摘要：【中文】用于工业机器人测量系统中的线测头标定装置和标定方法，其中装置包括夹具和位于夹具下方的夹持装置；所述夹具包括从上至下依次连接的夹具连接板、第一角位台、第二角位台和连接架，所述夹具连接板用于与机器人主体连接，所述连接架用于与线测头连接；所述夹持装置从上至下依次设有工字型连接架、马达、第三角位台、第四角位台和连接板，所述工字型连接架的平台用于设置标准块。本发明具有通过特殊的夹具，配合定制的标准块，可以快速调节标准块表面与法兰平面平行；所用线测头的选择多样化，可以测量多种形状、多种尺寸、和多种材质的零部件，有效减少成本投入，充分发挥工业机器人的高灵活性特点，整套设备使用柔性强。 【EN】The line measuring head calibration device and the calibration method are used in an industrial robot measuring system, wherein the device comprises a clamp and a clamping device positioned below the clamp; the fixture comprises a fixture connecting plate, a first angle table, a second angle table and a connecting frame which are sequentially connected from top to bottom, the fixture connecting plate is used for being connected with the robot main body, and the connecting frame is used for being connected with the line measuring head; the clamping device is sequentially provided with an I-shaped connecting frame, a motor, a third angle table, a fourth angle table and a connecting plate from top to bottom, and the platform of the I-shaped connecting frame is used for arranging a standard block. The invention has the advantages that the special clamp is matched with the customized standard block, so that the surface of the standard block can be quickly adjusted to be parallel to the plane of the flange; the selection of used line gauge head is diversified, can measure the spare part of multiple shape, multiple size and multiple material, effectively reduces the cost input, full play industrial robot's high flexibility characteristics, and complete equipment uses flexibility strong.

摘要：【中文】本发明公开了一种基于稀疏特征相似性的连轧机振动信号分离方法。该方法为:在连轧机的旋转部件敏感处表面一个或多个不同位置布置加速度传感器，采集各振源工作时的振动信号即观测信号；通过基于时频谱分割的稀疏特征提取方法，获取各路采集的振动信号在最佳原子集合下的稀疏表示；再通过结构相似性对所有稀疏表示提取的原子进行聚类，估算出振源的个数，并采用各聚类中心对应的原子更新稀疏表示结果；最后，通过新的稀疏表示结果对应的聚类系数，估算出混合矩阵，进而计算出各振源的独立信号，实现连轧机振动信号的分离。该方法可有效滤除连轧机在运行过程中的干扰噪声，提高稀疏特征提取的精度，能更精确地估算振源个数及混合矩阵。 【EN】The invention discloses a tandem mill vibration signal separation method based on sparse feature similarity. Arranging acceleration sensors at one or more different positions on the surface of a sensitive part of a continuous rolling mill, and collecting vibration signals, namely observation signals, of all vibration sources during working; acquiring sparse representation of each path of acquired vibration signals under an optimal atomic set by a sparse feature extraction method based on time-frequency spectrum segmentation; clustering all atoms extracted by sparse representation through structural similarity, estimating the number of vibration sources, and updating sparse representation results by adopting atoms corresponding to clustering centers; and finally, estimating a mixing matrix through a new clustering coefficient corresponding to the sparse representation result, and further calculating independent signals of each vibration source to realize the separation of vibration signals of the tandem mill. The method can effectively filter the interference noise of the continuous rolling mill in the operation process, improve the precision of sparse feature extraction, and more accurately estimate the number of vibration sources and the mixing matrix.

