基于容错策略的球形机器人控制系统

基于容错策略对具有高可靠性的一种球形机器人控制系统进行研究。根据球形机器人自主运动的任务要求将控制问题分解为8个局部控制器,并基于局部控制器的结构研制基于多传感器的球形机器人嵌入式控制系统。这些局部控制器相互之间存在通信和信息交互的能力,在任务分配和协作方面具有自主性。基于冗余容错控制技术设计球形机器人的冗余双备份伺服控制子系统,以提高控制系统的可靠性。其中,冗余双备份伺服控制子系统是由两个相同的备份模块组成的,通过故障检测、故障定位以及系统恢复实现容错功能,而且冗余结构能够根据故障情况进行重组。基于时间容错和信息容错的技术设计球形机器人的软件系统,并设计监控软件监视软件系统的运行状态。球形机器人的控制系统试验表明基于容错策略设计的球形机器人控制系统是可行的、有效的。     

PROFINET在大型水利枢纽船闸控制系统中的运用

随着实时以太网技术的诞生,PROFINET在工业自动化各个领域被广泛使用。PRFINET基于成熟的IT技术,多样化、多介质的网络架构,多等级实时通信要求等特性能够更好地满足自动化柔性生产的需求。基于PROFINET的冗余控制系统的出现,采用PROFINET分布式异地冗余技术的系统方案在重大型基础设施领域方面,展示出优越的控制系统架构和高可靠性。     

罗克韦尔自动化针对关键控制应用提供全面且可用性高的方案

近期,罗克韦尔自动化对其高可用性产品进行了扩展,可帮助最终用户在关键控制应用中实现点对点容错功能。新功能包括冗余I/O、报警和事件服务器冗余、网络切换以及     

高可靠性容错服务器在焦化控制系统中的设计及应用

随着计算机容错技术越来越多的应用于低端服务器领域以及容错服务器价格的逐渐下降,使得应用容错服务器替代焦化控制系统中使用的传统双机热备方案成为可能.采用容错服务器方案的高速数据库及I/O服务器的连续可用性高于99.999%,同时节省了软件及系统维护成本,并从最大程度降低了人为因素对系统可靠性的影响,为焦化控制系统的数据库服务器连续运转提供了有力的保障.     

巡检机器人传感器容错控制技术的研究

本文在介绍巡检机器人分布式控制系统的基础上,分析了传感器的硬件配置和常见故障形式,提出了N模冗余容错(硬件容错)和时间冗余容错(软件容错)相结合的容错控制策略。实验结果表明,基于该容错控制策略的巡检机器人控制系统具有较好的鲁棒性,有效的保证了巡检机器人成功完成各种越障动作。     

基于PLC的泥沙输送实验平台冗余控制系统

为了解决泥沙输送实验平台控制系统可靠性不高的问题,采用硬冗余技术,以西门子400H PLC为控制核心,分别在CPU、通信网络和上位机等方面进行了冗余设计,并进行了组态和编程实现,建立了具有冗余和容错功能的泥沙输送实验台控制系统。同时,通过USS通信协议,实现了315 k W西门子MIDIMASTER系列变频器的控制和参数采集,并利用Y-Link组件将其融入到冗余系统中,降低了大功率变频器对控制系统的干扰,丰富了采集参数。实验结果表明,冗余控制系统具有很高的容错性能,可以有效避免因宕机、通信中断或CPU报错等故障所造成的实验平台失控现象,从而大大提高了实验平台的控制可靠性。     

冗余度机器人容错控制研究

对冗余度机器人运动学动力学容错控制进行了较深入的研究,以冗余度机器人容错控制是冗余特性的具体应用这一思想为出发点,利用自运动变量这种冗余参数作为容错控制系统的状态变量,对容错控制系统进行简化,并提出了利用自运动控制冗余度机器人实现各种容错的新方法。仿真结果表明这些方法具有运算简单、容错效果好的优点。     

信标冗余网络

本文描述了用于EtherNet/IP的一个协议,可以在网络基础架构和终端设备网络接口上提供多重容错功能.这种协议称为信标冗余协议或者BRP.基于BRP协议的网络可称为BRP网络.BRP网络基于ISO/IEC 8802-3(以太网)和IEEE 802.1标准以及冗余基础架构.在BRP网络中,网络切换由终端设备自己决定.B...     

基于遗传算法的可重构星载计算机永久性损伤容错技术研究

基于FPGA的可重构星载计算机在空间辐照条件下,相对传统基于ASIC的星载计算机更容易产生永久性损伤,如果仅采用传统的基于独立器件的容错方案如三模冗余或双机备份,很容易因为冗余器件容易耗尽导致系统失效。本文对FPGA永久性损伤的容错原理进行了分析,提出了利用FPGA自身冗余电路进行容错的方案。从该方案出发,围绕着错误识别、错误定位和错误修复3个核心问题,设计了容错系统的体系结构和基于遗传算法的容错算法。在不增加硬件开销的前提下,增强了基于FPGA的可重构星载计算机的容错能力。     

组合式变压器远程通讯组网实例分析

在风电场和光伏电站的组合式变压器智能化过程中,远程通信技术的选用是较重要的环节.根据实际工程应用案例,结合现场具体需求,介绍如何运用包括物联网技术在内的通信技术,规划和快速搭建一个适用于组合式变压器运行场景的复杂网络架构,并对网络进行高效地管理与维护.在进行网络规划时,对网络架构采用的具体技术方案、通信协议、技术特点、适用场景进行深入分析.该项目实施时需要用到多种协议终端设备、多种协议网络桥接设备和计算机,进行相关测试和数据统计.该项目网络架构最终成功搭建于一个适用于华中某山区风电场的组合式变压器内部,进行数据采集.其中,网络搭建技术路线选择、搭建速度和维护管理方式等较传统网络有诸多不同,设计思路和采用的物联网技术较为新颖.     

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t...     

Quantum Cooperative Robotics and Autonomy

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci...     

考虑进油孔有限长滑动轴承油膜力的近似解析解

针对具有进油孔的有限长滑动轴承油膜力求解问题,采用变分原理和分离变量法,求得了有限长滑动轴承油膜压力分布的近似解析表达式。将油膜压力分布的近似解析表达式在油膜存在区域上进行积分,即得到了油膜力。将提出的计算有限长滑动轴承油膜力方法与无限长轴承模型、有限元方法的计算结果进行了比较,发现了提出的方法与有限元方法的计算结果很接近。最后,研究了进油孔位置和进油压力对油膜存在区域、油膜力等的影响,研究结果表明进油孔位置和进油压力对油膜存在区域和油膜力有较大的影响。     

三绕组变压器的双绕组等效建模及在Matpower中的应用

针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。     

On the Relation of Load to Average Gap in the Contact Between Surfaces with Longitudinal Roughness

A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load.     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value.     

电站锅炉模糊风险评价方法研究与应用

针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。     

Non-monotonic material contrast in scanning ion and scanning electron images

30 keV Ga⁺ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z₂, and shows a non-monotonic relationship between contrast and Z₂. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z₂, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory.     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods....