A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

SOINN-Based Abnormal Trajectory Detection for Efficient Video Condensation

With the evolution of video surveillance systems, the requirement of video storage grows rapidly; in addition, safe guards and forensic officers spend a great deal of time observing surveillance videos to find abnormal events. As most of the scene in the surveillance video are redundant and contains no information needs attention, we propose a video condensation method to summarize the abnormal events in the video by rearranging the moving trajectory and sort them by the degree of anomaly. Our goal is to improve the condensation rate to reduce more storage size, and increase the accuracy in abnormal detection. As the trajectory feature is the key to both goals, in this paper, a new method for feature extraction of moving object trajectory is proposed, and we use the SOINN (Self-Organizing Incremental Neural Network) method to accomplish a high accuracy abnormal detection. In the results, our method is able to shirk the video size to 10% storage size of the original video, and achieves 95% accuracy of abnormal event detection, which shows our method is useful and applicable to the surveillance industry.     

基于近似测地线的分层次自动铺带轨迹规划方法

自动铺带技术是一种增量制造技术，适用于制造翼面、壁板等大尺寸、小曲率复合材料构件，具有加工成本低、效率高等特点。轨迹规划是自动铺带技术的关键环节，它直接关系到复合材料构件的成型精度与质量。现有的自动铺带轨迹规划方法难以便捷兼顾调控铺放间隙与防止铺放褶皱，保证铺带产品的最终质量。有鉴于此，提出了一种基于近似测地线的分层次铺放轨迹规划方法。主要目标是合理利用预浸带允许变形能力，在防止铺放褶皱产生的前提下，保证相邻带料不产生覆盖，且间隙不超过2.5 mm。首先，研究了铺放间隙的产生与演化规律，给出了几种典型曲面上初始铺放间隙的优化方法。接下来，提出了近似测地线的数学模型与求解格式。然后，基于铺放褶皱的产生机制与铺放间隙的演化规律，确定了近似测地线的测地曲率大小与符号。最后，在双曲面模具以及自由曲面模具上验证了所提出方法的有效性。     

水平井筒气水流动规律及影响因素

由于流动方向变化及壁面流体的不断径向入流，水平井筒的气水流动规律与常规直井存在较大差异。在总结前人研究结果的基础上，优选水平井筒气液两相预测模型，并在验证模型可靠的情况下，考虑管壁入流和气液流型变化，改变气量、水量、管径、倾角、轨迹波动、气水入流位置等多个影响因素，对水平段流型、压力分布规律及影响因素进行综合预测分析，为水平气井的生产管理及后期措施优化提供依据。研究结果表明，一般生产条件下水平井筒存在分层流、间歇流和环雾流3种流型，管径和倾角对水平井筒的气、水流型影响最为明显，管壁入流对入流就地井筒流态的影响较小。水平井筒压力损失与气量、水量、轨迹上倾角及轨迹波动起伏程度呈正相关性，而与管径和下倾角呈负相关性。预测范围内，气量、轨迹上倾和管径对水平井筒压力损失的影响最为明显，是水平井筒压降的关键影响因素。随着轨迹上倾角增加，水平井筒压降随气量的变化规律发生明显反转，低气量条件下水平井筒压降随气量的减小而增加，高气量下压降随气量增加而增加。     

飞刀法加工蜗杆面齿轮的理论研究与实践

为快速获取蜗杆面齿轮的精确齿面，提出了一种加工面齿轮的新方法——飞刀加工法。建立了蜗杆面齿轮的理论模型，基于四轴数控镗床建立加工坐标系，分析了所提方法的加工机理，并将其分为两个阶段：仿形阶段和分度加工阶段；采用飞刀加工法进行刀具轨迹的求解，得到了该轨迹在面齿轮齿坯上的切触迹线，验证了所提方法的正确性；求解了上述两个阶段中刀具主轴转速、工件轴转速及刀具进给速度之间的关系，编制了加工程序，并在VERICUT中对蜗杆面齿轮进行了仿真加工，验证了所提方法的可行性；最后进行了加工实验验证。     

