.75 nm accorded with the exponential function with a correlation coefficient of 0.9963 and the background intensity remained unchanged. The limit of detection （LOD） was calculated through linear fitting of the peak intensity versus the concentration. The LOD decreased rapidly with an increasing amount of sample solution until the amount exceeded 20 mL and the correlation coefficient of exponential function fitting was 0.991. The LOD of Pb, Ni, Cd, Cr and Zn after evaporating different amounts of sample solution on the graphite flakes was measured and the variation tendency of their LOD with sample solution amounts was similar to the tendency for Cu. The experimental data and conclusions could provide a reference for automatic sample preparation and heavy metal in situ detection.
基金Supported by Science and Technology Program of Guangxi Province(GK AD19245169,GK AD18281072,GK AA17202037,GK AB16380164)。
文摘Integration of water, fertilizer and pesticide is the final stage of agricultural development, which improves the utilization efficiency of water, fertilizer and pesticide. Starting from the design and realization of water, fertilizer and pesticide integrated automatic control device, the paper discusses selection and application of fertilizer pesticides, use procedure, water, fertilizer and pesticide saving effect and receptive crowd in the application process of modern planting industry, so as to provide the basis for promotion and popularization of water, fertilizer and pesticide integration.
基金This work was funded by the National Natural Science Foundation of Chinaunder Grant 62073305the Fundamental Research Funds for the Central Universities,China University of Geosciences(Wuhan)(Nos.CUG170610 and CUGGC02).
文摘In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft gripper structures and a soft bionic bracket structure.We adopt the local thin-walled design in the soft gripper structures.This design improves the grippers’bending efficiency,and imitate human finger’s segmental bending function.In addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing movements.Due to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping devices.Particularly,to grasp small objects reliably,we further present a new Pinching Grasping(PG)method.The great performance of the fully SBGD is verified by experiments.This work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.
基金Project(2011-0027035) supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF)funded by the Ministry of Education,Science and Technology,Korea
文摘To increase the machine accuracy by improving the stiffness of bearings,a preload was applied to bearings.A variable preload technology was necessary to perform machining processes in both low and high speed regions.An automatic variable preload device was fabricated using an eccentric mass.By installing the fabricated device on a spindle,the effect of the automatic variable preload device on the performance of the spindle was analyzed.In the results of the vibration measurement of the spindle,the vibration is increased by 20%-37% according to measurement points at the maximum rotation speed of 5 000 r/min.And,in the results of the noise measurement of the spindle,the spindle rotation speed is increased by about 1.9% and 1.5% at the front and side of the spindle,respectively.Based on the results of this analysis,an improved method that reduces such effects on the performance of the spindle is proposed.
基金supported by public sector ( meteorology ) research projects: meteorological sensors development for solar energy resources observations ( GYHY201006043 )
文摘Considering the problem of too large area the shading disc covered,complex shadow band coefficients and too big diffuse radiation measurement bias,an automatic shading device for diffuse radiometer is designed and realized. Set a shading ball on the automatic sun tracker,drive linkage parallelogram structure with the declination axis arm,the shading ball can rotate synchronously with the motion of the sun and shade beam radiation measured with pyranometer,thus shading beam radiation and measuring diffuse radiation can be realized automatically. The comparison test results show that the automatic shading device can realize diffuse radiation measurement automatically,the accuracy of diffuse radiation readings can get a 18. 7% improvement compared with traditional measure system,greatly improves the reliability and accuracy of the diffuse radiation measurement.
文摘The principle of an automatic piecing device is presented, and the mathematic model of a specific combined mechanism of the automatic piecing device is analysed. The kinematics and dynamics equation of the combined mechanism is established on the basis of the mathematic model. By the virtual prototype technology, the motion of this mechanism is simulated, whose result is post-processed by ADAMS. To improve the output motion, according to the simulation output and automatic piecing device's practical working condition, the optimisation of the cam mechanism is carried out by finite difference method. The simulation result of this combined mechanism turns out in accordance with its theoretical analysis of virtual prototype in this research, which, therefore, lays a principle basis for the further study of automatic piecing device.
