Precise gouging-free tool orientations for 5-axis CNC machining

We present a precise approach to the generation of optimized collision-free and gouging-free tool paths for 5-axis CNC machining of freeform NURBS surfaces using flat-end and rounded-end (bull nose) tools having cylindrical shank. To achieve high approximation quality, we employ analysis of hyper-osculating circles (HOCs) (Wang et al., 1993a,b), that have third order contact with the target surface, and lead to a locally collision-free configuration between the tool and the target surface. At locations where an HOC is not possible, we aim at a double tangential contact among the tool and the target surface, and use it as a bridge between the feasible HOC tool paths. We formulate all such possible two-contact configurations as systems of algebraic constraints and solve them. For all feasible HOCs and two-contact configurations, we perform a global optimization to find the tool path that maximizes the approximation quality of the machining, while being gouge-free and possibly satisfying constraints on the tool tilt and the tool acceleration. We demonstrate the effectiveness of our approach via several experimental results.     

基于区域特征和质心关系的两步法阀板检测

针对冲压阀板中毛刺、冲压孔堵塞等缺陷的检测问题,提出了一种基于面积特征的通孔数目检测和基于质心关系的快速模板匹配检测的两步视觉检测方案。首先采用通孔数检测初步判定零件是否存在冲压孔堵塞缺陷,之后采用模板匹配精确检测边缘毛刺缺陷。利用区域面积特征实现通孔数检测;提出了一种限定条件的最小二乘法圆拟合方法和一种基于圆心特征的快速模板匹配方法,实现边缘毛刺等缺陷的精确检测。实验结果表明,这种两步检测方案检测速度快精准度高,能够满足阀板生产线的检测要求。     

A passivity‐based simple adaptive synergetic control for a class of nonlinear systems

For a class of nonlinear systems with the representation {A(x), B(x), C} and where the system parameters and dynamics are unknown, a simple adaptive synergetic controller ensuring the asymptotic convergence of the system to a desired manifold is proposed based on the technique of simple adaptive control (SAC). It is well known that the design of the synergetic control (SC) law requires a thorough knowledge of the system parameters and dynamics. Such problem obstructs the synthesis of the SC law and the designer is prompted to pass through the estimation methods, which, in turn, poses a problem of increasing the computation time of the control algorithm. To cope with this problem, a solution is proposed by modifying the original SC law to develop an SAC‐like adaptive SC law without the need of prior knowledge of the system. The stability of the proposed adaptive controller is formally proven via the Lyapunov approach. Experimental application to a quadrotor system is given to validate the theoretical results.     

武汉城市圈的圈层聚散特征与引导策略研究

都市圈是实现大城市功能疏解与区域协同发展的主要地域层次。文章基于大城市地域的圈层结构特征及聚散规律,分析武汉城市圈三个圈层间人口、经济与城镇空间集聚与扩散的特征,揭示其发展阶段及未来关注重点。研究表明,武汉城市圈正从向心集聚阶段向整体集聚与近域扩散阶段过渡,尽管极化效应依然突出,但核心圈层的扩散效应已经凸显,圈层间的差异不断缩小。基于此,文章提出了圈层聚散规律视角下武汉城市圈的引导策略:核心圈层要吸聚外部资源、疏解非核心功能;紧密圈层强调跨界功能协同、交通一体化疏导与专业性综合新城吸纳;外围圈层要培育次级增长极、集聚发展特色化功能。     

基于地理门槛的公交车站点识别算法研究

针对同心圆算法在路线情况十分复杂的情况下,对存在相互影响的站点出现识别错误的问题,提出了一种基于地理门槛的站点识别算法.通过分析传统识别算法的弊端,引出了地理门槛算法概念,详述了该算法的实现原理,给出了算法的软件设计.最后通过实验测试,证明该算法对存在相互影响的站点具有较高的识别率.     

随机环境中具有迁移的两性分枝过程的极限性质

在独立同分布的随机环境下,给出随机环境中具有迁移的两性分枝过程[Z_n,n≥0],并且迁移人口数与当前人口数有关。本文引入每个配对单元的条件均值增长率,讨论增长率的性质,得到该过程条件均值的上下界,研究了过程由此上下界规范化过程的极限性质。     

Almost periodic solutions for impulsive fractional differential equations

In this paper, we consider the existence of almost periodic solutions for impulsive fractional evolution equations involving Caputo fractional derivative. The main results are obtained by means of the theory of operators semi-group, probability density functions, fixed point theorems and the techniques based on fractional calculus. An example is also discussed to illustrate the theory. Some known results are improved and generalized.     

关于双条件期望的几乎处处收敛性

引进了B值随机变量及可测集Γ的双条件期望的概念,对双条件期望的几乎处处收敛性给出一个较为一般的定理,使原来的结果更为简洁,使用起来更方便.     

The recovery of distorted bandlimited almost-periodic signals

It is shown that thePQ theorem can be used to solve a certain signal recovery problem in which the transmitted and received signals are almost periodic functions. In this problem the signal to be recovered, which is bandlimited, is nonlinearly distorted and then bandlimited to the original band. Related signal recovery results are also given. These related results, unlike thePQ theorem, are applicable in settings in which the underlying signal space is not a Hilbert space or even a space that is complete.     

Note on the interpretation of powder shear test data

Powder shear testing has been used to assess flowability of powders for at least 48 years [A.W. Jenike, Storage and Flow of Solids, Bull., Eng. Exp. Station, Univ. Utah, vol. 123, 1964]. A fundamental part of the data interpretation involves construction of Mohr’s circles such that they are tangent to the experimental locus; a set of powder shear strengths, τ_m, measured at variable applied compressive normal stresses, σ_N. Despite the customary application of this tangency criterion, we have found justifications for it to be scant.In this work, we revisit the Mohr’s circle construction and find that proper construction would require measurement of reactionary lateral powder stresses, σ_r. We further provide reasoning to support placement of the experimental locus passing through the apex (top) of Mohr’s circles for isotropic or orthotropic powders and not tangentially to them. This placement is not unexpectedly in agreement with the results of a recent numerical simulation [C. Thornton, L. Zhang, Numerical simulations of the direct shear test, Chem. Eng. Technol. 26 (2) (2003) 153-156], and reveals errors in subsequently calculated constants on the order of 20%.