矿山工程建设项目造价管理信息系统设计

为提高矿山工程建设项目造价管理水平,设计了矿山工程建设项目造价管理系统。通过分析矿山工程项目的造价组成,并采用三层B/S架构设计系统硬件框架,运用Web服务器传输矿山工程项目各项数据,划分系统功能子系统,并对矿山工程建设项目造价额与价差预备费进行计算,完成系统软件设计。结果表明,该系统能够有效管理矿山工程建设项目造价,并对外部的恶意攻击进行及时报警,系统具有有效性与安全性。     

纱管跳管及应对措施

通过在长期使用纱管中发现的纱管跳管的成因，提出了防止跳管的有效措施。     

一种新的含水率校正方法

从研究流体流动规律出发,结合模拟井实验结果,建立了多参数、非线性的半理论和半实验含水率校正模型,提出了反映两相滑脱效应的滑动比概念,其计算方法物理意义清晰并具有明确的收敛边界。与模拟井实验结果进行对比,使用平方法降低了含水率校正误差。     

现代主义空间的营造--丹·凯利的设计方法分析

丹·凯利的规则几何构图给他的作品赋予了鲜活的生命力,取得了非凡的效果.凯利的景观作品在平面上避免绝对的和谐,并且避免在景观的边缘以安静的方式结束,而是采用动态的方式,使其成为有活力的组成部分.我们把这种特征称作slippage,是对边缘的定义或是隐喻一种在平面和分区上有意不明确的设计方法.该文同时还把密斯的建筑作品和丹·凯利的作品进行对比,来发现二者在秩序和空间概念上的相同点和不同点,从而进一步探讨现代主义空间的构成.     

垂直井两相流动生产测井解释滑动模型

在两相流动模拟实验数据分析的基础上 ,提出油水两相和气液两相流动的滑脱速度的实验关系 ,进而确定垂直井两相流动生产测井解释的滑动模型。现场实际测井资料处理结果表明该模型有很好的应用效果     

山区高速公路单向纵坡箱梁桥梁体纵向滑移分析

随着我国经济的增长,越来越多的高速公路相继建成通车。特别是一些山区高速公路,由于受到地势条件的限制,多呈纵坡大、展线复杂、区域小气候影响大。近年来,我国山区高速公路互通桥梁相继出现梁体滑移导致伸缩缝挤死,造成桥面出现隆起现象,严重影响行车安全。通过对某高速公路某座互通主线桥伸缩缝挤死导致桥面隆起的现象进行了深入调查,结合施工质量、设计理念对病害产生的原因进行了分析研究,并对病害提出了针对性的维修处治建议。为山区高速公路互通立交桥梁的设计、施工、养护工作有一定的指导意义。     

新型PEC柱-钢梁端板连接组合框架层间抗震机理试验研究

良好的抗倒塌性能是维系结构在大震下的必要整体性、实现“大震不倒”抗震设防水准的关键所在。为研究新型卷边PEC柱-钢梁外伸端板连接组合框架结构的层间抗震机理,按1:2缩尺设计了1榀组合框架层间子结构模型试件并进行水平低周往复荷载试验。基于试验现象和测试数据,分析了试件结构的破坏过程与破坏模式、滞回特性、刚度退化、耗能能力、变形模式等抗震性能。研究结果表明：试件结构最终破坏模式为端板附近梁截面充分屈服形成塑性铰的理想塑性破坏机构;试件整体与层间位移延性系数μu=3.74和最大等效黏滞阻尼系(ζeq)max=0.325,具有良好抗震延性和耗能能力;试件结构整体性好、水平抗侧刚度沿高度分布均匀,水平位移分布规律表现为理想的倒三角弯剪型变形模式;试件结构整体与层间侧移和节点转角均超过大震层间侧移限值1/30,即试件结构具有良好的抗倒塌能力。     

Towards robust grasping: An analysis of in-hand object motion with FBG optical fibers as force sensing technology

To enable or allow for advanced manipulation scenarios in the envisaged future in robotic manipulation, the introduction of tactile or force-sensing technology is essential. This work introduces a study on a novel integration of fiber sensing elements inside the fingers of robotics grippers that allow obtaining accurate interaction forces during object manipulation. The study focuses on in-hand object motion and analyzes the objects’ dynamic behaviors during grasping or contact phases. The proposed approach classifies the behavior of the gripper-object interaction in real-time by looking at the measured forces in the orthogonal direction of the gripper’s fingers after a filtering stage. The methodology is validated theoretically and evaluated with real experiments using objects presenting different shapes, sizes, and surface properties.     

Slippage control in soft finger grasping and manipulation

Handling objects with robotic soft fingers without considering the odds of slippage are not realistic. Grasping and manipulation algorithms have to be tested under such conditions for evaluating their robustness. In this paper, a dynamic analysis of rigid object manipulation with slippage control is studied using a two-link finger with soft hemispherical tip. Dependency on contact forces applied by a soft finger while grasping a rigid object is examined experimentally. A power-law model combined with a linear viscous damper is used to model the elastic behavior and damping effect of the soft tip, respectively. In order to obtain precise dynamic equations governing the system, two second-order differential equations with variable coefficients have been designed to describe the different possible states of the contact forces accordingly. A controller is designed based on the rigid fingertip model using the concept of feedback linearization for each phase of the system dynamics. Numerical simulations are used to evaluate the performance of the controller. The results reveal that the designed controller shows acceptable performance for both soft and rigid finger manipulation in reducing and canceling slippage. Furthermore, simulations indicate that the applied force in the soft finger manipulation is considerably less than the rigid “one.”.     

野外移动机器人滑动效应的在线建模和跟踪控制

针对野外移动机器人的滑动效益建模和补偿控制问题进行了研究.以履带式移动机器人为研究对象,将履带和地面之间的滑动效应建模为时变的滑动参数,由此建立起带滑动参数的机器人运动学和动力学模型,并采用基于方根无色卡尔曼滤波(SR-uKF)的在线非线性估计方法对机器人的位姿和滑动参数进行联合估计.在此基础上,提出了一种基于动态反馈...