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a Effects of volatiles from Pistacia chinensis Bunge and Juniperus chinensis cv. Kaizuka on human emotions were investigated. The volatiles were analyzed using a gas chromatograph-mass spectrometer (GC-MS). Human emotions were defined and measured using several physiological indices, including oxygen saturation of blood (OSB), finger temperature (FT), pulmonary ventilation volume (PVV), and electrocardiograph (ECG). These indices were measured using a multi-conductive physiology technique. The results showed that after participants had inhaled volatiles from P. chinensis Bunge, their OSB and FT decreased significantly (P＜ 0.05) in comparison to the control group, while the PVV increased. After inhaling the volatiles from J. chinensis cv. Kaizuka, the OSB and FT increased, while the PVV decreased. In addition, women's FT and PVV and men's OSB and PVV differed significantly from those of the control group (P＜0.05). Some ECG indices were also affected by the inhalation of volatiles. These results indicated that people tend to feel more excited or nervous when in the presence of P. chinensis Bunge, and more relaxed and comfortable while in the presence of J. chinensis cv. Kaizuka.

Abstract. Calibration techniques played an essential role of improving the pose accuracy of the industrial robot before delivery. Due to the intense competition among the industrial robot market, numerous complicated calibration approaches, which were classified into 3 levels, had been successfully developed. Yet, in practical, level-1 and level-2 calibration, other than higher level, were often used in factory for the sake of cost-effective matter. And most of the researches and applications were focused on enhancing the position accuracy while the orientation accuracy was neglected. Considering the requirement of painting process and efficiency of calibration, we proposed a practical level-2 calibration method for a spray painting robot which was designed by Industrial Robot Research Center Co. Ltd. The measuring system consisted of API laser tracker and an orientation testing End-Effector. After identification and compensation process, we found this method was more effective compares to Zero-Offset method and Direct Calibration method with the relatively competitive consumption time.

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