摘要：【中文】本发明涉及鲁氏耶尔森菌溶血素基因的主要致病性片段及筛选方法，属于分子生物学领域。本发明以致病性鲁氏耶尔森菌主要致病因子——溶血素基因为研究对象，按功能域分布及排列将yhlBA基因分为yhl‑B、yhl‑A1、yhl‑A2和yhl‑A3四个片段，成功克隆了yhlBA基因的四个片段，并进行四个基因片段的原核表达，对原核表达产物进行毒性分析。结果表明，在yhlBA基因四个片段中，yhl‑B基因片段的原核表达产物具有最高的细胞毒性，能显著抑制RTG‑2细胞的生长和增殖，并诱导RTG‑2细胞中炎症相关基因上调表达。因此，yhl‑B基因片段可作为后期致病性鲁氏耶尔森菌减毒疫苗制备的候选基因片段进一步研究，并为探索鲁氏耶尔森菌致病机制提供数据和可行性基础。 【EN】The invention relates to a main pathogenic fragment of yersinia ruckeri hemolysin gene and a screening method thereof, belonging to the field of molecular biology. The method takes hemolysin gene, which is a main pathogenic factor of pathogenic Yersinia ruckeri, as a research object, divides the yhlBA gene into yhl-B, yhl-A1, yhl-A2 and yhl-A3 fragments according to functional domain distribution and arrangement, successfully clones the four fragments of the yhlBA gene, performs prokaryotic expression of the four gene fragments, and performs toxicity analysis on prokaryotic expression products. The results show that the prokaryotic expression product of the yhl-B gene fragment has the highest cytotoxicity among the four fragments of the yhlBA gene, can obviously inhibit the growth and proliferation of RTG-2 cells, and can induce the up-regulation expression of inflammation-related genes in the RTG-2 cells. Therefore, the yhl-B gene fragment can be further researched as a candidate gene fragment for preparing a later-period pathogenic yersinia ruckeri attenuated vaccine, and provides data and a feasible basis for exploring a yersinia ruckeri pathogenic mechanism.

摘要：【中文】一种堆叠错分上料装置，包括自动升降供料机构、错分机构、搬运机构及定位待取料机构，所述自动升降供料机构托住并升降被分离产品，所述错分机构将被分离产品的最顶上一片产品朝向所述定位待取料机构移动错位预定距离，并使最顶上一片产品进入预定的仅容一片产品通过的狭缝中，所述搬运机构吸住被分离产品的最顶上一片产品，所述自动升降供料机构带着余下的被分离产品下降，使余下的被分离产品与最顶上一片产品分离，所述搬运机构吸住被分离产品的最顶上一片产品移送到定位待取料机构。本发明具有可提高供料效率，实现自动化供料的优点。 【EN】A stacking and staggered loading device comprises an automatic lifting and feeding mechanism, a staggered distribution mechanism, a carrying mechanism and a positioning to-be-loaded mechanism, wherein the automatic lifting and feeding mechanism supports and lifts a separated product, the staggered distribution mechanism moves a topmost product of the separated product towards the positioning to-be-loaded mechanism for a preset staggered distance and enables the topmost product to enter a preset slit for only allowing one product to pass through, the carrying mechanism sucks the topmost product of the separated product, the automatic lifting and feeding mechanism drives the rest separated product to descend so as to separate the rest separated product from the topmost product, and the carrying mechanism sucks the topmost product of the separated product and transfers the topmost product to the positioning to-be-loaded mechanism. The invention has the advantages of improving the feeding efficiency and realizing automatic feeding.

