基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

地表径流速度对城市内涝影响规律

为分析地表径流速度对城市内涝的影响,采用一维地下排水管网与二维城区地形的动态耦合模型,选取大连市某排水区块作为研究区域,设置4种地表径流速度10种设计降雨场景,模拟分析在不同重现期设计降雨及不同地表径流速度下研究区的内涝积水特性。结果表明:随着地表径流速度降低,管道排水压力变小,管道排水达标率最高可提升48.05%,且降雨重现期越短,地表径流流速对管道排水压力的削减效果越明显;地表径流流速对检查井溢流量影响显著,随着地表径流速度降低,检查井溢流量峰值最高可减小2 750 m~3,峰现时间最长可滞后56 min,同时随着降雨重现期增长,地表径流流速对检查井溢流量的削减效果减弱;研究区低、高风险区淹没面积随地表径流速度降低,最高可分别减小1.64万、8.37万m~2,但中风险区淹没面积变化反复。     

120m高钢筋混凝土烟囱爆破拆除

介绍了用定向控制爆破方法拆除吉化电石厂120m钢筋混凝土烟囱的经验。针对该烟囱下部有1个门和3个窗户的特殊结构,选择倒梯形爆破切口,以增强预留支撑面的强度。为防止烟囱落地产生震动和前冲,在倒塌的前方设置了减震带和阻冲挡土墙。文中同时还阐述了参数的选择与计算,以及爆破效果。文中总结的四点经验值得借鉴。     

减振沟对爆破振动加速度峰值减振效应的试验研究

通过对减振沟开挖前后两个阶段爆破振动加速度峰值的监测,采用回归分析的方法,得到两种情况下的萨道夫斯基经验公式。通过对比分析的方法,得到减振沟对振动加速度峰值的减振规律。结果表明,合理的开挖减振沟可有效地降低爆破振动加速度峰值。     

An active balancer with rapid bidirectional charge shuttling and adaptive equalization current control for lithium-ion battery strings

This article proposes an active balancer, which features bidirectional charge shuttling and adaptive equalization current control, to fast counterbalance the state of charge (SOC) of cells in a lithium-ion battery (LIB) string. The power circuit consists of certain bidirectional buck-boost converters to transfer energy among the different cells back and forth. Owing to the characterization of the open-circuit voltage (OCV) vs SOC in LIB being relatively smooth near the SOC middle range, the SOC-inspected balance strategy can achieve more precise and efficient equilibrium than the voltage-based control. Accordingly, a compensated OCV-based SOC estimation is put forward to take into account the discrepancy of SOC estimation. Besides, the varied-duty-cycle (VDC) and curve-fitting modulation (CFM) methods are devised herein to tackle the problems of slow equalization rate and low balance efficacy, which arise from the diminution in balancing current as the SOC difference between the cells decreases in the later duration of equalization especially. The proposed strategies have taken the battery nonlinear characteristic and circuit parameter nonideality into account and can adaptively modulate the duty cycle with the SOC difference to keep balancing current constant throughout the balancing cycle. Simulated and experimental results are given to demonstrate the feasibility and effectiveness of the same prototype constructed. Compared with the fixed duty cycle and the VDC methods, the proposed CFM has the best balancing efficiency of 81.4%, and the balance time is shortened by 27.1% and 18.6%, respectively.     

切顶卸压技术在双鸭山矿区沿空留巷中的应用

为了使双鸭山矿区煤炭资源最大程度地被采掘,减少资源浪费,提高矿井效益,延长矿井服务年限及促进矿井安全生产,以双鸭山矿区3个缓倾斜中厚煤层综采工作面为工程背景,对切顶卸压无煤柱开采技术进行深入探索,经过实际的检验证明,在双鸭山矿区缓倾斜中厚煤层中,采用切顶卸压技术进行沿空留巷,技术可行,经济合理,工艺简单,成巷率高。     

从蚕的生命到艺术：中国古代生命观的哲学表达

中国考古出土的蚕业实物及蚕的艺术形象比较丰富,蚕的艺术形象如蚕纹、陶蚕蛹、牙雕蚕、玉石蚕、铜蚕、金蚕等,可统称为"蚕的模拟形态"。对蚕的模拟形态的功用,已有的诸多解释都有待完善。研究表明,蚕的模拟形态或艺术形象表达的功用或为饰品,或为装饰图案,或有待进一步考究。但无论哪种功用,用"蚕"这一形象都蕴含了特有的用意。通过对中国古代生命观的考察,文章认为蚕的艺术形象折射出相应的中国古代哲学生命观,即中国古人追求的死而复生、生生不息、羽化成仙、长乐无极等观念。     

Application of robust machine learning methods to modeling hydrogen solubility in hydrocarbon fuels

Having accurate information about the hydrogen solubility in hydrocarbon fuels and feedstocks is very important in petroleum refineries and coal processing plants. In the present work, extreme gradient boosting (XGBoost), multi-layer perceptron (MLP) trained with Levenberg–Marquardt (LM) algorithm, adaptive boosting support vector regression (AdaBoost?SVR), and a memory-efficient gradient boosting tree system on adaptive compact distributions (LiteMORT) as four novel machine learning methods were used for estimating the hydrogen solubility in hydrocarbon fuels. To achieve this goal, a database containing 445 experimental data of hydrogen solubilities in 17 various hydrocarbon fuels/feedstocks was collected in wide-spread ranges of operating pressures and temperatures. These hydrocarbon fuels include petroleum fractions, refinery products, coal liquids, bitumen, and shale oil. Input parameters of the models are temperature and pressure along with density at 20 °C, molecular weight, and weight percentage of carbon (C) and hydrogen (H) of hydrocarbon fuels. XGBoost showed the highest accuracy compared to the other models with an overall mean absolute percent relative error of 1.41% and coefficient of determination (R²) of 0.9998. Also, seven equations of state (EOSs) were used to predict hydrogen solubilities in hydrocarbon fuels. The 2- and 3-parameter Soave-Redlich-Kwong EOS rendered the best estimates for hydrogen solubilities among the EOSs. Moreover, sensitivity analysis indicated that pressure owns the highest influence on hydrogen solubilities in hydrocarbon fuels and then temperature and hydrogen weight percent of the hydrocarbon fuels are ranked, respectively. Finally, Leverage approach results exhibited that the XGBoost model could be well trusted to estimate the hydrogen solubility in hydrocarbon fuels.     

Electromagnetic transients in the control system of output parameters of a solar power plant in Tajikistan Central Asia region

At present, as the demand for electricity increases in all sectors, there is an urgent need to introduce alternative renewable energy sources into modern energy systems. Renewable energy sources, which consist of solar (photovoltaic, PV), wind and hydro power, are key alternative sources of “green energy’’ energies, but it can also be used to produce “green” hydrogen. Thanks to scientific and technological progress, the cost of photovoltaic solar radiation converters is constantly decreasing at a high rate, which makes it possible to build solar power plants of sufficiently large capacity. In the coming decades, solar energy will become an incentive for the economic development of countries that have the maximum “solar” resource. The Republic of Tajikistan is one of these countries with a high potential for solar energy.The article presents an analysis of the resources and potential of solar energy in the Republic of Tajikistan. The study of electromagnetic transients in networks with photovoltaic solar power plants is performed. The main equations, simulation model and calculations of transients are presented, taking into account changes in voltage on DC buses. An algorithm for controlling the system of automatic control of output parameters is proposed. The analysis of dynamic and static modes in parallel operation of a solar power plant with the grid is carried out. A block diagram and computer model is constructed in the MATLAB package together with Simulink and Power System Blockset.