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In order to obtain the feature of urinary micro-particles image, a method was proposed from shape and structure and region aspects in this paper. The shape and structure features were extracted according to the chain code method. Moreover, the region features were extracted by the invariant moments. Based on the binary segmentation of microscopy image, the red cell (RC), white cell (WC), cast, epithelial cell (EC) and crystal feature calculation of urinary micro-particles image are tested. The data tables are provided in detail to verify the accuracy and feasibility of the proposed method. The data mining of the tested micro-particles feature would be important to identify and classify the type of urinary micro-particles.

In order to improve the control performance of humanoid robot hand in workspace, an adaptive control method based on improved neural network was proposed. rival-penalized competitive learning and recursive orthogonal least-squares algorithms were applied to reinforce the learning capability of Gaussian radial basis function neural network and realize the real-time of neural network. Moreover, an improved neural network model for humanoid robot hand was established with Ge-Lee matrix and its operator, and a controller was designed. Finally, an example of humanoid robot hand finger was provided. The results showed that the proposed control method could effectively control the unknown nonlinear dynamic properties and load disturbances of the finger with a much smaller tracking errors.

By means of an amplitude modulation method, long-focal-depth properties of a two-dimensional cylindrical microlens are achieved. An apodized window function of the incident light is introduced to suppress the axial intensity oscillations, so that a flat axial intensity profile is demonstrated. In addition, the designed cylindrical microlens has a high diffraction efficiency.

To improve the operating performance of robots’ end-effector, a humanoid robot hand based on coupling four-bar linkage was designed. An improved transmission system was proposed for the base joint of the thumb. Thus, a far greater motion range and more reasonable layout of the palm were obtained. Moreover, the mathematical model for kinematics simulation was presented based on the Assur linkage group theory to verify and optimize the proposed structure. To research the motion relationships between the fingers and the object in the process of grasping object, the grasping analysis of multi-finger manipulation was presented based on contact kinematics. Finally, a prototype of the humanoid robot hand was produced by a three-dimensional printer, and a kinematics simulation example and the workspace solving of the humanoid robot hand were carried out. The results showed that the velocities of finger joints approximately met the proportion relationship 1:1:1, which accorded with the grasping law of the human hand. In addition, the large workspace, reasonable layout, and good manipulability of the humanoid robot hand were verified.

In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters’ optimization. Finally, a simulation example was provided and the designed controller was proved ideal.

The transmission of normally incident plane wave through an array of subwavelength metallic slits curved with a single step or mutli-step has been explored theoretically. The transmission spectrum is simulated by using the finite-difference time-domain method. The influences of surface plasmon polaritons make the end of finite long sub-wavelength metallic slit behaves as magnetic-reflecting barrier. The electromagnetic fields in the subwavelength metallic slits are the superposition of standing wave and traveling wave. The standing electromagnetic oscillation behaves like LC oscillating circuit to decide the resonance wavelength. Therefore, the parameters of adding step may change the LC circuit and influence the transmission wavelength. A new explanation model is proposed in which the resonant wavelength is decided by four factors: the changed length for electric field, the changed length for magnetic field, the effective coefficient of capacitance, and the effective coefficient of inductance. The effect of adding step is presented to analyze the interaction of two steps in slit with mutli-step. This explanation model has been proved by the transmission through arrayed subwavelength metallic slits curved with two steps and fractal steps. All calculated results are well explained by our proposed model.

Designs of optical lenses based on metallic nanoslits are carried out based on the phase and amplitude modulation by tuning the slit widths. The slits are perforated on thin metallic film, and the width of each slit is achieved by simulated annealing algorithms, which is connected with both the amplitude and phase modulation. Two kinds of focal lenses, which can realize one or two focus points, have been designed. The finite-difference time-domain method is employed to check the performance of the designed lenses. Simulation results show that the designed lenses can perform the preset functions well. Using this method, multiple optical elements with different functions can be conveniently achieved in subwavelength scale.