Study+on+welded+seam+recognition+using+circular+laser+vision+sensor
上传者:林棻|上传时间:2015-05-04|密次下载
Study+on+welded+seam+recognition+using+circular+laser+vision+sensor
328
CHINESEOPTICS
LETTERS/V01.5,No.6/June
10,2007
Study
on
weldedseamrecognitionusing
●
●
circularlaserVlSlonSenSor
Peiquan
1
Xu(徐培全)1,XinhuaTang(唐新华)2,RiNa(娜日)3,and
2
Shun
Yao(姚舜)2
201620
CollegeofMaterialsEngineering,ShanghaiUniversityofEngineering
Science,Shanghai
WeldingEngineeringInstitute.Shanghai
Jja0Tong
University,Shanghai200030
BuMness
3SchoolofComputer&Electronic
Engineering,ShanghaiSch001.Shanghai200235
ReceivedNovember1,2006
arcweldingsystembasedoncircularlaservisionsensorisdeveloped.Afterimage
de—noising,imagesegmentation,andimagethinning,therelationofdepthvalueofworkpieceandoff-axisangle7,three-dimensional(3D)calculation,andseamtrackingexperimentsarecarriedout.Finally,theerrorforseamtrackingsystemisanalyzed.Theresultsshowthat113Dinformationcallbeobtainedusing
Anovelvisualrobotic
proposedvisualroboticarcweldingsystemandthereal-timeseatlltrackingisrealized;2)theseamtrackingerrorissmallenoughforgastungstenarcwelding(GTAw)process,andthissystemcanbeusedforseamlocationandseamtrackingorsealnfinder.
the
DC昭codes:100.0100.080.0080.
A
rapiddevelopmentincomputertechnologyandrobottechnologyhasgreatlypromotedtheautomatie-ityofweldingprocess.Thereweremanyfactorsthatinfluencedtheweldingquality,whichnotonlyincludethicknessofthematerialstobewelded,thechemicalele—
computesthelocationoftheweldingseamwithrespecttothevisionsensor.Inordertocompensateforvari-ationsinpartorjointgeometry,thisprocessingresultwasthenusedintherobotcontrolmoduletocorrectthe
weldingpath.
Forhardware.theoverallsystemwascomposedoftwomodules:arobotcontrolmoduleandavisionprocessingmodule.Therobotcontrolsystemconsistsoftwounits:
mentcompositionoftheweldedmaterial,surfacestatusoftheworkpiece,butalsoincludesuchparametersas
weldingvoltage,weldingspeed,weldingpath,andthree-dimensional(3D)ofworkpiece,whetherornotwerede-tectedinrealtime.Theautomationandartificialintell[-gencecontroloftheweldingprocessrequirethedevelop—
mentofboththejointshapeandtheseamtrackingcon-tr01.sothattherobotmayselectcorrectpathautomat[一
callywhenthedeviationbetweenweldingpathandactualseamhasbeenfound.Inordertomeettherequirementof
mainprocessingunitandjointservounit.ThemainprocessingunitfINTELPentiumIIICPUoperatingat780MHzloperatesmajorprocessingsucha8coordinatetransformationfortraiectorycontrol。sensoryfeedbackcontrolforseamlocationandseamtracking,andsoon.
Thevisionprocessingmodulegrabsandanalyzestheim-agedataobtainedfromthevisionsensortorecognizethetypeofweldjointandcomputethepositionoftheweld
automaticweldingprocess,allkindsofsensorshavebeeninvestigated[1,引.Amongthem.“spotlaser’’wasthesire-plestmeasurementmethodamongactivevisionsensors
andothervisionsensors.Accordingtolasertriangularrules,differentpatternlaservisionsensorswereputfor—wardtoapplystructuredlightandscanninglightusingsinglelaserstripe,twolaserstripes,fivelaserstripes,andcircularlaserstripeaslightsource.However.‘‘spot’’or“line”typelasersensorshavesuchshortcomingsaslessinformation,explanationambiguity,andonlybeusedtosingleortwodirectionseamtracking[。一….Xueta1.setupawholeofcircularlaservisionsensorsystem[7J.Onthebasis,anovelvisionsensorwasdeveloped.Basedon“radius-depthrelation”oflaserconeandimaginglawof
joint
center.