2011～2020年华北平原气溶胶光学厚度时空分布特征及潜在源分析

随着经济高速增长和城市化进程不断加快,华北平原区域性空气污染问题愈演愈烈。针对该区域开展长时序气溶胶光学厚度时空分布特征和潜在源分析研究,对华北平原大气污染治理具有重要意义。基于长时序MODIS/Terra C6.1 MOD04_L2气溶胶光学厚度产品,分析华北平原气溶胶光学厚度的时空分布特征,并利用后向轨迹聚类分析讨论华北平原7个重点城市气团输送的季节变化,并以污染较为严重的河北石家庄为例进行潜在源分析和浓度权重分析,探究影响其大气质量的污染物潜在源区。结果表明:2011～2020年华北平原气溶胶光学厚度月均值呈显著的周期性变化,以年为周期,每个周期内峰值一般出现在6月至8月; 气溶胶光学厚度月际年内呈单峰分布,峰值出现在6月(0.75),最小值出现在12月(0.37); 气溶胶光学厚度季均值从大到小依次为夏季(0.67)、春季(0.59)、冬季(0.49)、秋季(0.46); 10年间气溶胶光学厚度呈下降趋势,整体下降幅度达36.84%,其中2011年最高(0.72),2018年最低(0.45); 华北平原7个重点城市春、夏、秋、冬四季主要受短距离气团输送影响较大,长距离气团输送影响较小; 2014～2020年河北石家庄的空气质量优良天数占比相对较小,空气质量状况差,影响其空气质量的污染物多为本地生成,同时也受周边省市近距离输送的影响。     

一种激光眼组织切割系统设计及实验

针对医生手工进行白内障手术,病人术后视力恢复效果取决于医生手术熟练度的问题,提出了一种激光眼组织切割光路运动系统。系统采用直线电机带动平面镜运动的形式改变光路,利用聚焦透镜实现激光对样品单点切割。建立了白内障手术中碎核、撕囊扫描轨迹的数学模型,通过MATLAB仿真验证扫描轨迹数学模型的正确性。最后以透明塑料为样品模拟眼球实验,结果表明此系统可以实现给定轨迹切割,为激光眼组织切割设备研发提供了一种新方案。     

基于压缩感知的移动群智感知任务分发机制

针对移动群智感知任务中区域全覆盖感知成本过高问题，提出基于压缩感知的移动群智感知任务分发（CS-TD）机制。首先提出了感知任务整体成本模型，该模型综合考虑了参与感知任务的节点个数、节点的感知次数与数据上传次数；然后基于成本模型，分析感知节点的日常移动轨迹，结合压缩感知数据采集技术，提出了一种基于感知节点轨迹的压缩感知采样方法；其次通过区域全覆盖最少节点（RCLN）算法，选出最佳节点集合，对节点进行任务分配，利用压缩感知技术恢复节点数据；最后在多次感知任务的迭代中对感知节点的可信程度进行评定，保证任务方案的最优性。对CS-TD分发模型进行多次实验验证，与已有的CrowdTasker算法相比，CS-TD算法平均成本降低了30%以上。CS-TD模型能有效降低感知节点的消耗，能在全覆盖感知任务中降低整体感知成本。     

Self-consistent kinetic theory with nonlinear wave-particle resonances

We have developed, based on the oscillating-center transformation, a general theoretical approach for self-consistent plasma dynamics including, explicitly, effects of nonlinear(higherorder) wave-particle resonances. A specific example is then given for low-frequency responses of trapped particles in axisymmetric tokamaks. Possible applications to transport as well as nonlinear wave growth/damping are also briefly discussed.     

An enhanced data-driven polynomial chaos method for uncertainty propagation

As a novel type of polynomial chaos expansion (PCE), the data-driven PCE (DD-PCE) approach has been developed to have a wide range of potential applications for uncertainty propagation. While the research on DD-PCE is still ongoing, its merits compared with the existing PCE approaches have yet to be understood and explored, and its limitations also need to be addressed. In this article, the Galerkin projection technique in conjunction with the moment-matching equations is employed in DD-PCE for higher-dimensional uncertainty propagation. The enhanced DD-PCE method is then compared with current PCE methods to fully investigate its relative merits through four numerical examples considering different cases of information for random inputs. It is found that the proposed method could improve the accuracy, or in some cases leads to comparable results, demonstrating its effectiveness and advantages. Its application in dealing with a Mars entry trajectory optimization problem further verifies its effectiveness.