Segmenting blurred and conglutinated bubbles in a flotation image is done using a new segmentation method based on Seed Region and Boundary Growing（SRBG）.Bright pixels located on bubble tops were extracted as the se...Segmenting blurred and conglutinated bubbles in a flotation image is done using a new segmentation method based on Seed Region and Boundary Growing（SRBG）.Bright pixels located on bubble tops were extracted as the seed regions.Seed boundaries are divided into four curves：left-top,right-top,right-bottom, and left-bottom.Bubbles are segmented from the seed boundary by moving these curves to the bubble boundaries along the corresponding directions.The SRBG method can remove noisy areas and it avoids over- and under-segmentation problems.Each bubble is segmented separately rather than segmenting the entire flotation image.The segmentation results from the SRBG method are more accurate than those from the Watershed algorithm.展开更多
文摘对一种2R1T(R表示旋转,T表示平移)的类球面并联机构进行了瞬时速度分析.由于机构的动平台中心与基座中心始终关于过3个球关节的平面对称,利用几何法很容易获得动平台的位置解,然而机构的瞬时速度的计算则相对复杂,尤其是角速度的计算严重依赖姿态矩阵或完整雅克比矩阵的正确求解,并且计算效率低、容易出错.为此,采用Riemann对称空间理论方法,从机构子链旋量系的对称性出发,建立各子链关节运动的约束,从而简化机构动平台瞬时速度的计算,机构所有可能的瞬时速度组成了一个线性空间,这个空间的基正好解释了机构的瞬时自由度.最后,给出算例验证了该方法的正确性和有效性.通过ADAMS(Automatic Dynamic Analysis of Mechanical Systems,机械系统动力学)软件仿真与理论计算对比,角速度误差控制在-0.004~0.006 rad/s以内,线速度误差控制在-0.01~0.015 mm/s以内,采用对称空间理论方法计算瞬时速度用时5.187 s.
基金supported in part by the National Science & Technology Support Plan of China(No.2009BAB48B02)
文摘Segmenting blurred and conglutinated bubbles in a flotation image is done using a new segmentation method based on Seed Region and Boundary Growing（SRBG）.Bright pixels located on bubble tops were extracted as the seed regions.Seed boundaries are divided into four curves：left-top,right-top,right-bottom, and left-bottom.Bubbles are segmented from the seed boundary by moving these curves to the bubble boundaries along the corresponding directions.The SRBG method can remove noisy areas and it avoids over- and under-segmentation problems.Each bubble is segmented separately rather than segmenting the entire flotation image.The segmentation results from the SRBG method are more accurate than those from the Watershed algorithm.