Theprincipleofvisionsensorwasthat:circularlasertrajectorywasusedasaactivelighttoprojectontotheworkpiecetobewelded,andwhenthetasksofseamloca,tionandseamtrackingwerecarriedoutbyweldingtorch,the3Dofweldmentcanbemeasuredbyvisionsensorus—ingcalibrationmodelanddepthcalculationalgorithm,andtheerrorofweldingtorchandweldmentcanbefur.therdetectedandsentbacktorobotg].Thevision
sensorsensor
(CCD)image
consistsofchargecoupledeviceandlightscanningsystembasedon
rotatedlensthatgeneratescircularlaserbeam,a18showninFig.1.Thecamerawasfittedwithanarrow—bandop—ticalinterferencefilterhavinganarrowbandpassof0.99amcenteredat611.49am.Thenarrow—bandinterfer—fliterefficientlyremovesmuchoftheambientand
weldingarclight矗omtheimage.Thecameracircuitry
ence
camera,3Dmodel
arc
forfeaturepointsofweldseams
undergastungstenwelding(GTAw)processwas
es—
tablished.Subsequently,seamlocationandtrackinginroboticweldingprocesscanberealized.
proposedsystem,anarticulatedrobotwithsix
degreesoffreedomwascarryingaweldingtorchandavi-sionsensorsystem.Thevisionsensorviewstheweldingjointaheadoftheweldingtorchwhiletherobottravels
our
In
generatesanNTSCstandardvideosignalthatwasstoredinthevisiongrabberasa768×576arrayof8一bitpixel.Onepixelintheimageplanecorrespondsapproximately
alongtheweldingseam.Theimagesfromthevisionsen-sorwereanalyzedbyanimagegrabbercardandusedtoreconstructthedimensionsoftheweldingseam,which
8.3越monafocusedobject。Thesensorfieldofviewandresolutionwerereconfigurabledependingontheap-
to
plicationrequirements.Asalightsource,the
10一mW
laserdiodeemittingat
万方数据
1671—7694/2007/060328-04⑥2007ChineseOptics
Letters
June
10,2007/V01.5,No.6/CHINESE
OPTICSLETTERS
329
Fig.1.Configurationofthevision
sensor
byscanningtechnique.
635nmwasused.Themainadvantageofilluminationbythelightsourceinthisbandwasitsvisibilityandintell-sitv.whichconsiderablyfacilitatestheeahbrationofthesensorinthestageofdevelopmentofthevisionsensor.Simultaneously,itstillfacilitatesthesegmentationofthelaserlightfromtheweldingseamimagebecausemostsignificantspectralcomponentsofscatteredlightfromthearcexistintheultravioletfUV)andvisiblebands.Also.itguaranteesgoodtransmissionofthelaserlightthroughthesmokeandfumegeneratedduringwelding.Thesensoroperatesonaprincipleofproposed3Dcal-culationmodelbasedon“radius—depthrelationoflaserconeandcameraamplificationcoefficient”.
Theexperimentwascarriedoutincomputerizednu-mericalcontrol(CNC)platform,andIRB2400weldingrobotwasusedtoholdoiltheproposedvisionsensorbasedoncircularlaser.GTAWmethodwasoperated.andtheparametersusedinthissensorysystemwereshowninTable1.
DuringthecourseofimageacquisitionIimperfectcir-cularlasertrajectoryalwaysappearedbecauseofthelimitationofscanningmotorandchargecoupleddevice
based
on
1/3
valueratherthan
mid-whie.Incontrast
withlinearfiltermethod,order-statisticfiltercouldbet—tersolvecertaintypesofimageprocessingproblems.Thisfiitermethodmakesthecircularlasertrajectoryperfect.Inaddition.itsabilitytoreducerandomDOisewithoutblurringedgeswasasmuchasacomparablelinearlowpassfilter.Thelaser—strengtheningandnoise-reducingeffectsthatorder-statisticfilterhasonallimagedependontworelatirethings:thespatialextentofthe
maskandthenumberofPixelsinvolvedinthemedian
computation.Here,theywereinthefive-by-fivemask,and9pointswereselectedforthemask.
