梯形断面水力计算的一种新方法

本文从梯形水力最优断面的基本思路出发，通过理论分析找到了梯形断面水力计算的一种新方法——即通过特征参数进行梯形断面的水力计算。     

Optimal size,hydraulic retention time and volatile solids loading rate of biogas unit using water hyacinth

With a view to evaluate the effects of hydraulic retention time and volatile solids loading rate on methane production using water hyacinth, experiments were conducted in a 160 dm³ capacity, well-mixed continuous digestion unit at ambient temperature. The optimal design of biogas plant using water hyacinth was elucidated, to provide a unit giving a maximum methane yield of 0.16 nm³ kg^?1 volatile solids added, which was 60% greater than the conventional plant using cowdung. The calculations of optimal design factors were based on reactor size, hydraulic retention time and volatile solids loading rate; considerations were made of capital cost, running costs and operational revenue.     

现役大坝泄洪能力风险率的MC分析

在水工水力学模型研究成果基础上,采用MC法对现役大坝泄洪能力风险率做进一步探讨,研究表明:(1)水力的不确定性对大坝防洪安全确实存在影响,但风险值较小;(2)国内绝大多数大中型现役坝的水力风险几近为0,设计偏于保守.由此可见,确定基于风险分析的大坝防洪安全标准和设计洪水标准,并据此来确定大坝坝顶高程,是非常必要的.     

壳体理论在水压爆破中的应用

在壳体理论的基础上,考虑到薄壳型结构水压爆破的特点,提出了一种新的药量计算公式,并得到了初步实际工程验证.     

物探螺旋钻机钻杆液压夹紧机构的设计计算

利用ANSYS大型有限元分析软件,对新设计的物探螺旋钻机钻杆液压夹紧机构进行了数值模拟分析计算。分析计算结果表明,当钻杆液压夹紧机构的钳体材料选择ZG310-570,所用液压马达的排量为390 mL/r时,该系统在最小驱动压力4.82 MPa、最大驱动压力7.30 MPa时才能正常工作。这种数值模拟分析为进一步改善钻杆液压夹紧机构的受力,改进机构的设计提供了依据。     

水利工程建设项目的风险分析

水利工程建设中潜藏着众多风险，对风险进行有效分析是工程顺利建设的重要保证。水利工程风险分析是由风险识别、估算、评价、管理、控制决策等组成的科学体系。明确了水利工程中风险的定义，识别了水利工程的风险因素，论述了风险估算和评价的方法，并提出对工程风险进行管理和控制，以保证工程建设顺利进行。     

CSP连铸机大型液压缸的故障分析与改进

论述引进德国SMS连铸机大包托臂液压缸存在的寿命短问题，分析设计制造缺陷．通过增大缸头密封支持面、(φ600)内圆孔倒角、再增加一道软支撑环、缸头导向部分开润滑槽、改进球杆的润滑流道、柱塞杆整体淬火等措施，消除了原来的问题．同时分析了此项改进的技术经济效果．     

Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

Global Level Path Planning for Mobile Robots in Dynamic Environments

This paper presents a self-adapting approach to global level path planning in dynamic environments. The aim of this work is to minimize risk and delays in possible applications of mobile robots (e.g., in industrial processes). We introduce a hybrid system that uses case-based reasoning as well as grid-based maps for decision-making. Maps are used to suggest several alternative paths between specific start and goal point. The casebase stores these solutions and remembers their characteristics. Environment representation and casebase design are discussed. To solve the problem of exploration vs. exploitation, a decision-making strategy is proposed that is based on the irreversibility of decisions. Forgetting strategies are discussed and evaluated in the context of case-based maintenance. The adaptability of the system is evaluated in a domain based on real sensor data with simulated occupancy probabilities. Forgetting strategies and decision-making strategies are evaluated in simulated environments. Experiments show that a robot is able to adapt in dynamic environments and can learn to use paths that are less risky to follow.     

牵引一制动型液力变矩器原始特性研究

 基于束流理论建立了牵引一制动型液力变矩器原始特性参数计算数学模型．对以D430型液力变矩器为原
型设计的牵引一制动型液力变矩器进行了原始特性参数计算，并将计算结果同D430型液力变矩器原始特性参数进
行了比较分析，结论合理． 对设计牵引一制动型液力变矩器具有一定的指导意义．