基于粒子群优化算法的五自由度机械臂轨迹规划

为了让机械臂的工作时间达到最优,以自主研发的抛光机器人样机为研究对象,针对手表表壳表耳部分的抛光过程,提出PSO算法对五自由度机械臂轨迹规划进行优化,并通过MATLAB软件进行机械臂的仿真与分析。仿真结果表明,基于PSO算法的轨迹规划使机械臂在工作过程中加加速度不会产生突变,运动轨迹精度高,机械臂工作时间达到最优。     

Multi-innovation auto-constructed least squares identification for 4 DOF ship manoeuvring modelling with full-scale trial data

This research is concerned with the problem of 4 degrees of freedom (DOF) ship manoeuvring identification modelling with the full-scale trial data. To avoid the multi-innovation matrix inversion in the conventional multi-innovation least squares (MILS) algorithm, a new transformed multi-innovation least squares (TMILS) algorithm is first developed by virtue of the coupling identification concept. And much effort is made to guarantee the uniformly ultimate convergence. Furthermore, the auto-constructed TMILS scheme is derived for the ship manoeuvring motion identification by combination with a statistic index. Comparing with the existing results, the proposed scheme has the significant computational advantage and is able to estimate the model structure. The illustrative examples demonstrate the effectiveness of the proposed algorithm, especially including the identification application with full-scale trial data.     

A Reduced Reachability Tree for a Class of Unbounded Petri Nets

As a powerful analysis tool of Petri nets, reachability trees are fundamental for systematically investigating many characteristics such as boundedness, liveness and reversibility. This work proposes a method to generate a reachability tree, called ωRT for short, for a class of unbounded generalized nets called ω-independent nets based on new modified reachability trees (NMRTs). ωRT can effectively decrease the number of nodes by removing duplicate and ω-duplicate nodes in the tree, and verify properties such as reachability, liveness and deadlocks. Two examples are provided to show its superiority over NMRTs in terms of tree size.      

面积坐标法构造含转角自由度的四结点膜元

以四边形面积坐标作为工具,构造了两个含转角自由度的广义协调四边形单元AQ4和lAQ4。它们通过强式分片检验,与同类单元相比,具有很高的计算精度,能消除梯形闭锁现象,有很强的抗网格畸变的能力。     

局部自由度及其应用

探讨了局部自由度在机械中的应用，并将其归纳为三个方面：变滑动为滚动、改善车辆的平衡和运动状况、改善力的分布。     

禅宗解脱:宗教经验的审美化

禅宗解脱的实质是生命的自由。通过明心见性、转迷入悟的途径,心灵摆脱烦恼业障,进入无我境界,从而体验到一种想象的自由。这一过程在很多方面类似审美活动,在体验上具有审美自由的特征。但禅宗的解脱,以及解脱所达到的审美的人生境界之可能,其关键在于生命主体的自我消解。无我的或曰没有主体的自由,并不是一种真正的自由。因而,禅宗关于人的解放的理论和实践,其价值仅仅在宗教方面和美学方面。     

双自由度后坐保险机构的计算机动态仿真

在Workin Model 3D软件上对引信的双自由度后坐保险机构进行了有关计算机仿真计算，并结合具体实例进行了优化设计。     

Locked discrete event systems: How to model and how to unlock

To model qualitative aspects of discrete event systems, i.e., the order of the events is of sole importance, we use a triple consisting of the set of all possible events (the alphabet), the set of all behavior (possible strings of events), and the set of all tasks (completed behavior). We use this view to model synchronous as well as asynchronous connection of systems. Moreover, it is easy to define notions like deadlock and livelock in this view. We give a method to construct a second system that, in connection with the original system, gets rid of its deadlock and/or livelock. A state-space representation is introduced. In this representation computations can be done effectively.     

New accurate two-noded shear-flexible curved beam elements

 There are two purposes of this work. One is to present two accurate two-noded finite elements which are derived from the potential energy principle and the Hellinger–Reissner functional principle respectively. The second is to show the successful application of the internal displacement parameters in developing a high-order related displacement-rotation interpolation field. Because the derived interpolation field is capable of accurately modeling deformation modes in extreme thin curved beams and nearly straight beams, both shear locking and membrane shocking are avoided. Several standard numerical tests display superior behaviors of the present elements. Received: 5 February 2002 / Accepted: 16 September 2002     

精密铜带圆盘纵剪机

通过对精密铜带圆盘剪切机的工作原理和工艺过程进行研究，对引进的美国剪切机进行了技术改造，设计制作了新的装置，实现了软态铜带的剪切。