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Industrial robots have been widely used in industrial manufacturing. Minimum time trajectory planning can make the industry robot motion moves more quickly and smoothly. In this paper, the trajectory planning using particle swarm optimization (PSO) to search the time-optimal solution for industrial robots was adopted. The 4-3-4 polynomial interpolation trajectory planning method has the shortcoming of high exponent and no convex hull, so it's difficult to optimize by the traditional optimization methods. In this paper, particle swarm optimization (PSO) was used to optimize the 4-3-4 polynomial interpolation trajectory planning. It can make up for the shortcomings of polynomial interpolation method. Computer simulations and experiments show that method can make industrial robots run quickly and smoothly.

Netted-radar technology has become the important measure to adapt to war field environment. For the characteristic of netted-radar and the demand of military training, aerial netted-radar counterwork is proposed and achieved based on RTX and aero simulator. The system can deal with state and information of radar simulator. Exploiting way of client programs and server programs are discussed, and constructive technique of netted-radar counterwork is discussed. The system provides a good training roof for increasing the skill that pilot antagonizes netted-radar and eludes missile.

In THz-TDS, THz radiations have to be transformed generally to be focused on the sample. However, the THz frequency spectrum and temporal waveforms may be changed by Gouy phase shift in the focus[1]. The Gouy phase shift is the well known gc phase shift with respect to a plane wave as a focused electromagnetic beam propagates through its focus[2]. As we know, most of researches in relation to the interaction between the focused light and media still consider the light beam in the vicinity of the focus as plane wave[3], and ignore the phase singularities which could lead to the superluminal velocities [4]. Here, we study the influence of Gouy phase shift on the THz-TDS by means of numerical calculation and corresponding experiments.