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1.
车辆的操纵稳定性是影响车辆行驶安全性的关键因素,操纵稳定性分析通常基于经典线性二自由度车辆动力学模型。该模型忽略了转向系统的影响,直接以前轮转角为输入,无法充分描述车辆的操纵稳定性。以多轴电液助力式转向车辆为研究对象,在二自由度动力学模型的基础上进一步考虑了电液伺服转向系统对车辆操纵稳定性的影响,建立以转向盘转角为输入的多轴电液助力式转向车辆二自由度动力学模型并进行仿真分析。结果表明,电液伺服转向系统模型的加入显著增加了多轴车辆到达稳态转向的时间,且在小转角转向时车辆瞬态质心侧偏角峰值降低,车辆操纵稳定性有所改善。因此,考虑电液伺服转向系统部分的模型可有效提升重型多轴车辆转向性能分析的准确度。 相似文献
2.
介绍了矿用智能遥控搬运拖拽机器人相关理念及其在煤矿井下搬家中的应用,指出目前人工智能技术在矿山应用只是点状结合和浅度结合,有待实现与人工智能技术和矿山某个生产或管理系统层面的深度融合,矿用智能遥控搬运拖拽机器人未来将融合矿井智能通信、智能控制和智能计算技术,实现数字化矿山的计算、处理,实现矿山最高层次的智能控制及子系统的数据应用。 相似文献
3.
分析车辆参数变化对双半挂汽车列车操纵稳定性的影响. 提出新的建模分析方法,建立双半挂汽车列车三质心四自由度线性单轨模型. 在牵引车前轮角阶跃输入下,运用Matlab软件求解动力学状态方程,得到稳态响应评价中3个车辆单元的稳态横摆角速度增益表达式和不足转向梯度表达式,以及3个车辆单元两两之间的稳态相对增益表达式. 分析载荷量和鞍座位置等车辆结构参数对3个车辆单元不足转向梯度的影响,分析不足转向梯度、质心位置和鞍座位置变化对3个稳态相对增益表达式的影响. 结果表明,当载荷增加时,须恰当调整2个鞍座的位置,确保3个车辆单元处于不足转向的状态,使汽车列车行驶状态良好. 研究结果为双半挂汽车列车的结构参数设计和操纵稳定性改善提供了理论基础. 相似文献
4.
Mizuki Tenjimbayashi Sadaki Samitsu Yuko Watanabe Yasuyuki Nakamura Masanobu Naito 《Advanced functional materials》2021,31(21):2010957
Liquid marble (LM) is a droplet that is wrapped by hydrophobic solid particles, which behave as a non-wetting soft solid. Based on these properties, LM can be applied in fluidics and soft device applications. A wide variety of functional particles have been synthesized to form functional LMs. However, the formation of multifunctional LMs by integrating several types of functional particles is challenging. Here, a general strategy for the flexible patterning of functional particles on droplet surfaces in a patchwork-like design is reported. It is shown that LMs can switch their macroscopic behavior between a stable and active state on super-repellent surfaces in situ by jamming/unjamming the surface particles. Active LMs hydrostatically coalesce to form a self-sorted particle pattern on the droplet surface. With the support of LM handling robotics, on-demand cyclic activation–manipulation–coalescence–stabilization protocols by LMs with different sizes and particle types result in the reliable design of multi-faced LMs. Based on this concept, a single bi-functional LM is designed from two mono-functional LMs as an advanced droplet carrier. 相似文献
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6.
The swirl gripper is an electrically activated noncontact handling device that uses swirling airflow to generate a lifting force. This force can be used to pick up a workpiece placed underneath the swirl gripper without any contact. It is applicable, for example, on a semiconductor wafer production line, where contact must be avoided during the handling and moving of a workpiece to minimize damage. When a workpiece levitates underneath a swirl gripper, the gap height between them is critical for safe handling. Therefore, in this study, we develop a theoretical model of the swirl gripper, based on which a method to estimate the levitation gap height by detecting pressure at two points is proposed. Experiments indicate that the estimated gap height can track changes in actual gap height accurately in real time, when the gap height is relatively small and the inertia of airflow in the gap is negligible. In addition, the force between the gripper and workpiece can also be estimated using the detected pressure. As a result, a desired relationship between the force and gap height can be achieved by adjusting the rotating speed of the fan according to the real-time estimated force and gap height using a microcontroller. The control system was experimentally verified using a desired linear relationship. Because the stiffness of the force decreases with increasing gap height for a constant gripper fan rotating speed, the linear relationship between the force and gap height, which means a constant stiffness, is expected to enhance handling stability of workpieces. 相似文献
7.
