ID 原文 译文
58628 然后利用机械臂基于期望图像,通过位置视觉伺服和位姿变换引导超声探头到达初始期望位置; Then, the robotic arm is used to guide the ultrasonic probe to the initial desired pose based on the desired image through the positional visual servo and pose transformation.
58629 最后通过力觉闭环控制算法微调探头位置,保证恒压力接触。 Finally, the force closed-loop control algorithm is adopted to fine-tune the probe position to ensure a constant contact pressure.
58630 实验结果表明,该方法的特征点检测匹配平均误差和视觉定位平均误差均在2.5个像素以内,超声探头的接触力平均值稳定在3.86N。 Experimental results show that the average of the feature point detection matching error and the average visual positioning error of this method is within 2. 5 pixels, and that the average contact force of the ultrasonic probe is stable at 3. 86N.
58631 与传统的手持方法相比,该方法超声探头的定位精度更高,与被测物体接触力更稳定,使医生的操作更简易。 Compared with the traditional hand-held method, the ultrasonic probe has a higher positioning accuracy and more stable contact with the measured object, which makes the doctor’s operation easier.
58632 采用一种简便、低成本的无电沉积技术,制备了不同掺杂情况的掺镍碳纳米管,并探究了不同掺镍样品的电接触特性。 A simple and low-cost electroless deposition technique is used to prepare nickel-doped carbon nanotubes under different doping conditions, and to explore the influence of different nickel doped samples on the electrical contact properties of carbon nanotubes.
58633 首先,对原样碳纳米管进行混酸氧化、敏化和活化处理; First, the original carbon nanotubes are subjected to mixed acid oxidation, sensitization and activation treatment.
58634 然后,以六水合氯化镍为主盐,二甲胺硼烷为还原剂,配制无电沉积液,再将配制好的碳纳米管分散液逐滴滴入无电沉积液中,经搅拌沉积获得掺镍碳纳米管样品。 Subsequently, the nickel chloride hexahydrate is used as the main salt and dimethylamine borane is used as the reducing agent to prepare the electroless deposition solution.
58635 形貌表征结果表明,通过改变沉积条件可调控掺入碳纳米管管壁纳米粒子的粒径及掺杂量; And then, the prepared carbon nanotube dispersion is dropped into the electroless deposition solution to obtain the sample of nickel-doped carbon nanotubes. Morphological characterization indicates that the nanoparticles with different particle sizes and doping amounts could be doped on the surface of carbon nanotubes under different deposition conditions.
58636 X射线能谱分析表明,所掺入纳米粒子的主要成分为镍,进一步的X射线光电子能谱揭示了镍的组成价态; The X-ray energy spectrum shows that the main component of the doped nanoparticles is nickel, and the further X-ray photoelectron spectroscopy reveals the constituent valence state of nickel.
58637 拉曼光谱表明,此种沉积方法对碳纳米管掺镍的掺杂类型为P型。 However, the Raman spectra indicate that the doping type of nickel-doped carbon nanotubes by this deposition method is the P-type.