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Moment-based 2 1/2D visual servoing for texture-less planar part grasping
摘要： Conventional moment-based visual servoing methods suffer from several problems in industrial applications due to the utilization of high-order image moments. In this paper, we analyze the shortcomings of the moment-based visual servoing from the viewpoint of practical industrial applications, and propose a novel moment-based 2 1/2D visual servoing method for grasping textureless planar parts. We use hybrid visual features that combine image moments with 3D rotation in the Cartesian space to control the robot motion. Instead of applying high-order image moments, we use rotation features, which provide a decoupled interaction matrix that is full rank and with no local minimum in the control scheme. Furthermore, to estimate the relative rotation of the textureless part in real time, a new estimation method based on a cross-correlation analysis is proposed. The proposed visual servoing method provides a better motion control and 3D trajectory of the robot arm and remains stable in the workspace. Experimental results demonstrated the effectiveness of the method.
关键词： hybrid visual features,textureless part,Moment-based visual servoing
更新于2025-09-23 15:22:29
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Electrochromic Properties of Polyaniline-Based Hybrid Organic/Inorganic Materials
摘要： Hybrid materials based on polyaniline (PAni) were obtained by in situ polymerization of aniline with chitosan and/or organically modified clay (nanomer I-24) in HCl. The samples were characterized by Fourier transform infrared (FTIR) spectroscopy, X-ray diffraction (XRD), scanning electron microscopy (SEM) and direct current (DC) electrical conductivity. Thin films of PAni, PAni-clay, PAni-chitosan and PAni-chitosan-clay were prepared by casting a solution of each sample in N-methyl-2-pyrrolidone (NMP) onto indium tin oxide (ITO)/glass electrodes and their electrochromic properties were investigated. It was observed color variation from transparent yellow in the reduced state (E = ?0.2 V vs. Ag/AgCl), green in the intermediate state (E = 0.5 V) and dark blue in the oxidized state (E = 0.8 V) for all samples. The color changes of each material in function of the applied potential were tracked using the Commission Internationale de l’Eclairage (CIE) system of colorimetry, in which the color change was much more significant for PAni-clay film.
关键词： chitosan,organophilic clay,hybrid material,conjugated polymer,polyaniline
更新于2025-09-23 15:22:29
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From Lead Iodide to Radical Form Lead-Iodide Superlattice: High Conductance Gain and Broader Band for Photoconductive Response
摘要： Superlattice materials offer new opportunities to modify optical and electrical properties of the recently emerging 2D materials. The insertion of tetraethylbenzidine into interlamination of the known 2D PbI2 semiconductor through a mild solution method yielded lead-iodide superlattice, EtDAB·4PbI2 (EtDAB = tetraethylbenzidine), with radical and non-radical forms. The non-radical form has a nonionic structure that differs from the common ionic structures for inorganic–organic hybrid lead halides. The radical form shows five orders of magnitude of conductance gain and broader photoconductive response range (UV–Vis → UV–Vis–IR), compared with pure PbI2 and the non-radical form.
关键词： Inorganic-organic hybrid,Photoconductive,Semiconductive,Lead halide,Superlattice
更新于2025-09-23 15:22:29
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From Lead Iodide to Radical Form Lead-Iodide Superlattice: High Conductance Gain and Broader Band for Photoconductive Response
摘要： Superlattice materials offer new opportunities to modify optical and electrical properties of the recently emerging 2D materials. The insertion of tetraethylbenzidine into interlamination of the known 2D PbI2 semiconductor through a mild solution method yielded lead-iodide superlattice, EtDAB·4PbI2 (EtDAB = tetraethylbenzidine), with radical and non-radical forms. The non-radical form has a nonionic structure that differs from the common ionic structures for inorganic–organic hybrid lead halides. The radical form shows five orders of magnitude of conductance gain and broader photoconductive response range (UV–Vis → UV–Vis–IR), compared with pure PbI2 and the non-radical form.
关键词： Inorganic-organic hybrid,Photoconductive,Semiconductive,Lead halide,Superlattice
更新于2025-09-23 15:22:29
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[IEEE 2018 New Trends in Signal Processing (NTSP) - Liptovsky Mikulá?, Slovakia (2018.10.10-2018.10.12)] 2018 New Trends in Signal Processing (NTSP) - Possibilities of Using FSO/RF Technology in Military Communication Systems
摘要： The article presents an overview of selected aspects of wireless communications considering military applications. The main attention is paid to performance analysis of radio and free space optics technologies. There are also presented some activities to get new capabilities of wireless communications using procedure of dynamic spectrum access, wideband and narrowband radio system, and free space optical system operated in infrared spectrum. In the summary, possibilities of radio-optical hybrid communication systems and their application in military areas have been defined.
关键词： hybrid wireless communications,frequency management,software-defined radio,frequency broker,cognitive radio
更新于2025-09-23 15:22:29
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AgCl/Ag/LaFeO3 heterojunction with a prolonged charge lifetime and enhanced visible light catalytic property
摘要： In this study, uniform mesoporous three–dimensional LaFeO3 with diameter of 2–3 μm was prepared by a hydrothermal process and monodispersed AgCl was then decorated on the surface of the LaFeO3 to form AgCl/Ag/LaFeO3 heterojunction via a facile precipitation–deposition process. The e?ects of the proportions employed in the preparation of the heterojunction on the structural, crystallinity, surface areas, and optical properties of AgCl/Ag/LaFeO3 were systematically studied, which showed that the AgCl/Ag/LaFeO3 heterojunction had a strong hybrid–junction structure, suitable absorption edge, and many exposed surface sites. The AgCl/Ag/LaFeO3 heterojunction had a strong catalytic activity during the degradation of methylene blue and phenol under visible light. The results demonstrated that the AgCl/Ag/LaFeO3 heterojunction had a more intense photocurrent response and smaller surface resistance than both AgCl and LaFeO3. The enhanced photocatalytic ability was attributed to the formation of heterojunctions between AgCl and LaFeO3, which suppressed the recombination of photogenerated electron–hole pairs. Our results may facilitate the rational design of highly e?cient heterogeneous heterojunctions for the removal of organic pollution.
