Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

Important features of Iris OSQL

OSQL is the object-oriented database language developed for the Iris object-oriented database management system at Hewlett-Packard Laboratories. Its three fundamental constructs are objects, types, and functions. This paper provides an overview of the underlying concepts and some important features of OSQL.     

构皮滩水电站尾水隧洞特大断面软岩开挖支护

构皮滩水电站尾水隧洞软岩不良地质洞段占尾水隧洞全长的70%以上,确保软岩洞段的安全快速开挖是尾水隧洞施工的关键,尤其一次支护的强度对洞室稳定影响极大。为此,施工中根据软岩的地质特点及尾水隧洞开挖的断面尺寸,采取分层开挖和超前锚杆的施工方式和型钢拱架进行一次支护。根据监测结果,围岩变形很小,一次支护效果良好,表明构皮滩水电站尾水隧洞大断面软岩采取的开挖方式和一次支护方式是成功的。     

论校园文化和德育目标的一致性

中系统介绍了校园化和德育目标的关系，并找准两之间的结合点，通过分析两的一致性和辩证统一关系，达到育人目的。     

A Method of Measuring Current–Voltage Characteristics Based on the Hammerstein–Chebyshev Model

A method of measuring the current–voltage characteristics of nonlinear components is proposed, which involves applying a sinusoidal voltage to the object being measured, finding the Fourier spectrum to read out the output current, and a calculation using the spectrum of the coefficients of the expansion of the measured characteristic in Chebyshev polynomials. The properties of the Hammerstein–Chebyshev model are considered, a block diagram of a measuring instrument is presented, and recommendations are made for minimizing the systematic errors due to approximating their characteristics by Chebyshev polynomials.     

海洋软管增强层的选择及结合方式

当前输油管道软管的应用越来越广，尤其是陆上石油开采日趋贫乏，海庆石油开采比重将越来越大，势必将对海洋用软管的需求不断加大。而对海洋软管技术要求也不断提高，其中大多是针对软管内的增强层所提出的。论述了海洋软管增强层的结构形式、技术要求、材质选择等几方面内容，考察了不同增强层对海洋软管耐压性、耐蚀性、屈挠性、粘合性等指标的影响。     

一种新的图像水印方案

目标区域是图像中视觉上最重要的部分。针对现有的水印算法很少考虑图像中确定的目标区域这一问题，提出了一种基于目标区域的水印方案(WIOR)。方案首先利用小波变换分析图像的目标特征，并依据图像的小波高频系数特征对其进行聚类，获得水印的嵌入域，在此嵌入域中，选择小波系数并对其进行量化调制来嵌入二值扩谱水印；同时，通过只在图像的局部区域内嵌入较少的水印信息来改善水印的隐蔽性。实验结果表明，该方案对于一类具有突出目标特征的图像具有较好的效果。嵌入的水印主要优势在于真正把水印嵌入图像的视觉重要部分，从而能有效地抵御剪切攻击，而且可以实现盲检测。     

浅谈软弱地基应用干振法加固施工技术

分析了软弱地基干振法的加固原理及承载力特点，介绍了加固施工过程的程序及有关注意事项，对施工中的疑难问题提出了处理措施，总结了该施工技术的诸多优点。     

某热电厂冷却塔地基沉降变形的原因分析

针对某热电厂冷却塔地基沉降变形所出现的问题,该文从勘察资料入手,结合工程设计要求、施工情况以及检测成果找出了造成冷却塔产生不均匀沉降的原因并对此原因进行了对比分析,得出了许多有益的结论。为以后地基的补强加固找出了根据。对类似工程具有借鉴意义。     

PTC预应力管桩在软土地基处理中的施工工艺

结合PTC预应力管桩在沪宁高速公路扩建工程中的应用，从路基底板的施工、PTC预应力管桩的施工方面对其施工工艺进行了介绍，总结了PTC预应力管桩在软土地基处理中的应用优点。