example.theoriginalwelded
imageduringG墨&粕processusingcircularlaservisionsensorasweldingseamdetectorwasillustratedinFig.2(a).Becauseofthehigh-intensityarclightinterference,
process
as
蹦ngGTAW
novelbarrierlayerwasadoptedtoremovemostofthearclight.Therefore.theweldingseamwasseparatedintotwoparts:onewasforcircularlaserzone;theother
one
was
arc
lightzone.De—noisemethodbased
on
3一level
(CCD)camera.Here,weaddressorder-statisticfilter
Table1.SpecificationofSensorySystemUsedfor
SeamTrackingExperiment
Item
Distance
and
Specification
betweenTorchTip
Coordinate8ofLaserCone
Center
W=84
mm;H=5
ITIITI
DistancebetweenLens
and
CoordinatesofLaserCone
178mm
FocalLengthofLens
(afterCalibration)
Heightof
6.21mm
ImagePlane
4.8mm6。4mm
12.88。39.250300
Width
ofImagePlane
ot
ConeAngle
SeparationAngle口SeamTrackingSpeed
Detect
mm/min
millmmA
Fig.2.Results
RangeY
z
士20士2552928
DetectRange
WjldCurrent
ArgonFlowRateSamplingRate
for“imagepre-processing”.(a)Originalim-
L/rain
frame/s
age;(b)3Dimage;(c)histogram;(d)imagesegumntation;(e)5×5imagethinning;(f)histogramafterimage
内容需要下载文档才能查看equalizing.
万方数据
330CHINESEOPTICS
LETTERS|V01.5,No.6
June1012007
Fig.3.De-noiseparametersandresultforcircularlaserseamimageof3-levelwavelet.(a)Waveletgraph;(b)originalim—
age(1eft)(Ijoint,butt,GTAwelding,I=52A,v=5mm/s,100kgf/cm2)andde—noiseimage(right).
wavelettechniquewasputfcIrwardtode—noisetheweld-ingseamimage,whichisillustratedinFig.3.Figure3(a)illustratesthewaveletgraphforde—noiseprocess,thecontrasteffectimageoforiginalimageandde—noised
imageisshowninFig.3(b),theweldingparameters
are:
,=52A.v=5mm/s.100kgf/cm2.
In
addition,“two—stepsegmentation(TTS)”andim-
agethinningtechniquewereusedforfeatureextractionofweldimagesunderGTAWcondition.asshowninFigs.
2(d)and(e).Theresultsshowthatthistechnique
can
be
tosegmentweldingseamimagefrombackground
accurately.
Afterimagesegmentationandimagethinning,the3DexperimentcanberealizedbytheproposedvisionsensorandmathematicalmodelIsJ,includ—buttweldingseamwithgap,buttweldingseamwith
weldingseam,filletweldingseam,andrampseametc..Figure4illustratestheprocessof
trackingforbothI—typebuttjointandsinewelded
Here.takingI—typebuttweldedseamasanexample.lasertrajectorywasproiectedtoI-typeweldmentactivelight;the3Dcalculationcanberealized.Onewasgrabbedusingcircularlaservisionsensorandpositionsweremeasuredatthesametime.The3D
ofseamtrackingbased
on
circularlaser
sensor.(a)Ion
string
welded
joint;(b)sine
welded
万
方数据119
舍7邑5
毋3
1
一l
吕u
吕
壬如
Fig.5.ExperimentalresultsforI-typebuttweldedjointus-ingcircularlaservisionsensorasseamguider.(a)RelationofdepthvalueZLand7angle;(b)3Dcalculation;(c)seaJn
tracking.
calculationresultwasshownin
Fig.5(a).The
relationof
depthinformationofworkpiecetobedetectedandoff-axisangle吖wasillustratedinFig.5(b).
Guidedbycircularlaservisionsensor,seamtrackingexperimentforbuttweldjointwascarriedoutinABBl40robotplatform.Seamtrackingcanberealizedbytwo
types
seamtrackingmodel.Onewasoff-lineprogram-
mingseamtracking,thatistosay,seamtrackingprocess
wasdividedintotwo
stages.Stage
1:3Dcalculation
ofweldediointcharacteristicpointfl‘om2Dinsensitiv-
ity
planethroughlinageacquisition,imageprocessing,and
3Dcalculationalgorithm;stage2:seamtracking
accordingtotheobtained3Dpositiondataoftheweld.ingseam.Theotherwasseamtrackinginrealtime,thatistosay,seamtrackingwassimultaneouswiththe3Dpositiondatacalculationoftheweldingseam.When
seamtrackingwasinprocess,twothreadswereoccurring:computerthreadusedforimageacquisition,imagepro—cessingand3Dcalculationfrom2Dinsensitivityplane,robotthreadusedforcommunicationwithcomputerand
guidanceformanipulatoralongtherealweldingseam.TheseamtrackingresultswereshowninFig.5(c1.Developedseamtrackingsystembasedoncircularlaservisionsensorwasamulti—hardwareconsistingofimagegrabber,visionsensor,androbot;amulti-taskdatapro—cessingwithimageprocessing,weldseam3Dcalcula-tion,andcommunicationbetweenrobotandcomputer;evenamulti—nodeinformationtransfercomplexsystem.Theprecisionofthesystemwasaffectedbykindsoffac—tors,includinglightscanningsystem,cameracalibrationandrobotcalibration,imageprocessingandevenweld—ingseam3Dalgorithm.Themainerroranalysiswas
asfollows.1)Cahbrationerror.Intheseamtrackingsystem,calibrationconsistsoftwoparts:onewascall—brationforABBrobot;theotherwascameracalibration.
pointstoolcenterpointfTCP)”calibration
methodwasusedtocalibratetheABBrobot.Conse—quently,weldingtorchcoordinatescanbedeterminedbyrobotcontroller.Thecalibrationerror,meanerror
内容需要下载文档才能查看 内容需要下载文档才能查看ofO.24
usedimagecalculationcircularinggroove,lapweldingseamjoint.
circularimage563as
Fig.4.Illustratevision
Wherein.“4
joint.
June
10,2007/V01.5,No.6/CHINESE
OPTICSLETTERS331
andmaximum
error
of0.67wasachieved.21Scanning
systemerror.Scanningsystemerrorresultsfromscan-ninglens,includingsphericalaberration(errorcausedby
differentdistancesofseverallightswhentheyillustratethescanninglens.thethicknessofwhichcannotbeomit—ted).The
error
analysismanifestthatwhilethedistance
betweentheIightandcenteroflenswaswithin40mm.themaximumerrorwas0.707mm.
ThisworkWassupportedbytheYouthFoundationofShanghaiUniversityofEngineeringScience(No.06—7),SpecializedResearchFundforExcellentYoungTeachersofShanghaifNo.06xpyql71.AndmanythankswillbegiventoDr.FengguiLu,Prof.H.L.Yu,S.B.Chen.andDr.C.J.FanfromShanghaiJiaoTongUniversityand
W.Zhang
fromShanghaiLaserManufacturingInstitute.
P.XU’Se-mailaddressisxupeiquan7810@yahoo.corn.an.
万
方数据R息fefences
1.Z.Li,Z.Jing,andZ.Sun,Chin.Opt.Lett.2,578
(2004).
2.J.-Y.JuandS.-J.Na,Mechatronics
7,599(1997).
3.H.Zhang,Z.Xiong,J.Jia,andJ.Pan,Chin.J.Mechan icalEngineering(inChinese)38,113(2002).
4.G.M.Graham,“Georgia
Institute
ofTechnology”Ph.D.
thesis(School
of
MechanicalEngineeringGeorgiaInsti-tuteofTechnology,1995).
5.A.DeandD.Parle.ScienceandTechnologyofWbldingandJoining8,340(2003).
6.H.LUOandX.Chen.InternationalJournalofAdvancedManufacturingTechnology26,1012(2005).
7.P.Xu,X.Tang,F.Lu,S.Yao,andH.Yu,Journalof
ShanghaiJiaotongUniversity(inChinese)6,902(2006).8.P.Xu,S.Yao,F.Lu,X.Tang,andW.Zhang,ChinOpt.Lett.3,640(2005).