关键词： AgCl/Ag/LaFeO3,Hybrid–junction structure,Charge transfer property,Visible light
更新于2025-09-23 15:22:29
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[IEEE 2018 26th International Conference on Software, Telecommunications and Computer Networks (SoftCOM) - Split (2018.9.13-2018.9.15)] 2018 26th International Conference on Software, Telecommunications and Computer Networks (SoftCOM) - Car to X Communication with Optical Wireless as Support and Alternative to RF-Technologies for Roads and Future Transportation
摘要： Among the different types of lasers and light sources for Communications, new components are becoming more and more important also for Optical Wireless and Optical Sensing applications. In this contribution, combinations of Optical- and RF-Wave Propagation are illustrated, considering also new technologies of lasers and fibre lasers. The presentation includes Optical Wireless Communication (OWC, well known as Free Space Optics (FSO)) as hybrid transmission methods with telecommunication technologies (like WIFI, RF- and Satellite Communications) and also Sensing Technologies (like LiDAR and radar combinations). Important characteristics of physical layer including useful Modulations, Forward Error Correction Coding for single light source are considered. Furthermore, different cases for enhancing the SNR in daytime condition are discussed. The contribution deals with possible fields of application for optical wireless in conjunction with automated driving.
关键词： Car to X Communication,Optical Wireless Communications,light sources,hybrid networks
更新于2025-09-23 15:22:29
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Ordered assemblies of Fe3O4 and a donor-acceptor-type π-conjugated polymer in nanoparticles for enhanced photoacoustic and magnetic effects
摘要： We report that the ordered structure in the assemblies of iron oxide nanoparticles in conjugated polymer nanoparticles is the key to achieve better properties to realize multimodal theranostic agents for magnetic resonance and photoacoustic imaging. Hybrid nanoparticles of a conjugated polymer (PCPDTBT), a phospholipid (D8PE) with a primary amine polar head, and iron oxide (Fe3O4) nanoparticles were prepared by a phase-separated film shattering process by varying the iron oxide concentration while maintaining a fixed mixing ratio of PCPDTBT and D8PE. Notably, the hybrid nanoparticles assembled at a molar mixing ratio of 1:1:0.8 (PCPDTBT/D8PE/Fe3O4) exhibited the shortest transversal relaxation time, T2, and a photoacoustic signal 22 times higher than that obtained at the 1:1:0 mixing ratio. Structural analysis by X-ray diffraction together with the measurements of energy transfer by transient absorption spectroscopy confirmed that the structural ordering of these hybrid nanoparticles was responsible for their enhanced photoacoustic and magnetic properties.
关键词： Conjugated polymers,Photoacoustic imaging,Magnetic resonance imaging,Iron oxides,Hybrid nanoparticles
更新于2025-09-23 15:22:29
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Automatic Rectification of the Hybrid Stereo Vision System
摘要： By combining the advantages of 360-degree field of view cameras and the high resolution of conventional cameras, the hybrid stereo vision system could be widely used in surveillance. As the relative position of the two cameras is not constant over time, its automatic rectification is highly desirable when adopting a hybrid stereo vision system for practical use. In this work, we provide a method for rectifying the dynamic hybrid stereo vision system automatically. A perspective projection model is proposed to reduce the computation complexity of the hybrid stereoscopic 3D reconstruction. The rectification transformation is calculated by solving a nonlinear constrained optimization problem for a given set of corresponding point pairs. The experimental results demonstrate the accuracy and effectiveness of the proposed method.
关键词： projection model,hybrid stereo vision,automatic rectification
更新于2025-09-23 15:22:29
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Microstructure and mechanical properties of Ti/Al dissimilar joints produced by laser-MIG welding–brazing
摘要： We butt-welded AA6061 aluminum alloy to Ti6Al4V titanium alloy, dissimilar light metals, by using laser-MIG hybrid welding–brazing without grooves. The parameters of the laser and arc were optimized to produce sound joints with good formation and mechanical properties. The microstructure of the layer of intermetallic compounds (IMCs) was investigated by scanning electron microscopy and energy dispersive spectroscopy. We also tested the tensile strength of the joints with and without reinforcement. The morphology and thickness of the IMCs varied throughout the joints. A continuous thin layer of TiAl3 appeared on the top surface of the Ti6Al4V, on which some rod-like IMCs grew toward the fusion zone. In the upper region of the butt plane, because more heat accumulated there from the high-power laser coupled with the MIG arc, double-layer IMCs with a thickness of ～ 10.0 μm formed, composed of TiAl (near the Ti alloy) and TiAl3 (near the fusion zone). In the lower region of the butt plane, the double-layer IMCs became continuous and uniform, the serrated morphology disappeared, and the thickness of the IMC layer decreased to 4.0 μm. On the backside of the joint, the thickness of the compound layer (TiAl3) was about 1.0 μm. The average tensile strengths of the reinforced and unreinforced joints were 226 MPa and 210 MPa, respectively, which are up to 88% and 81% of the AA6061 tensile strength, respectively.
关键词： dissimilar joint,titanium alloy,intermetallic compounds.,Laser-MIG hybrid welding–brazing,aluminum alloy
更新于2025-09-23 15:22:29