关于最优等效替代法的实质及其应用条件的研究

本文研究了经济分析基本方法之一最优等效替代法的实质,系统地导出了被评价方案的绝对经济指标与相对经济指标的关系,并结合典型案例分析指出了该方法的应用条件,对正确进行建设项目的经济评价具有现实意义。     

How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Extraction of Singular Points from Dense Motion Fields: An Analytic Approach

In this paper we propose a new method to extract the vortices, sources, and sinks from the dense motion field preliminary estimated between two images of a fluid video. This problem is essential in meteorology for instance to identify and track depressions or convective clouds in satellite images. The knowledge of such points allows in addition a compact representation of the flow which is very useful in both experimental and theoretical fluid mechanics. The method we propose here is based on an analytic representation of the flow. This approach has the advantage of being robust, simple, fast and requires few parameters.     

A visual tool for computer supported learning: The robot motion planning example

We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational geometry, robotics and networking. In the robot motion planning example, CALVT enables users to setup the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions, and setting other path or environment parameters from a user-friendly interface. The path planning system involves several phases. Each of these modules is complex and therefore we provide the possibility of visualizing graphically the output of each phase. Based on our experience, this tool has been an effective one in classroom teaching. It not only cuts down, significantly, on the instructor’s time and effort but also motivates senior/graduate students to pursue work in this specific area of research.     

Mechanics of Autonomous Gas-Dynamic Torpedo Motion in Loose Medium

A new technology is considered for realizing the motion of solid body in the loose material due to alternating pulse ejections of compressed gas in the regime of traveling wave near the outer surface of the body. The dimensionless parameters are determined for scale modeling. The relation between the action factors and the value of motion is established empirically.     

一种新型基于运动补偿的自适应去隔行算法

去隔行是电视图像增强处理和视频格式转换的一项关键技术，传统的去隔行算法存在着难以克服的缺陷。文章提出了一种基于运动补偿的自适应去隔行算法，其中包括双向块匹配运动估计，消除块效应和自适应插值三个处理模块，实验证明本算法能够高质量且鲁棒地将场图像重建为帧。     

大型结构物自动称重过程的计算机控制技术

大型结构物的称重通过多个千斤顶同步顶升实现。大型结构物往往存在柔度大、重量分布不均、支点跨距大的特点。在称重过程中需要进行计算机同步控制,实现结构物的平稳顶升和下降。大型结构物自动称重以工控机为核心,基于现场总线技术,对压力传感器、位移传感器、状态设置开关、油泵换向阀和油管超高压电磁阀等设备进行网络监控,对多个支点同步协调控制和结构物的精确称重,该系统已在多个油气田工程的建造中得到实际应用。     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

弱激发氩离子激光的振荡频率特性

通过改变激光器的相对激发,观察到了氩离子激光器振荡频率的演变特性。用模竞争效应对实验现象进行了理论解释。