双机器人系统运动协调仿真与实验研究

针对具有重量大、形状不规则特征的物品,采用双机器人协同作业是该技术领域的研究热点问题之一。运用ADAMS软件对双机器人虚拟样机进行运动学仿真分析,模拟空间搬运轨迹,对DREE末端点的运动轨迹曲线进行同步误差分析。搭建了实验平台,对双机器人同步搬运箱体进行实验验证。实验结果表明:双机器人协作搬运箱体时,在水平方向和垂直方向的轨迹误差均小于±2.8mm,较好地满足同步搬运作业工艺要求。     

Performance evaluation of two-worker operations in a worker-to-cell order assorting system

This paper studies an order assorting system (OAS) composed of multiple-parallel order assorting aisles (OAAs) in a retailer’s order fulfillment center. We evaluate two worker-assignment policies for a worker-to-part OAA: a dedicated-assignment policy and a shared-assignment policy. Our analytical models evaluate the mean value and variance of worker process time including assorting time, walk time, empty walk time, and blocking time when single-line products arrive randomly. From the worker process time, we identify the system flow time of product lines per each worker-assignment policy using G/G/1 and G/G/2 queuing models. We find that the shared-assignment policy performs better compared to the dedicated-assignment policy in spite of workers’ productivity losses incurred by blocking delays over high sort probability, slow walk speed, and high magnitude and variations of inter-arrival times. At the worker-centric break-even point of worker process time, where worker process time suggests selecting either policy, system flow time always suggests selecting the shared-assignment policy.     

质量和成本约束下CSP-T和Spk集成过程控制方案

多水平连续抽样检验方案(CSP-T)是在线过程质量控制工具，但该方案的第一类风险和第二类风险都较高，且不能满足成本约束。提出了CSP-T和过程良率指数(S_pk)集成过程控制方案，该集成方案在满足质量约束的同时，以最小成本运行，并将两类风险控制在既定水平。建立了极限检验能力下的最优CSP-T方案，依据数据的计数特征驱动质量控制方案运行。基于S_pk估计的精确分布建立了风险控制方案，依据数据的计量特征驱动风险控制方案运行。质量控制方案和风险控制方案是独立互补关系。相比于CSP-T方案，检验工作量没有增加。企业案例验证了集成控制方案的可行性和有效性。     

Liquid Marble Patchwork on Super-Repellent Surface

Liquid marble (LM) is a droplet that is wrapped by hydrophobic solid particles, which behave as a non-wetting soft solid. Based on these properties, LM can be applied in fluidics and soft device applications. A wide variety of functional particles have been synthesized to form functional LMs. However, the formation of multifunctional LMs by integrating several types of functional particles is challenging. Here, a general strategy for the flexible patterning of functional particles on droplet surfaces in a patchwork-like design is reported. It is shown that LMs can switch their macroscopic behavior between a stable and active state on super-repellent surfaces in situ by jamming/unjamming the surface particles. Active LMs hydrostatically coalesce to form a self-sorted particle pattern on the droplet surface. With the support of LM handling robotics, on-demand cyclic activation–manipulation–coalescence–stabilization protocols by LMs with different sizes and particle types result in the reliable design of multi-faced LMs. Based on this concept, a single bi-functional LM is designed from two mono-functional LMs as an advanced droplet carrier.     

软件功能安全验证活动的应用

软件功能安全验证活动对提高安全关键系统的安全性具有重要作用,它贯穿于软件安全生命周期的各个阶段。通过对各阶段输出文档的审查和分析,可尽早发现软件问题,降低软件修复成本。完整的问题闭环处理流程可有效解决软件验证活动中发现的问题,给出各方均满意的处理结果。     

海外工程自动化项目的制约条件及应对措施

通过总结多个海外工程项目的投标经验，结合巴西工程，揭示了国内工程公司海外工程自动化项目的制约条件，并提出合理的应对措施，以期在今后的海外工程项目中提升国内工程公司的竞争实力。     

危机矿山问题的对策研究

危机矿山问题 ,是一个涉及矿产资源勘查与开发政策、矿业发展战略、国家资源安全和社会经济可持续发展的重要问题。本研究提出“实施资源接替勘查工程 ,加大矿业治理整顿力度 ,加大科技攻关力度”的三项建议 ;认为开展资源、矿业、矿山开发程度与发展潜力的调查与评价 ;编制我国资源矿产总体规划 ;通过国家适当政策扶持 ,发展科学发展观指导下的矿产资源的开发利用机制 ,是解决危机矿山问题最基本的工作基础和前提     

对破坏石油资源非法炼油活动的治理

分析了大庆油田内非法炼油活动的产生原因、危害和炼油方法，为保护石油资源安全和油田正常生产，提出了一些行之有效的治理方法。     

中小型叶轮给煤机监控系统设计

开发了一套基于RS485总线通讯的中小型叶轮给煤机监控系统,具有开发费用较低、通讯稳定性和实时性高、现场适应性广等特点。     

海外工程自动化项目的制约条件及应对措施

通过总结多个海外工程项目的投标经验,结合巴西工程,揭示了国内工程公司海外工程自动化项目的制约条件,并提出合理的应对措施,以期在今后的海外工程项目中提升国内工程公司的竞争实力。