摘要：【中文】本发明涉及一种虹鳟鱼攻毒实验用注射器，属于水产品攻毒实验技术领域。为解决现有攻毒实验使用的注射器容易造成攻毒效果出现偏差的问题，本发明提供了一种虹鳟鱼攻毒实验用注射器，包括中空针筒、可拆卸的注射部件、可沿针筒内壁移动的推杆和推帽。中空针筒尾端还设有限位结构，用于实现对注射用针进针深度的调节。本发明注射器采用蘸取的方式使攻毒液裹覆在注射用针外表面，以多针头实现同时多点刺入使攻毒液吸收效果更好；采用0.7～1.0mm微针，注射后针眼细小，攻毒液不易渗出；进一步保证了攻毒效果和攻毒实验的平行性。本发明提供的注射器工作效率高、进针深度可控，避免对鱼体造成二次伤害；针头保护罩还能避免对工作人员造成误伤。 【EN】The invention relates to an injector for a rainbow trout challenge experiment, and belongs to the technical field of aquatic product challenge experiments. The invention provides an injector for a rainbow trout attacking experiment, which aims to solve the problem that the existing injector used in the attacking experiment is easy to cause deviation of attacking effect. The tail end of the hollow needle cylinder is also provided with a limiting structure for realizing the adjustment of the needle inserting depth of the injection needle. The injector adopts a dipping mode to wrap the offensive-toxic liquid on the outer surface of the injection needle, and realizes simultaneous multi-point penetration by a plurality of needle heads to ensure that the offensive-toxic liquid has better absorption effect; a microneedle with the diameter of 0.7-1.0 mm is adopted, the needle hole is fine after injection, and the toxic solution is not easy to seep out; further ensuring the toxicity attacking effect and the parallelism of the toxicity attacking experiment. The injector provided by the invention has high working efficiency and controllable needle insertion depth, and avoids secondary damage to the fish body; the needle head protection cover can also avoid causing accidental injury to workers.

摘要：【中文】一种位姿同步的六轴工业机器人轨迹平顺方法，采用圆弧曲线对位置轨迹过渡，并采用四元数B样条对姿态轨迹过渡。过渡后的位置和姿态轨迹均具有高阶连续性，可同时约束位置和姿态的过渡误差，且过渡后的位置轨迹和姿态轨迹具有参数同步性。包括两个步骤：步骤1、根据位置和姿态的过渡误差阈值、连续性条件和位姿同步条件确定过渡参数；步骤2、根据过渡参数分别计算位置和姿态的过渡轨迹。本发明提出的平顺方法能够生成平滑且精度可控的六轴机器人轨迹，进而提高六轴机器人的作业效率和精度。 【EN】A pose-synchronous track smoothing method for a six-axis industrial robot adopts an arc curve to transition a position track and adopts a quaternion B spline to transition a posture track. The position and the attitude track after transition have high-order continuity, the transition errors of the position and the attitude can be restrained simultaneously, and the position track and the attitude track after transition have parameter synchronism. The method comprises the following two steps: step 1, determining transition parameters according to transition error thresholds, continuity conditions and pose synchronization conditions of positions and postures; and 2, respectively calculating transition tracks of the position and the posture according to the transition parameters. The smoothing method provided by the invention can generate a smooth six-axis robot track with controllable precision, so that the working efficiency and precision of the six-axis robot are improved.

摘要：【中文】一种基于聚类超球体模型的产品质量快速判定方法，通过大量样本数据确定最小封闭超球体，并求出超球体的半径和球心，计算检测点与球心的距离，实现对生产过程中产品质量的快速且高准确率判定。该方法具体包括：首先对选定的训练数据集做k‑means聚类，使其分为k个子数据集；其次，对每个子集的数据进行最小封闭超球体的优化求解，确定其半径和球心，并计算出镜像球心在原始数据域的确切原像，进而优化判别函数；最后计算待检测样本点与每一个超球体球心的距离，并将其与超球体半径做比较，从而判定出该检测点的质量情况。本发明与现有产品质量判定方法相比，提出的聚类超球体模型能更精细化确定多超球体的边界，并通过超球体镜像球心的原像极大简化了判别函数，提高了质量判定的快速性。 【EN】A method for quickly judging product quality based on a clustered hypersphere model is characterized in that a minimum closed hypersphere is determined through a large amount of sample data, the radius and the center of the hypersphere are calculated, the distance between a detection point and the center of the sphere is calculated, and quick and high-accuracy judgment on the product quality in the production process is realized. The method specifically comprises the following steps: firstly, performing k-means clustering on a selected training data set to divide the training data set into k sub-data sets; secondly, performing optimization solution on the minimum closed hyper-sphere on the data of each subset, determining the radius and the center of sphere of the data, calculating the exact original image of the center of sphere of the mirror image in the original data field, and further optimizing a discriminant function; and finally, calculating the distance between the sample point to be detected and the center of each hyper-sphere, and comparing the distance with the radius of the hyper-sphere, thereby judging the quality condition of the detection point. Compared with the existing product quality judgment method, the clustering hyper-sphere model provided by the invention can more finely determine the boundaries of multiple hyper-spheres, greatly simplifies the judgment function through the pre-image of the sphere center of the hyper-sphere mirror image, and improves the rapidity of quality judgment.

