基于粒子群优化算法的五自由度机械臂轨迹规划

为了让机械臂的工作时间达到最优,以自主研发的抛光机器人样机为研究对象,针对手表表壳表耳部分的抛光过程,提出PSO算法对五自由度机械臂轨迹规划进行优化,并通过MATLAB软件进行机械臂的仿真与分析。仿真结果表明,基于PSO算法的轨迹规划使机械臂在工作过程中加加速度不会产生突变,运动轨迹精度高,机械臂工作时间达到最优。     

底板带压开采工作面并行电透视探测技术应用研究

汾西矿务局水峪矿部分工作面现已面临带压开采问题，受下伏奥陶系灰岩水害影响，工作面安全回采过程中的防治水工作难度增加，尤其是带压开采工作面底板灰岩水的有效探测变得异常紧迫与重要。为了解决底板带压开采工作面富水区的探测问题，水峪矿引入了并行电透视技术，并对相应工作面进行了探测应用。并行电透视技术相对于传统音频电透视技术具有仪器智能化控制发射接收切换、一发射点并行对应多接收点、仪器智能快速高效跑极施工的3项技术优势，可体现应用现场施工高效、实际探测效果可靠的技术特点。经过对并行电透视技术及探测应用效果分析研究，证明该方法技术领先，现场施工高效，实际探测结果可靠，实用性强。     

主溜井排尘与生产分区并联回风技术研究

四川某矿山东部上部作业区域处于东、西部分区通风系统之外，针对原主通风系统无法负担此区域的实际情况，为节省新系统投资及建设周期，研究利用其1#主溜井排尘通风系统与此区域形成并联回风通路的方式解决该区域通风问题，即东部上部区域端部回风井污风与排尘风井污风并联回风汇至上部汇风中段，汇集污风统一经由上部排尘风机排至地表，该系统方案既保障了矿井东部上部作业中段（分段）生产用风与溜井排尘用风的需求，同时节约矿井东部上部系统独立建设及运行成本。     

一种大型复杂构件加工新模式及新装备探讨

大型复杂构件是航空航天、能源、船舶等领域装备的核心结构件，此类构件通常具有尺寸大、形状复杂、刚性弱等特点。传统“分体离线加工-在线检测”模式存在工艺不稳定、过程复杂、柔性差、周期长等问题，以龙门式多轴数控机床加工为代表的“包容式”加工模式，难以适应大型复杂构件的高效高质量加工制造需求。提出一种基于移动式和吸附式机器人的多机协同原位加工新模式，通过多机器人系统自主寻位、精确定位加工与加工质量原位检测，实现大型复杂构件多安装面并行铣削、制孔与打磨等作业。多机器人系统包括移动式混联机器人、吸附式并联机器人、移动式串联铣削机器人、移动式双臂加工机器人和移动式打磨机器人。构建多机协同原位加工模式，需要揭示多机器人协同原位加工行为与大型弱刚性结构件质量控制的交互机理，面临着本体、测量、工艺和集成四个方面的挑战，需要设计高灵活、高刚度的移动式和吸附式加工机器人，解决移动机器人自主准确寻位和超大结构件原位高精检测难题，攻克加工变形误差在线补偿和振动抑制技术，通过集成实现多机协同高效高精加工，为大型复杂构件的高效高质量制造提供创新技术及装备，并实现此类构件制造核心技术及装备自主可控。     

平面结构冗余并联机构的误差敏感度分析

针对一种含闭环支链的平面结构冗余并联机构进行误差敏感度分析。分析了该机构的逆运动学和正运动学。基于矩阵法建立了机构的误差模型，并通过反解、正解结合的方法对该误差模型进行了验证。基于误差模型，得到了评价机构误差敏感度的指标，绘制了各指标在工作空间内的等值线图。基于误差敏感度指标，定义了低误差敏感性工作空间，绘制了低误差敏感性工作空间在工作空间中的分布图。与平面3-RRR并联机构进行了误差敏感度对比分析。结果表明，该机构的低误差敏感性工作空间占比较大，同时可以通过调节其冗余支链不断扩大低误差敏感性工作空间，使机构在大范围空间中保持低误差敏感性。     

