PATH FOLLOWING GPS-BASED CONTROL OF SMALL-SIZE ROBOTIC UNMANNED BLIMP

Robotic unmanned blimps own an enormous potential for applications in low-speed and low-altitude exploration,surveillance,and monitoring,as well as telecommunication relay platforms. To make lighter-than-air platform a robotic blimp with significant levels of autonomy,the decoupled longitude and latitude dynamic model is developed,and the hardware and software of the flight con-trol system are designed and detailed. Flight control and navigation strategy and algorithms for way-point flight problem are discussed. A result of flight experiment is also presented,which validates that the flight control system is applicable and initial machine intelligence of robotic blimp is achieved.     

共融机器人重大研究计划研究进展

“共融机器人基础理论与关键技术研究”重大研究计划,聚焦“刚-柔-软机构的行为顺应与可控性”、“人-机-环境多模态感知与自然交互”以及“机器人群体智能与操作系统架构”三个科学问题,主要面向智能制造、医疗康复、国防安全和学科前沿四个重点方向,实施四年来取得了长足进展,构建机器人与人、机器人与环境、机器人与机器人交互的共融机器人研究体系,推动了工业机器人、服务机器人和特种机器人领域的理论和技术发展,相关科研成果为我国高端制造、康复医疗、国防安全等国家重大需求提供了坚实的理论和技术支撑。对在该重大研究计划支持下所取得的有关共融机器人的主要研究进展进行概述,内容涵盖“与环境共融的加工制造机器人”、“与人共融的康复辅助机器人”、“机器人间共融的群体智能与操作系统”以及“共融机器人前沿：新方法、新原理和新概念”,以此给出后续的重点研究方向和建议。     

RLS and LMS blind adaptive multi-user detection method and comparison in acoustic communication

RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication.     

工业机械手运动学仿真

使用Pro/Engineer建立了工业水平多关节机械手3D模型,并使用Adams作为仿真工具,实际分析了机械手的运动学和动力学特征:介绍了机械手设计的过程与方法,取得了优化的3D设计参数,为3D建模与优化提供了一种实际方法.     

Cell adhesion in renal tubular epithelial cells: Biochemistry,biophysics or both

Changes in cell-cell and cell-substrate adhesion markers are increasingly used to characterize disease onset and progression. However, these relationships depend on both the biochemical and molecular association between cells and between cells and their extracellular matrix, as well as the biophysical and mechanical properties orchestrated by cytoskeletal, membrane and matrix components. To fully appreciate the role of cell adhesion when determining normal physiology and the impact of disease on cellular function, it is important to consider both biochemical and biophysical attributes of the system being investigated. In this short viewpoint we reflect on our experiences assessing cell-cell and/or cell-matrix interactions in renal tubular epithelial cells.     

基于FPGA的FTIR光谱仪采集系统的设计

为了满足人们对于食品药品安全检测快速便携的需要,团队设计一种高速便携,延时低、精度高的新型FTIR光谱仪。光谱采集系统分为上位机和下位机2部分,系统的上位机软件设计是采用跨平台的C++图形用户界面应用程序,该框架(QT Creator)是由编程实现的,下位机的光电部分采用了MEMS微镜使仪器小型化,而下位机采集部分控制主板使用了ZYBO。使用了DAC驱动动镜移动以及ADC用于参考光和样本光数据的同步采集,进而利用多个串口实现了与上位机的完成指令控制以及采集数据传输。低波特率串口用于接收上位机控制指令。2个高波特率串口发送FIFO缓存的光谱数据。经试验验证采集系统的ADC、DAC及UART的时序控制满足了高速高效的需求。但是在便携上可进一步提高,下一步考虑通过利用Linux将上位机部分移植ZYBO内。采集控制设计完全使用了verilog代码进行了仿真与实测,发挥了FPGA的灵活特性,利用例化法提高了采集速率。     

HPLC及LC-MS技术在低聚糖检测中的应用

目的介绍HPLC以及LC-MS技术在低聚糖检测中的应用。方法对近十余年国内外发表的具有代表性的相关文章进行分析、整理和归纳。结果 HPLC可通过选用不同的分离模式、结合多种检测方法满足不同性质低聚糖的分离、分析、检测要求;HPLC和MS联用又将极大地提高分离分析效率。结论 HPLC及LC-MS技术具有灵敏度高、选择性好、应用范围广等优点,是目前低聚糖检测分析的主要方法;随着HPLC和LC-MS技术的日臻完善,它们在低聚糖检测分析中的应用将更为广泛。     

ESTABLISHMENT OF 3D FEM MODEL OF MULTI-PASS SPINNING

In order to improve the computational accuracy and efficiency,it is necessary to establish a reasonable 3D FEM model for multi-pass spinning including not only spinning process but also springback and annealing processes.A numerical model for multi-pass spinning is established using the combination of explicit and implicit FEM,with the advantages of them in accuracy and efficiency. The procedures for model establishment are introduced in detail,and the model is validated.The application of the 3D FEM model to a two-pass spinning shows the following:The field variables such as the stress,strain and wall thickness during the whole spinning process can be obtained,not only during spinning process but also during springback and annealing processes,and the trends of their distributions and variations are in good agreement with a practical multi-spinning process.Thus the 3D FEM model for multi-pass spinning may be a helpful tool for determination and optimization of process parameters of multi-pass spinning process.     

机械设计制造中机电一体化的应用研究

我国的科学技术飞速发展,在社会各个行业领域中均得到了广泛的普及和运用,机械设计制造业中加大了对机电一体化的探索和研究,提高了机械设计制造的整体水平和生产效率。机电一体化直接影响着机械制设计制造的综合水平和最终效率,实现了信息、机械、电子等技术的有机融合。本文对机械设计制造中运用机电一体化的优势进行了探讨,结合机械设计制造中机电一体化技术分析,提出了机械设计制造中机电一体化技术应用研究。     

[学科发展]润滑研究进展

过去20余年，薄膜润滑、纳米润滑、极端工况摩擦与润滑、生物润滑、绿色润滑、微量润滑等取得了重要进展。最近10余年，超滑、仿生润滑、智能润滑与监测，以及摩擦学测试技术和模拟仿真技术等研究飞速发展。微观研究已经成为润滑研究的主要手段，面向风力发电机、高铁、深空探测、深海探测、大飞机、超高速飞行器、新能源汽车等领域的润滑与密封和绿色近零排放润滑研究已经成为工业界关注的焦点。超滑作为润滑领域的新型颠覆性技术，逐步显示出其在工业生产和人类日常生活中的应用优势与勃勃发展生机。生物润滑包括人类器官中的摩擦与润滑和仿生学研究，在人类健康生活方面展示出重要作用。极端环境（高温、超低温、真空、高压等）摩擦与润滑，在卫星、火箭、舰艇、核电站及其他国防设施上用途广泛。而智能润滑等新兴领域发展，也将智能化应用到润滑领域，为设备的智能运行和制造提供了新的思路。在此，对润滑领域几个重要发展方向，如超滑、薄膜润滑、纳米润滑、极端工况摩擦与润滑、智能润滑、生物仿生学、绿色摩擦与润滑，以及摩擦学测试方法等方面进行回顾，介绍了国内外同行最新研究进展，并对未来进行了展望。