水力自动翻板闸门的瞬心轨迹及其对稳定性的影响

分析了连杆滚轮式水力自动翻板闸门的运动轨迹，并由此得出闸门动、静坐标系间的转换关系．结合翻板闸门的运转机理，探讨了闸门在运行过程中的瞬心轨迹线及其对闸门稳定性的影响．结果表明，通过优化闸门结构可调整“瞬心”的位置，保证闸门运转的稳定性．     

Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Evaluation of a proper controller performance for maximum-power point tracking of a stand-alone PV system

In this paper the implementation of a suggested stand-alone PV system, for maximum-power point tracking (MPPT), is carried out. Also, this paper presents a comparative study, through experimental work, between the conventional PI controller and the fuzzy logic controller (FLC) under different atmospheric conditions. The implemented system with both the PI controller and the FLC gives a good maximum-power operation of the PV array, but the tracking capability for different optimum operating points is better and faster for the case of using the FLC compared to the case of using the PI controller.     

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.     

Robust图像跟踪：强度—特征混合式目标定位

在像平面上确定目标的位置(由它的瞄准点位置表示)是图像跟踪技术的核心.目前研究的目标是图像定位方法多偏重于单一的工作模式,因而难以适应变化较大的使用环境.本文提出一种旨在综合利用强度相关和特征匹配的混合式目标图像定位方法.假定当前帧图像已经过预处理并完成分割,首先通过一种自适应门限SSDA并辅之以投影排序搜索,尽可能快速地剔除与参考图差别较大的子区;再用一种简便可靠并可具一定记忆能力的特征匹配法,在保留的子区集内,为目标精确定位——宣布瞄准点位置.利用实际序列图像所作实验表明:上述方法较之通常采用的单一工作模式的定位方法,有明显增强的Robust性以及更广的适应性,而增加的计算代价不大.     

机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

星间激光通信技术进展与趋势

较详细地评述了目前国外卫星间光通信技术研究的现状．根据关键单元技术的进展情况，总结了未来星间光通信系统的发展趋势。     

Characterisation of a 300× photovoltaic concentrator system with one-axis tracking

A solar concentrator with one-axis tracking is being developed at our institute. This concentrator system achieves a high geometrical concentration ratio of 300 using a parabolic trough mirror and a three-dimensional second stage consisting of compound parabolic concentrators. The design of the system as well as the characterisation of the second stage is described in this paper.     

外焊缝自动跟踪系统

介绍了外焊缝自动跟踪系统的组成及工作原理，简述了传动部分ＧＴＲ－ＰＷＭ调速系统，给出了系统的硬件电路。该跟踪器具有结构简单，体积小，性能稳定等特点，在生产线上获得了成功的应用。     

基于i860的存储器子系统设计

微处理机系统中的存储器子系统设计对整个系统性能的高低有重要的影响，尤其当微处理器的主频越来越高时。本文结合实际例子，给出了一个基于ｉ８６０处理器（４０ＭＨｚ）的主存设计方案，讨论了实际中需仔细考虑的因素。该设计可为其它高性能ＲＩＳＣ系统设计提供参考。