共查询到19条相似文献,搜索用时 78 毫秒
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带拖车的移动机器人系统的动力学研究 总被引:1,自引:0,他引:1
本文研究由一个牵引车和N-1个拖车所组成的移动机器人系统的动力学。采用KANE方法建
立此系统的动力学模型,其中导出式系数的计算采用了递归算法,基于此进一步给出拖车节
数变化后系统动力学模型重构方法。 相似文献
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针对目前局部路径规划算法只适用于单车体机器人的问题,提出了一种针对拖车式移动机器人的动态窗口法。首先,利用多车体结构的路径跟踪方程实现对拖车式移动机器人的运动控制;然后,利用评价函数同时对牵引车和拖车进行评价并根据权重相加;最后,针对拖车结构特性,添加了运动过程中牵引车与拖车的夹角约束,保证运动轨迹的稳定性。仿真实验表明:拖车式移动机器人的运动控制可满足收敛性,同时所提算法实现了拖车式移动机器人局部路径规划的任务,且在运动过程中夹角变化均未超出限制。该研究对拖车式移动机器人的自主导航有极大的参考价值。 相似文献
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可移动卸料小车主要用于散状物料处理、矿山、堆场、冶金工厂以及港口设备中,它将物料卸在不同的料棚或仓位之中。本文以唐山中厚板厂烧结配料仓卸料小车为例,介绍了卸料小车的工艺要求、自动对位控制系统方案并给出了主要控制软件。 相似文献
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离轴式拖车移动机器人属于非完整系统,当车头线速度随时间变化且过零变号时,难以用一个控制器实现系统对期望路径的跟踪.本文研究离轴式拖车移动机器人系统的任意路径跟踪问题.首先由系统和虚拟小车的运动学方程得到误差状态模型,线性化后用坐标变换将其化为标准型,然后基于Lyapunov方法构造出一种跟踪控制律.只要车头的运动线速度有界且不趋于零,其导数有界,则所设计的控制律就可以保证系统跟踪任意的期望路径,且跟踪误差最终一致有界,最终界的大小与期望路径的曲率变化率成比例.当期望路径的曲率变化率为零或趋于零时,所设计的控制律可以保证拖车移动机器人指数收敛到期望路径.仿真结果证实了控制律的有效性. 相似文献
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The present study evaluated the reliability and validity of the Triage Assessment Survey: Organizations (TAS:O), a 27-item, 5-point, Likert summated rating scale. One hundred and seventeen participants responded to the TAS:O after reading mild, moderate, marked and severe organizational crisis scenarios. The overall Cronbach's alpha and split-half reliability were both .93. Confirmatory factor analysis revealed three factors, supporting the hypothesis that the TAS:O is comprised of three distinct factors (i.e., Affect, Behavior, and Cognition). An analysis of variance provided evidence that the TAS:O has the capacity to distinguish among mild, moderate, marked, and severe crises. Because this research is the first to evaluate the TAS:O, further studies are needed to strengthen confidence in the psychometric properties of this scale. 相似文献
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A method of transient adaptive sub-cells (TAS) suitable for unstructured grids that is modified from the existing one for the structured grids of DSMC is introduced. The TAS algorithm is implemented within the framework of a parallelized DSMC code (PDSC). Benchmarking tests are conducted for steady driven cavity flow, steady hypersonic flow over a two-dimensional cylinder, steady hypersonic flow over a cylinder/flare and the unsteady vortex shedding behind a two-dimensional cylinder. The use of TAS enables a reduction in the computational expense of the simulation since larger sampling cells and less simulation particles can be employed. Furthermore, the collision quality of the simulation is maintained or improved and the preservation of property gradients and vorticity at the scale of the sub-cells enables correct unsteady vortex shedding frequencies to be predicted. The use of TAS in a parallel-DSMC code allows simulations of unsteady processes at a level to be carried out efficiently, accurately and with acceptable computational time. 相似文献
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针对科技服务业的人才特征,以心理学、生理学和社会学作为理论基础.设计和实现面向科技服务业的人才测评系统,完整地实现整个测评业务流程,并具有在线测试管理.实时监控和反馈,文件和报告自动生成等功能特点,为高新技术企业招聘人才提供一个科学和高效的方式。 相似文献
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Daniela Schmid 《人机工程学与制造业中的人性因素》2022,32(1):66-88
The technology acceptance scale (TAS) by van der Laan, Heino, and De Waard (1997) measures the psychological construct of the same term as a sum of attitudes of an operator toward a specific complex sociotechnical system. The TAS has been claimed to comprise two subscales, usefulness and satisfaction. However, recent empirical work has found evidence for only one underlying factor. To provide further insight into the factor structure of the TAS, this study adopts a Bayesian exploratory factor analysis (BEFA) to analyse the data of a flight simulation study regarding single pilot operations. A series of Markov chain Monte Carlo (MCMC) models is used to assess the latent factor structure of the TAS for the two different crewing conditions and their corresponding workstation and cockpit setups of the copilot. A reliable step-by-step data analysis of the MCMC models provides evidence for a one-factor solution of the scale. The divergence to the previous studies which claim two factors can be due to the different applications as well as due to different statistical paradigms and methodological issues in exploratory factor analysis. 相似文献
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中国一拖集团有限公司是我国"一五"时期兴建的156个重点建设项目之一。一拖目前已发展成为以农业装备、工程机械、动力机械、主机和零部件制造为主要业务的大型综合性机械制造企业集团。为了增强工厂的生产管理以及增强综合市场竞争力,一拖集团决定在新工业园区的大轮拖生产车间建立一套成熟、可靠的MES系统来支持生产管理信息化的控制。 相似文献