人体步行规律与仿人机器人步态规划

从仿生学角度分析了人体的步行运动规律,提出了一种基于人体运动规律的仿人机器人步态参数设定方法.首先对人体步行运动数据进行捕捉并分析,得出人体各步态参数间的函数关系,以人体步行相似性作为评价指标,提出仿人机器人步态参数的设定方法.其次,通过分析人体在步行过程中的补偿支撑脚偏航力矩的基本原理,提出了基于双臂及腰关节协调运动的仿人机器人偏航力矩补偿算法,以提高仿人机器人行走的稳定性.最后通过仿真及实验验证了所提出的步态规划方法的正确性及有效性.     

数据驱动的冷却水塔建模与节能优化操作

针对冷却水塔的节能操作给出了一种数据驱动的建模与优化方法。首先,基于冷却水塔实际运行数据,应用非负绞杀变量选择方法给出一个自适应模型用于描述冷却水塔过程,该模型对于冷却水塔出口水温具有良好的预测精度。根据变量选择结果,分析了外界空气温度与湿度对冷却能力的影响。然后,提出了基于模型的冷却水塔风机的优化操作策略,并进行实验将之应用于冷却水塔的操作。研究结果显示,基于模型的优化操作具有较大的节能空间。     

Surface performance of workpieces processed by electrical discharge machining in gas

The surface performance of workpieces processed by electrical discharge machining in gas(dry EDM)was studied in this paper.Firstly,the composition,micro hardness and recast layer of electrical discharge machined(EDMed)surface of 45 carbon steels in air were investigated through different test analysis methods.The results show that the workpiece surface EDMed in air contains a certain quantity of oxide,and oxidation occurs on the workpiece surface.Compared with the surface of workpieces processed in kerosene,fewer cracks exist on the dry EDMed workpiece surface,and the surface recast layer is thinner than that obtained by conventional EDM.The micro hardness of workpieces machined by dry EDM method is lower than that machined in kerosene,and higher than that of the matrix.In addition,experiments were conducted on the surface wear resistance of workpieces processed in air and kerosene using copper electrode and titanium alloy electrode.The results indicate that the surface wear resistance of workpieces processed in air can be improved,and it is related with tool material and dielectric.     

3D reconstruction method based on contour features

To guarantee the accuracy and real-time of the 3D reconstruction method for outdoor scene, an algorithm based on region segmentation and matching was proposed. Firstly, on the basis of morphological gradient information, obtained by comparing color weight gradient images and proposing a multi-threshold segmentation, scene contour features were extracted by a watershed algorithm and a fuzzy c-means clustering algorithm. Secondly, to reduce the search area, increase the correct matching ratio and accelerate the matching speed, the region constraint was established according to a region''s local position, area and gray characteristics, the edge pixel constraint was established according to the epipolar constraint and the continuity constraint. Finally, by using the stereo matching edge pixel pairs, their 3D coordinates were estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield a high stereo matching ratio and reconstruct a 3D scene quickly and efficiently.     

Structural Reliability Analysis for Implicit Performance with Legendre Orthogonal Neural Network Method

In order to evaluate the failure probability of a complicated structure, the structural responses usually need to be estimated by some numerical analysis methods such as finite element method (FEM). The response surface method (RSM) can be used to reduce the computational effort required for reliability analysis when the performance functions are implicit. However, the conventional RSM is time-consuming or cumbersome if the number of random variables is large. This paper proposes a Legendre orthogonal neural network (LONN)-based RSM to estimate the structural reliability. In this method, the relationship between the random variables and structural responses is established by a LONN model. Then the LONN model is connected to a reliability analysis method, i.e. first-order reliability methods (FORM) to calculate the failure probability of the structure. Numerical examples show that the proposed approach is applicable to structural reliability analysis, as well as the structure with implicit performance functions.     

微小型涡喷发动机向心涡轮的流动仿真

为了详细研究微型向心涡轮的内部流动特性,对一台自研微型涡轮发动机的涡轮进行了气动设计和全三维粘性数值模拟仿真,验证了叶片型线设计方案的可行性,得到模拟计算结果（落压比为1.91,总压绝热效率0.73,出口气流马赫数为1.2,流量13.8g/s）。研究了微型涡轮设计工况下内部的气流状态,对微尺寸下涡轮内部的流动特性及各种流动损失产生的特点及原因进行分析总结。结果表明：导向叶流道内的流动损失主要为由气体粘性引起的叶型损失;动叶流道中流动损失主要为气体在动叶前缘产生冲击形成的滞止损失与边界层损失,动叶出口叶片尾缘处形成的尾迹涡流损失。     

共轴双旋翼涵道风扇的气动特性研究

利用CFD软件对涵道风扇进行虚拟仿真,对共轴反桨双旋翼涵道风扇的空气特性进行分析。通过改变双旋翼的间距及飞行速度条件下仿真,对共轴反桨双旋翼涵道风扇气动特性的分析。结果表明,涵道距离对涵道扇有拉力有影响,但并不明显。在扰流的影响下,上桨盘产生的升力要小于下桨盘所产生的升力,并且涵道风扇不适合高速飞行。     

基于多物理耦合场的固液两相磨粒流伺服阀阀芯喷嘴抛光研究

伺服阀阀芯喷嘴是伺服控制系统中的重要零部件,尤其是喷嘴小孔的表面质量会直接影响到整个伺服控制系统的进程,因此阀芯喷嘴要求很高的尺寸精度、形位精度以及表面粗糙度。为探讨磨粒流抛光伺服阀阀芯喷嘴的抛光效果,对磨粒流抛光阀芯喷嘴的加工过程进行数值模拟研究,分析了不同入口速度条件下阀芯喷嘴内磨粒流的动态压力、速度以及湍流动能的分布状况,研究分析了磨粒流抛光阀芯喷嘴的有效性,并对阀芯喷嘴的磨粒流抛光效果进行了预测。