内容需要下载文档才能查看 内容需要下载文档才能查看 内容需要下载文档才能查看
Study on welded seam recognition using circular laservision sensor
作者:作者单位:
Peiquan Xu, Xinhua Tang, Ri Na, Shun Yao
Peiquan Xu(College of Materials Engineering, Shanghai University of EngineeringScience, Shanghai 201620), Xinhua Tang,Shun Yao(Welding Engineering Institute,Shanghai Jiao Tong University, Shanghai 200030), Ri Na(School of Computer &Electronic Engineering, Shanghai Business School, Shanghai 200235)中国光学快报(英文版)CHINESE OPTICS OF LETTERS2007,5(6)
刊名:英文刊名:年,卷(期):
参考文献(8条)
1.Z Li;Z Jing;Z Sun Multi-sensor image fusion using discrete wavelet frame transform[期刊论文]-Chinese Optics of Letters 2004(02)2.J -Y Ju;S -J Na 查看详情 1997(07)3.H Zhang;Z Xiong;J Jia;J.Pan 查看详情 20024.G M Graham Georgia Institute of Technology 19955.A De;D Parle 查看详情 20036.H Luo;X Chen 查看详情 2005
7.P Xu;X Tang;F Lu;S.Yao,H.Yu 查看详情 2006(06)8.P Xu;S Yao;F Lu;X.Tang,W.Zhang 查看详情 2005(03)
引用本文格式:Peiquan Xu.Xinhua Tang.Ri Na.Shun Yao Study on welded seam recognition using circularlaser vision sensor[期刊论文]-中国光学快报(英文版) 2007(6)
下载文档
热门试卷
- 2016年四川省内江市中考化学试卷
- 广西钦州市高新区2017届高三11月月考政治试卷
- 浙江省湖州市2016-2017学年高一上学期期中考试政治试卷
- 浙江省湖州市2016-2017学年高二上学期期中考试政治试卷
- 辽宁省铁岭市协作体2017届高三上学期第三次联考政治试卷
- 广西钦州市钦州港区2016-2017学年高二11月月考政治试卷
- 广西钦州市钦州港区2017届高三11月月考政治试卷
- 广西钦州市钦州港区2016-2017学年高一11月月考政治试卷
- 广西钦州市高新区2016-2017学年高二11月月考政治试卷
- 广西钦州市高新区2016-2017学年高一11月月考政治试卷
- 山东省滨州市三校2017届第一学期阶段测试初三英语试题
- 四川省成都七中2017届高三一诊模拟考试文科综合试卷
- 2017届普通高等学校招生全国统一考试模拟试题(附答案)
- 重庆市永川中学高2017级上期12月月考语文试题
- 江西宜春三中2017届高三第一学期第二次月考文科综合试题
- 内蒙古赤峰二中2017届高三上学期第三次月考英语试题
- 2017年六年级(上)数学期末考试卷
- 2017人教版小学英语三年级上期末笔试题
- 江苏省常州西藏民族中学2016-2017学年九年级思想品德第一学期第二次阶段测试试卷
- 重庆市九龙坡区七校2016-2017学年上期八年级素质测查(二)语文学科试题卷
- 江苏省无锡市钱桥中学2016年12月八年级语文阶段性测试卷
- 江苏省无锡市钱桥中学2016-2017学年七年级英语12月阶段检测试卷
- 山东省邹城市第八中学2016-2017学年八年级12月物理第4章试题(无答案)
- 【人教版】河北省2015-2016学年度九年级上期末语文试题卷(附答案)
- 四川省简阳市阳安中学2016年12月高二月考英语试卷
- 四川省成都龙泉中学高三上学期2016年12月月考试题文科综合能力测试
- 安徽省滁州中学2016—2017学年度第一学期12月月考高三英语试卷
- 山东省武城县第二中学2016.12高一年级上学期第二次月考历史试题(必修一第四、五单元)
- 福建省四地六校联考2016-2017学年上学期第三次月考高三化学试卷
- 甘肃省武威第二十三中学2016—2017学年度八年级第一学期12月月考生物试卷
网友关注
- 雅贝氏告诉你如何提高宝宝免疫力
- 选择教师 我无悔
- 北京海淀区今年增1.1万小学学位 确保儿童就近入学
- 小留学生出国家里负担重 家长3-4年薪用来交学费_0
- 洗马河辖区中心校第二届教师运动会
- 当心高血压入侵儿童!