摘要：【中文】本发明属于航天测控技术领域中测量船船位布设计算技术领域，具体涉及一种基于网格船位布设计算的速度优化方法。所述优化方法包括：计算弹道海上测控弧段首尾向下海面布船区域，分别取交集，并进行网格粗分；将满足条件的粗网格按照精度要求进行网格细分，获得细网格；记录连续N天的满足约束的细网格，获得精细网格点；根据符合要求的精细网格点，计算部署区域所形成的外接凸多边形；则该多边形内区域为一艘测量船连续N天对多弹道进行测控要求的区域。该方法在保证船位部署计算的全面性和准确性前提下，很大程度减小了计算量，提高计算效率。 【EN】The invention belongs to the technical field of distribution calculation of ship positions of measuring ships in the technical field of aerospace measurement and control, and particularly relates to a speed optimization method based on grid ship position distribution calculation. The optimization method comprises the following steps: calculating ship distribution areas of the ballistic offshore measurement and control arc section from head to tail to the lower sea surface, respectively taking intersections, and roughly dividing grids; carrying out mesh subdivision on the coarse mesh meeting the conditions according to the precision requirement to obtain a fine mesh; recording fine grids meeting the constraint for N consecutive days to obtain fine grid points; calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirements; the area in the polygon is an area where the measuring vessel needs to measure and control multiple lanes for N consecutive days. According to the method, on the premise of ensuring the comprehensiveness and accuracy of the ship position deployment calculation, the calculated amount is reduced to a great extent, and the calculation efficiency is improved.

摘要：【中文】一种通过EtherCAT总线测控同步的方法，主站发出的运动控制指令传输给多个伺服驱动从站，驱动器控制电机运动从而控制工作台运动，伺服电机中的编码器可以表示工作台的位置，根据分布时钟(DC)的同步信号触发，将位置数据经由EtherCAT总线输入到EtherCAT主站。同时，主站发出的采样指令发送给位置测量装置，位置测量装置根据同步信号触发采样，并获取当前位置的零件表面高度数据，并将该测量值转换成EtherCAT数据后经由EtherCAT总线输入到EtherCAT主站。利用该方法，可以达到被测零件的高度信号与其在工作台上的位置信号的高精度同步性，从而实现零件轮廓的高精度测量。 【EN】A method for measuring and controlling synchronization through an EtherCAT bus comprises the steps that a motion control command sent by a master station is transmitted to a plurality of servo drive slave stations, a driver controls a motor to move so as to control the movement of a workbench, an encoder in the servo motor can represent the position of the workbench, and position data are input to the EtherCAT master station through the EtherCAT bus according to the triggering of a synchronous signal of a Distributed Clock (DC). Meanwhile, a sampling instruction sent by the main station is sent to the position measuring device, the position measuring device triggers sampling according to the synchronous signal, obtains the height data of the surface of the part at the current position, converts the measured value into EtherCAT data and inputs the EtherCAT data to the EtherCAT main station through an EtherCAT bus. By using the method, the high-precision synchronism of the height signal of the part to be measured and the position signal of the part on the workbench can be achieved, so that the high-precision measurement of the part outline is realized.