Kinematic Analysis of Mobile Manipulator for Measurement and Maintenance in Dangerous Environment

This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform.Then an artificial neural network to realize the coordination motion between manipulator and mobile platform is developed.On the basis of the task specifications,the algorithm determines the appropriate control variables to respond to the well tracking trajectory.The control strategy employed for either subsystem is achieved by using a robust supervised controller.A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the sys- tem.Simulation results are presented to show the effectiveness of this approach.     

Study on Information Exchange Platform for Port Logistics Based on Web Services

Information exchange platform(IEP)for port logistics is used to realize data transmission among different sys- tems and districts by Internet.This paper presents the web services technology used in transferring information for port logistics. The system architecture based on J2EE and B/S mode frame has been constructed to subscribe the distributed information.To en- sure platform independent,extensible markup language(XML)integration technology was also used in the system design.     

Diagnosis of Gearbox Typical Fault in Rolling Mills Based on the Wavelet Packets Technology

The early impulse fault diagnosis of the gearbox in rolling mills is often difficult and labour intensive because the gearbox of that high speed machine is multi-shafting transmission system,in which many gearsets and rolling bears work together at the same time and there are much complex frequency structure and various disturb.A new time-frequency method based on the wavelet packets technique was developed and used to extract the impact feature from signals collected from faulty data of one rolling mills gearbox.The method improves the signal to noise ration so that results obtained using this method represents features with fine resolution in both low-frequency and the high frequency bands.The results of analysis indicate the validity and the practicability of the method proposed here.     

基于PT在线注入信号及神经网络跟踪小波变换模极大值变化的配电网故障定位方法

提出了一种配网单相接地在线故障定位的新方法。故障发生后从变电站母线在线向系统注入高频脉冲信号并获取线路上与注入信号相对应的反射行波,在电网结构已知的情况下,通过对反射波的分析进行故障定位。该方法不仅能检测故障点的电气距离,而且能确定故障所在的分支线路,还能通过调节注入信号的大小多次定位故障,提高定位的准确性。应用该方法进行故障定位不受接地电阻的限制。通过M atlab/S imu-link进行了建模与仿真分析,仿真结果验证了该方法的正确性。     

改进的多分辨率形状匹配算法研究

形状匹配算法虽然在基于内容的视频检索中应用广泛，但由于视频数据量非常大，匹配非常耗时，因此形状匹配算法通常会成为实时视频检索的瓶颈，为了快速准确地进行形状匹配和检索，提出了一种改进的多分辨率Hausdorff距离变换算法，该算法是通过对后向匹配算法进行优化来使匹配速度大大加速，可用干进行实时车型比较和识别。实验结果表明，该改进算法在车型识别上具有速度快和准确性高的优点，尤其在模板图像比较大的情况下，此改进算法优势明显。     

单兵定位导航系统数据融合方法研究

研究单兵定位导航系统的GPS导航信息与航位推算信息的数据融合方法,采用卡尔曼滤波技术设计了联合卡尔曼滤波器,给出联合滤波算法并仿真.该滤波器具有较高的系统容错性能,数据计算量小,但局部估计精度为常规水平.     

顶管技术在输电工程施工中的应用

本文对顶管技术进行了介绍和和讨论，供同类工程施工参考     

无线网络在电力生产监控中的应用

根据当前无线网络和工业监控软件技术的发展,分析了无线局域网用于电力生产企业的优势和存在的问题,针对不同问题提出了相应的解决方法．同时,结合通辽电厂局域网的实际情况,提出了无线监控网络在电力生产企业中应用的设计方案．     

基于XML的Web查询功能的实现

Web 信息查询是 Web 应用领域中的一个重要研究课题．介绍了 XML 数据模型,并从建立 XML 数据源、Web 查询过程及查询实例3个方面,讨论了 XML 在 Web 查询中的应用．     

Synthesis and Characterization of Sm_xGd_yCe_(1-x-y)O_(2-δ) Nanopowders

SmxGdyCe1-x-yO2-δ (x+y=0.2 and x=0, 0.04, 0.08, 0.12, 0.16, 0.2) nanopowders were prepared by a copre-cipitation method. The zeta potential and sedimentation volume of Ce(OH)4 aqueous dispersions at different pH values were measured. The isoelectric point (IEP) of Ce(OH)4 suspensions is 7.0. The maximum potential value of -18.5 mV and maximum sedimentation volume of 19 ml are reached at pH=10. The evolution behaviors of the xSm(OH)3·yGd(OH)3·(1-x-y)Ce(OH)4 dried powders in the heating process was characterized by DTA/TG and XRO. The powders decompose to ceria based solid solution at a temperature below 300℃ and forms cubic fluorite structure ceria at about 650℃. The properties of SmxGdyCe1-x-yO2-δ solid solutions were characterized by XRD, TEM and BET. The lattice parameter of doped Ce02 increases linearly with increasing Sm3+ substitution (or decreasing Gd3+ substitution). The particle size of the doped ceria powders is from 5 nm to 10 nm.