- 师德演讲稿我是一名幼儿教师
- 王启贵怎样做一名“四有”好老师
- 最小的花销饱览最美的厦门
- 亲子共读心得
- 赏识教育
- 幸福跟钱没关系
- 衡水市9875例儿童血铅检测结果分析
- 幼儿教育中与孩子心灵沟通的方法总结
- 18岁的约翰
- 西 城幼升小
- 五3表扬——孩子成长的力量(张昱扬家长)
- 饮酒
- 家长委员会制度
- 读《向孩子学习》有感
- 环磷酰胺与雷公藤多甙治疗儿童难治性肾病综合征疗效比较
- 职来职往经典语句
- OPO配方奶粉汇总
- 教师师德培训心得体会
- 你会哄孩子吗
- 家长课堂:做父母的三大纪律和八项注意
- 学区房看涨家长忙迁户口 北京“九年一贯制”引暗战
- 2015江苏教师教师招聘面试考试幼儿园大班数学说课稿:分苹果
- -单独两孩-政策好,当妈难- 孩子遇职场只能叹息-
- 水果名字有哪些
网友关注视频
- 冀教版英语四年级下册第二课
- 外研版英语七年级下册module3 unit2第一课时
- 冀教版英语三年级下册第二课
- 外研版八年级英语下学期 Module3
- 【部编】人教版语文七年级下册《老山界》优质课教学视频+PPT课件+教案,安徽省
- 3月2日小学二年级数学下册(数一数)
- 冀教版小学数学二年级下册第二单元《有余数除法的整理与复习》
- 冀教版小学数学二年级下册第二单元《有余数除法的简单应用》
- 第五单元 民族艺术的瑰宝_16. 形形色色的民族乐器_第一课时(岭南版六年级上册)_T1406126
- 沪教版牛津小学英语(深圳用) 五年级下册 Unit 10
- 3.2 数学二年级下册第二单元 表内除法(一)整理和复习 李菲菲
- 冀教版小学数学二年级下册第二单元《有余数除法的竖式计算》
- 第12章 圆锥曲线_12.7 抛物线的标准方程_第一课时(特等奖)(沪教版高二下册)_T274713
- 【部编】人教版语文七年级下册《老山界》优质课教学视频+PPT课件+教案,安徽省
- 【部编】人教版语文七年级下册《泊秦淮》优质课教学视频+PPT课件+教案,湖北省
- 化学九年级下册全册同步 人教版 第25集 生活中常见的盐(二)
- 19 爱护鸟类_第一课时(二等奖)(桂美版二年级下册)_T502436
- 沪教版八年级下册数学练习册21.3(2)分式方程P15
- 《小学数学二年级下册》第二单元测试题讲解
- 苏科版数学八年级下册9.2《中心对称和中心对称图形》
- 【部编】人教版语文七年级下册《逢入京使》优质课教学视频+PPT课件+教案,辽宁省
- 七年级英语下册 上海牛津版 Unit3
- 冀教版小学数学二年级下册第二单元《余数和除数的关系》
- 青岛版教材五年级下册第四单元(走进军营——方向与位置)用数对确定位置(一等奖)
- 【部编】人教版语文七年级下册《过松源晨炊漆公店(其五)》优质课教学视频+PPT课件+教案,江苏省
- 沪教版牛津小学英语(深圳用) 六年级下册 Unit 7
- 沪教版牛津小学英语(深圳用) 五年级下册 Unit 12
- 外研版英语七年级下册module1unit3名词性物主代词讲解
- 北师大版数学 四年级下册 第三单元 第二节 小数点搬家
- 冀教版小学数学二年级下册第二周第2课时《我们的测量》宝丰街小学庞志荣.mp4
精品推荐
- 2016-2017学年高一语文人教版必修一+模块学业水平检测试题(含答案)
- 广西钦州市高新区2017届高三11月月考政治试卷
- 浙江省湖州市2016-2017学年高一上学期期中考试政治试卷
- 浙江省湖州市2016-2017学年高二上学期期中考试政治试卷
- 辽宁省铁岭市协作体2017届高三上学期第三次联考政治试卷
- 广西钦州市钦州港区2016-2017学年高二11月月考政治试卷
- 广西钦州市钦州港区2017届高三11月月考政治试卷
- 广西钦州市钦州港区2016-2017学年高一11月月考政治试卷
- 广西钦州市高新区2016-2017学年高二11月月考政治试卷
- 广西钦州市高新区2016-2017学年高一11月月考政治试卷
分类导航
- 互联网
- 电脑基础知识
- 计算机软件及应用
- 计算机硬件及网络
- 计算机应用/办公自动化
- .NET
- 数据结构与算法
- Java
- SEO
- C/C++资料
- linux/Unix相关
- 手机开发
- UML理论/建模
- 并行计算/云计算
- 嵌入式开发
- windows相关
- 软件工程
- 管理信息系统
- 开发文档
- 图形图像
- 网络与通信
- 网络信息安全
- 电子支付
- Labview
- matlab
- 网络资源
- Python
- Delphi/Perl
- 评测
- Flash/Flex
- CSS/Script
- 计算机原理
- PHP资料
- 数据挖掘与模式识别
- Web服务
- 数据库
- Visual Basic
- 电子商务
- 服务器
- 搜索引擎优化
- 存储
- 架构
- 行业软件
- 人工智能
- 计算机辅助设计
- 多媒体
- 软件测试
- 计算机硬件与维护
- 网站策划/UE
- 网页设计/UI
- 网吧管理