3D seismic and formation micro-imager (FMI) integrated study to delineate depositional pattern of Abu Madi (Upper Miocene) clastic reservoir rocks in El-Wastani gas field,onshore Nile Delta,Egypt

Ten wells (EW-4, EW-5, EW-6, EW-7, EW-8, EW-9, EW-10, EW-12, EW-13 and EW-15) were interpreted using the composite well logs, data of core analysis, gamma-ray logs, formation micro-imager logs (FMI), and 3D seismic data in SEGY format to understand the stratigraphy of the onshore, Nile Delta, Egypt.The amplitude analysis of 3-D seismic horizon slice of Lower Abu Madi rock unit together with the lithostratigraphic correlation through the study area depending on the gamma-ray log “HSGR” (left to right increasing), and the identification of type of bed geometry, nature of bed contacts, type of the sedimentary structures and the dominant formative paleocurrents by using some available borehole micro-resistivity images (FMI) and core photos. All of these techniques are used together to define the different depositional facies and depositional environment of the Messinian clastics (Lower Abu Madi rock unit), which is considered to be the main reservoir in the El-Wastani gas field, onshore Nile Delta, Egypt.The present study of depositional pattern of the Upper Miocene clastics reservoir (Lower Abu Madi rock unit) revealed that it is represented by high sinuous meandering channels or paleo-valley and three types of fluvial facies were defined; channel fill, channel margin, and floodplain basin.     

High Accuracy Network Cardinalities Estimation by Step Sampling Revision on GPU

Host cardinality estimation is an important research field in network management and network security. The host cardinality estimation algorithm based on the linear estimator array is a common method. Existing algorithms do not take memory footprint into account when selecting the number of estimators used by each host. This paper analyzes the relationship between memory occupancy and estimation accuracy and compares the effects of different parameters on algorithm accuracy. The cardinality estimating algorithm is a kind of random algorithm, and there is a deviation between the estimated results and the actual cardinalities. The deviation is affected by some systematical factors, such as the random parameters inherent in linear estimator and the random functions used to map a host to different linear estimators. These random factors cannot be reduced by merging multiple estimators, and existing algorithms cannot remove the deviation caused by such factors. In this paper, we regard the estimation deviation as a random variable and proposed a sampling method, recorded as the linear estimator array step sampling algorithm (L2S), to reduce the influence of the random deviation. L2S improves the accuracy of the estimated cardinalities by evaluating and remove the expected value of random deviation. The cardinality estimation algorithm based on the estimator array is a computationally intensive algorithm, which takes a lot of time when processing high-speed network data in a serial environment. To solve this problem, a method is proposed to port the cardinality estimating algorithm based on the estimator array to the Graphics Processing Unit (GPU). Experiments on real-world highspeed network traffic show that L2S can reduce the absolute bias by more than 22% on average, and the extra time is less than 61 milliseconds on average.     

面向踝部康复的广义球面并联机构型综合

针对现有踝关节康复机器人难以充分拟合踝关节复杂运动，人机相容性较差的问题，提出一系列与踝关节实际骨结构匹配程度更高的串联等效拟合模型。为满足踝关节串联等效拟合模型对康复机器人机构本体的功能需求，给出一种具有串联等效拟合模型的广义球面并联机构型综合方法。首先枚举出广义球面机构的基本构件及运动副，并依此构造出广义球面支链。继而基于螺旋理论分析单支链以及多支链组合对动平台的约束性能，给出支链的组合条件与原则，阐明不同支链在机构中作用的异同，并依此归纳出位置支链和姿态支链两类广义球面基本支链。最后基于基本支链的约束特性，根据支链组合条件，综合出一系列适用于踝关节康复机器人本体研究的广义球面并联机构，并通过螺旋理论证明其与踝关节串联等效拟合模型的自由度数及性质具有一致性，为此类康复机器人本体设计提供理论依据。     

用于机床减振的磁流变阻尼器优化设计

以三平动冗余驱动并联机床为研究对象,设计了一种具有位移放大功能的磁流变阻尼器,通过Ansys workbench有限元分析软件,对阻尼器的磁路饱和情况进行模拟仿真和分析,使阻尼器的阻尼出力达到最优。研究结果表明,通过优化使磁场分布更加合理,提高了阻尼器的力学性能,优化方法是可行有效的。     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.