文摘Aiming at the fact that the energy and mass exchange phenomena exist between barrel and gas-operated device of the automatic weapon, for describing its interior ballistics and dynamic characteristics of the gas-operated device accurately, a new variable-mass thermodynamics model is built. It is used to calculate the automatic mechanism velocity of a certain automatic weapon, the calculation results coincide with the experimental results better, and thus the model is validated. The influences of structure parameters on gas-operated device's dynamic characteristics are discussed. It shows that the model is valuable for design and accurate performance prediction of gas-operated automatic weapon.
文摘Objective:To explore the clinical application effect of self-designed automatic constant temperature moxibustion box.Methods:From June 2016 to January 2017,150 patients with neck,shoulder,back and leg pain admitted to our hospital were treated with moxibustion under the informed consent of the patients.The patients were randomly divided into control group and observation group,75 cases each.The group used traditional moxibustion box for moxibustion treatment,and the observation group used automatic constant temperature moxibustion box for moxibustion treatment for 15 days.After the treatment,the patient's safety,comfort,satisfaction and adverse reactions were compared,and the results were analyzed using SPSS 20 statistical software.Results:The comfort and satisfaction in study group were all superior to that of control group,with statistically significant difference(P<0.01).For patient's safety,the ratio of patients suffered from scald in study and control groups was 5.3/100 and 0,respectively.Conclusions:It is of great significance for improving clinical efficacy and preventing medical risks.It is worthy of clinical application.
文摘With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement technology,the flexible swap device is designed and the dynamics simulation of institutions by the automatic dynamic analysis of mechanical systems(ADAMS)simulation software is analyzed.Throughout the analysis process,this paper studies the effect of collision force of flexible mechanism and provides a basis for the optimization of flexible plug agencies.
基金supported by the Fundamental Research Fund of the Chinese Academy of Agricultural Sciences at the Institute Level(Grant No.S202409)Jiangsu Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project(Grant No.NJ2023-11)+2 种基金National Key R&D Program of China(Grant No.2023YFD2300700)Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China(Co-construction by Ministry and Province)Ministry of Agriculture and Rural Affairs(Grant No.QSKF2023006).
文摘Aiming at the problems of low success rate and high seedling injury rate of automatic vegetable transplanting,this study focused on cabbage substrate block seedlings and developed a progressive push-out automatic seedling device controlled by a PLC system.Based on the friction mechanical properties of seedlings-tray during seedling taking,the collision rebound theoretical analysis of substrate block seedling delivery and the finite element simulation analysis of the seedling taking mechanism were carried out to determine the conditions for stable seedling taking and delivery of the device and the working parameters of the key mechanisms.To evaluate individual parameter effects,a test bench was built,and the effective ranges of key factors were subsequently determined.Three key experimental factors,the inclination angle of the limit guide plate,the seedling separation channel width,and the seedling separation cylinder pressure,were investigated using an L9(34)orthogonal array design with blockage rate and breakage rate as evaluation metrics.The range and variance analysis methods were employed to determine the relative significance of each factor’s influence on the performance indicators.The optimal parameters were determined as:the inclination angle of the limiting guide plate was 3.5°,the width of the seedling separation channel was 50 mm,and the pressure of the seedling separation cylinder was 0.6 MPa.Under these conditions,the seedling taking effect was significantly improved:the blockage rate was 2.46%,the breakage rate was 3.18%,and the seedling taking success rate was 94.36%.The optimal parameter combination was verified by the experiment:the average blockage rate was 3.23%,the average breakage rate was 3.68%,and the average success rate was 93.09%.Compared with the orthogonal experiment,the relative success rate error was 1.27%,indicating that the device has high stability.This study will provide a reference for the design of automatic vegetable transplanters.