《Food Control》2015
A telephone survey was carried out on 13,486 randomly selected households located in the Abruzzo region (central Italy). Three questionnaires were specifically designed in relation to three different groups of foods (Meat and meat products, Fishery products, Fruit and vegetables). Questions were mainly focused on the amount and number of purchases, type of retailer, and home food handling practices with respect to the week prior to the interview. Data were classified according to a multilingual thesaurus system (LanguaL). Results allowed to estimate domestic purchases (in kg) per capita for different food categories. The category “Red meat/Cattle” accounted for a large part of purchases in the “meat and meat products” group (10.9 kg per capita/year; 32.2% of purchases in the group) while the category “Fish or related organism/Fish” was the most purchased in the “fishery products” group (6.9 kg per capita/year; 63.3%). The aggregation of more detailed characteristics enabled the identification of popular categories of foods, such as “Red meat/Cattle/Divided into pieces” (25% of the “meat and meat products” group). Significant differences (p < 0.05) were found between the four different provinces (L'Aquila, Chieti, Pescara and Teramo) with respect to “Poultry/Chicken” and “Red meat/Cattle” categories. Householders were also asked about post-purchase food handling practices that might be hazardous to food safety. More than 20% of those surveyed stated that they thawed frozen meat at room temperature. The degree of doneness after cooking of different food categories was generally high: over 90% of products purchased in the majority of meat and fish categories were properly cooked. However a noticeable proportion of householders (about 15%) reported medium or rare cooking of “Red meat/Cattle” and “Red meat/Swine”. Differences (p < 0.05) were also found between consumers of different ages, with people over 65 years old being more prone to freeze meat and cook it thoroughly.The survey was carried out in a specific geographic area and on a statistically significant sample of households, thus allowing a collection of data on domestic habits relating to food purchases and home food handling practices. This information should be included in the framework of quantitative microbial risk assessment (QMRA) models as a measure of the actual exposure of consumers to pathogenic microorganism. The LanguaL system also proved to be a practical language-independent method useful not only to identify and describe food items but also to classify them according to specific food safety characteristics. 相似文献
8.
测量长期光辐射下人眼对比度敏感函数及模型 总被引:1,自引:0,他引:1
正常环境下研究得出的对比敏感度函数模型,在人眼受长时间高亮度电脑或手机显示屏光辐射(即视觉异常)时不再适用。文中基于正弦光栅的计算公式在Matlab中编程得到了实验所需的正弦光栅。由于在不同光谱功率分布下的对比敏感度值会有较大差别,实验基于LCD显示器得出视觉异常实验者在不同光谱功率分布(日光,灯光)下的对比敏感度值和CSF曲线。并通过非线性最小二乘法得出视觉异常时CSF模型。其结果表明,视觉异常时人眼最敏感空间频率和光学成像能力均发生了较大变化,且节能灯和显示屏等非自然光源与自然光源日光相比其光谱功率分布对人眼对比敏感度的影响最大。 相似文献
9.
Ladder handling by telecommunications technicians represents an indispensable part of their daily work, but may generate musculoskeletal injury risk. These workers have a high prevalence of shoulder and back injuries, motivating research to quantify postures and loading using different ladders during common handling tasks. Twenty-five participants completed carry, raise (against a wall or free standing), and simulated removal from a van roof tasks using three ladders (8.5m 2-piece wood; 8.5m 2-piece fibreglass, 9.2m 3-piece wood). Data collection included kinematics and kinetics during these ladder handling tasks, as well as perceived discomfort, perceived exertion and post-collection ladder and task preferences. Significant effects depended on task and ladder. Dominant arm (the arm completing the primary action) elevation was higher while extending the ladder (114.7 ± 3.4°) than the carry task (53.5 ± 3.5°) (p < 0.05). Joint moments in the dominant shoulder and trunk were highest for the 2-piece wood ladder (59.0 ± 2.2 Nm and 254.8 ± 8.8 Nm) averaged across all tasks. Joint forces were increased when using the 2-piece wood ladder compared to the 3-piece wood ladder (p < 0.05), while the greatest discomfort in the shoulders occurred using the 2-piece wood ladder in the carry task. Many tasks approached or exceeded strength capability of a 50th percentile male's predicted strength. While no ladder universally mitigated physical demands while lowering perceptual difficulty, construction differences yielded trends toward preferring the 2-piece fibreglass or 3-piece wood ladders over the 2-piece wood ladder. This work has direct relevance to workplaces with ladder handling and provides recommendations for ladder selection and strength requirements across tasks. 相似文献
10.