一种基于力觉的机器人对孔装配方法

针对带电作业机器人更换金属氧化物避雷器过程中精确对孔装配的需要,提出一种基于力觉自主控制机器人在绝缘横担上寻孔并装配避雷器的方法。控制过程中针对避雷器下端头的特殊形状以及电杆绝缘横担的作业场景,在机器人末端加装力觉传感器,将转换后的力作为被控量,设计一种由触担、寻孔、渐入和插入四个过程构成的对孔装配策略,使机器人能够将避雷器的下端头准确地插入横担上的安装孔。试验结果验证了所提方法的有效性。     

状态维修机械设备的可靠性和检测更换策略

大多数机械设备有三种运行状态:正常状态、异常状态和故障状态。设备被检测诊断为异常后进行状态维修,而设备故障后进行故障维修。假设状态维修能修复如新,故障维修修复非新。引进单调随机过程描述故障维修修复非新的情况。在状态维修能修复如新故障维修修复非新等假设下,利用概率分析和矢量Markov过程方法研究了状态维修机械设备的可靠性和检测更换策略,导出了设备的可靠性指标与稳态收益率的明显表达式,以及最优检测更换策略的可行性判别准则,最优检测更换策略可用解析方法或数值方法求得。实例研究表明,研究结果可为提高机械设备可靠性、安全性和经济效益提供科学的参考依据。     

基于GASA的柔性作业车间动态调度研究

针对柔性作业车间调度在机器故障扰动情况下的动态性及工件交货期模糊的情况,研究采用基于事件与周期混合驱动的滚动窗口再调度策略,并运用线性加权和的方法,以最大完工时间最小、能耗最小、客户满意度最大为目标,建立多目标柔性作业车间动态调度模型,并设计了遗传算法与模拟退火算法结合的GASA算法。将算例仿真结果与遗传算法取得的结果进行对比,验证算法的有效性。     

“世界一流”大学成功的实践和需要关注的问题

本文从科学研究与成果转化、区域经济的联系，大学科技园的建设等方面反思了建设“世界一流”大学的发展战略、成就和经验，并由此提出需要关注的问题：大学的科研应当把注意力放在基础研究而不是技术改造上；不能过分强调自然科学的重要性而忽视社会科学和人文学科在知识创新中的作用，不能过分强调科学研究和知识生产而忽视教学工作；对世界一流大学的投入不是简单的解决几所“世界一流”大学建设的经费问题，而是国家发展的战略问题。     

Development and Verification of the Equilibrium Strategy for Batteries in Electric Vehicles

The inconsistency of the cells in a battery pack can affect its lifespan,safety and reliability in the electric vehicles.The balanced system is an effective technique to reduce its inconsistency and improve the operating performance.A hybrid equilibrium strategy based on decision combing battery state-of-charge (SOC) and voltage has been proposed.The battery SOC is estimated through an improved least squares method.An equalization hardware in loop (HIL) platform has been constructed.Based on this HIL platform,equilibrium strategy has been verified under the constant-current-constant-voltage (CCCV) and dynamic-stress-test (DST) conditions.Experimental results indicate that the proposed hybrid equalization strategy can achieve good balance effect and avoid the overcharge and over-discharge of the battery pack at the same time.     

Application of the phase extension method in virus crystallography

The procedure for phase extension (PX) involves gradually extending the initial phases from low resolution (e.g. ～8?Å) to the high-resolution limit of a diffraction data set. Structural redundancy present in the viral capsids that display icosahedral symmetry results in a high degree of non-crystallographic symmetry (NCS), which in turn translates into higher phasing power and is critical for improving and extending phases to higher resolution. Greater completeness of the diffraction data and determination of a molecular replacement solution, which entails accurately identifying the virus particle orientation(s) and position(s), are important for the smooth progression of the PX procedure. In addition, proper definition of a molecular mask (envelope) around the NCS-asymmetric unit has been found to be important for the success of density modification procedures, such as density averaging and solvent flattening. Regardless of the degree of NCS, the PX method appears to work well in all space groups, provided an accurate molecular mask is used along with reasonable initial phases. However, in the cases with space group P1, in addition to requiring a molecular mask, starting the PX at a higher resolution (e.g. 6?Å) overcame the previously reported problems due to Babinet phases and phase flipping errors.     

Environmental integration in European Commission development co-operation programming: experiences in the use of country environmental profiles

Efforts have been made to mainstream the environment in European Commission (EC) development co-operation. In programming, the main tool is the Country Environmental Profile (CEP) which informs, from an environmental point of view, the preparation of Country Strategy Papers (CSPs). Recently CEPs have improved significantly; they have different entry points in CSPs and the results of environmental integration can be found in a series of ‘environmental integration outputs’. This paper describes the structure of CEPs, their place in the EC cycle of operations and how they can influence CSPs. It shows, through case studies, the impact CEPs are having on CSPs, resulting in CSPs that prepare the ground for more effective environmental integration throughout the cycle of operations.     

Regional and Global Technological Knowledge Search Strategies and the Innovative Performance of Large Multinational Corporations

This study focuses on the innovative performance implications of large MNCs' regional and global technological knowledge search strategies. In networked MNCs, the parent can still offer valuable knowledge to subsidiaries. The parent's and a subsidiary's knowledge becomes complementary if an MNC appropriately adopts a global strategy at the parent level and a regional strategy at the subsidiary level. An analysis of the world's largest firms in the Electrical Equipment industry shows that, in general, a global strategy improves the innovative performance of the MNC. Meanwhile, only the combination of a global strategy at the parent level and a regional strategy at the subsidiary level is positively associated with the innovative performance of the MNC. This study contributes to the literature on networked MNCs and the debate of globalization and regionalization. Managerial implications are discussed as well.     

市政工程造价的优化策略分析

近年来，全国各地为了提高城市功能、改善投资环境，纷纷进行大规模的市政基础设施建设。市政建设项目既要做到尽可能地节约资金，又能完成市政项目建设。本文就如何控制市政工程造价进行了分析，并提出了若干的优化建议。