Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of the mobile robot velocity is obtained as the simple average of the optical mouse velocity readings. Second, it is shown that a redundant number of optical mice contributes to the robustness of the least squares mobile robot velocity estimation against both measurement noises and partial malfunction of optical mice. Third, the sensitivity analysis of the least squares mobile robot velocity estimation to imprecise installation of optical mice is made, from which a practical method of optical mouse position calibration is devised. Finally, some experimental results using commercial optical mice are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

未知环境下基于约束点的移动机器人路径规划

针对未知环境中障碍物种类多样性和位置不确定性的特点,提出了基于约束点的路径规划方法。首先对机器人在未知环境中检测到的局部障碍物信息进行分类和几何特征属性描述,得其约束点信息,然后引入改进后的A*算法,将其搜索范围局限于约束点上,计算约束点的评价函数值后得到子目标点,机器人到达子目标点后,若陷入死区,则采取回溯路径策略,重新选择子目标点,否则根据该点所属的障碍物种类采取跨越或绕行避障策略,最后移动机器人在未知环境中顺利到达目标点。仿真研究说明本文提出的路径规划方法具有可行性和有效性。     

热喷焊技术在导板强化中的应用

用氧化乙炔焰热喷焊技术对普碳钢导卫装置进行表面强化，制成复合材导卫以替代高碳高合金导卫，取得较好效果。     

齿轮类零件电子束焊接结构的合理性分析

综述了齿轮类传动零部件采用电子束焊接加工的优越性，指出零件在不同结构尺寸、不同使用环境以及不同工艺状态下应选用与电子束焊接工艺相适应的焊缝结构，并对不同零件的焊缝接头结构形式的合理性进行了深入分析。     

Material flow and microstructure in the friction stir butt welds of the same and dissimilar aluminum alloys

The material flow and microstructural evolution in the friction stir welds of a 6061-Al alloy to itself and of a 6061-Al alloy to 2024-Al alloy plates of 12.7 mm in thickness were studied under different welding conditions. The results showed that plastic deformation, flow, and mechanical mixing of the material exhibit distinct asymmetry characteristics at both sides of the same and dissimilar welds. The microstructure in dissimilar 6061-Al/2024-Al welds is significantly different from that in the welds of a 6061-Al alloy to itself. Vortex-like structures featured by the concentric flow lines for a weld of 6061-Al alloy to itself, and alternative lamellae with different alloy constituents for a weld of 6061-Al to 2024-Al alloy, are attributed to the stirring action of the threaded tool, in situ extrusion, and traverse motion along the welding direction. The mutual mixing in the dissimilar metal welds is intimate and far from complete. However, the bonding between the two Al-alloys is clearly complete. Three different regions in the nugget zone of dissimilar 6061-Al/2024-Al welds are classified by the mechanically mixed region (MMR) characterized by the relatively dispersed particles of different alloy constituents, the stirring-induced plastic flow region (SPFR) consisting of alternative vortex-like lamellae of the two Al-alloys, and the unmixed region (UMR) consisting of fine equiaxed grains of the 6061-Al alloy. Within all of these three regions, the material is able to withstand a very high degree of plastic deformation due to the presence of dynamic recovery or recrystallization of the microstructure. The degree of material mixing, the thickness of the deformed Al-alloy lamellae, and the material flow patterns depend on the related positions in the nugget zone and the processing parameters. Distinct fluctuations of hardness are found to correspond to the microstructural changes throughout the nugget zone of dissimilar welds.     

绝缘门极双极性晶体管（IGBT）在焊接逆变器中的应用

本文介绍绝缘门极双极性晶体管(IGBT)的基本结构、工作原理、开关特性以及在焊接逆变器中的应用。     

Ni－Fe－Cr－B－Si涂层超塑扩散焊接的强化效应及耐磨性

研究了Ｎｉ－Ｆｅ－Ｃｒ－Ｂ－Ｓｉ合金涂层超塑性扩散焊接及焊接后的强化效应。通过对涂层的组织结构分析、硬度及耐磨性能的测试表明，当基材（５ＣｒＭｎＭｏ钢）与涂层产生协调超塑变形时，涂层原颗粒间、涂层与基材结合界面完全焊合。超塑焊合后的涂层比高频重熔及火焰重熔涂层硬度（ＨＶ）提高１００－１５０，耐摩擦磨损性能提高３０％。指出，沉淀强化、细晶强化及晶内位错密度增加是引起涂层强化效应和提高耐磨性的主要因素。     

焊缝跟踪技术的研究与展望

本文回顾了电弧焊接的焊缝跟踪技术，并重点对该技术的发展趋势进行了介绍与分析，