虚拟手交互中约束类物体操作研究

虚拟手技术是虚拟现实技术中的一种交互方式，是指通过手势识别技术将人的真实手映射到虚拟环境中并与虚拟物体进行交互操作的人机交互方式。主要应用于虚拟训练、虚拟手术和虚拟装配等领域。对虚拟手交互的约束类对象进行了研究，提出了基于运动学的约束类物体操作方法，解决了阀门类有约束物体交互中虚拟手姿态不真实、操作不可控的问题。设计实验验证了基于运动学的方法能以符合实际操作的效果完成虚拟现实系统中的操作任务，可以应用到虚拟训练、虚拟装配等仿真平台。     

轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy

High precision is still one of the challenges when parallel kinematic machines are applied to advanced equipment. In this paper, a novel planar 2-DOF parallel kinematic machine with kinematic redundancy is proposed and a method for redundant force optimization is presented to improve the precision of the machine. The inverse kinematics is derived, and the dynamic model is modeled with the Newton–Euler method. The deformations of the kinematic chains are calculated and their relationship with kinematic error of the machine is established. Then the size and direction of the redundant force acting on the platform are optimized to minimize the position error of the machine. The dynamic performance of the kinematically redundant machine is simulated and compared with its two corresponding counterparts, one is redundantly actuated and the other is non-redundant. The proposed kinematically redundant machine possesses the highest position precision during the motion process and is applied to develop a precision planar mobile platform as an application example. The method is general and suitable for the dynamic modeling and redundant force optimization of other redundant parallel kinematic machines.     

Tool-Center-Point control of the KAI manipulator using constrained QP optimization

The KAI manipulator is a four joint mobile manipulator, which will be used within the German road clearance package to investigate improvised explosive devices and ordnance from within an armored vehicle. To improve handling of the manipulator, a Tool-Center-Point (TCP) control is implemented. By using constrained quadratic optimization (cQP) it is possible to allow for the control of the manipulator within three different operating spaces. The QP is formulated to account for constraints in the joint angular rates and TCP velocities, as well as additional velocity constraints, e.g. on the movement of the center of mass of the manipulator. The proposed algorithm is able to handle redundant as well as non redundant manipulator kinematics. By using an efficient QP solver the algorithm can be used within a real-time trajectory generation scheme. The performance of the algorithm is demonstrated using simulation results and validated by measurements of the TCP control.     

基于GA-MVFOSM法的DSA250型受电弓运动可靠性分析

为分析运动副磨损与杆件尺寸不确定性2种因素对受电弓运动可靠性的影响，提出一种基于遗传一次二阶矩法(GA-MVFOSM)的受电弓运动可靠性计算方法。首先，构建受电弓运动学方程，应用Archard磨损理论建立其运动副磨损可靠性模型。在此基础上，考虑运动副磨损与杆件尺寸的不确定性，结合可靠性理论建立受电弓运动可靠性模型。其次，利用遗传算法优化一次二阶矩法，提出GA-MVFOSM算法，用以求解受电弓的运动可靠度。最后，以DSA250型受电弓为研究对象，利用所提方法分析其运动可靠性，并与传统方法进行对比。分析结果表明:各运动副磨损量分别在0.230 0 mm、0.136 6 mm、0.006 6 mm内时，运动副磨损可靠度处于较高水平，2种因素耦合情况下弓头运动可靠度最小值为0.964 7；基于遗传一次二阶矩的计算方法可以有效提高传统方法计算精度，为提高受电弓工作可靠性提供参考依据。     

Vocal production in postpartum dairy cows: Temporal organization and association with maternal and stress behaviors

Mammalian vocalizations can encode contextual information in both the spectrographic components of their individual vocal units and in their temporal organization. Here we observed 23 Holstein-Friesian dairy cows immediately after birth during interactions with their calf and when their calf was separated to the other side of a fence line. We investigated whether the vocalizations emitted in these postpartum contexts would vary temporally. We also described the maternal and stress behaviors preceding and following postpartum vocal production using kinematic diagrams and characterized call sequence structure. The kinematic diagrams highlight the disruption of maternal responses caused by calf separation and show that behavioral and vocal patterns varied according to the cows' emotional states and proximity to the calf in both contexts. During calf interactions, cows mainly produced closed-mouth calls simultaneous to licking their calf, whereas an escalation of stress responses was observed during calf separation, with the cows approaching the fence line, becoming alert to the calf, and emitting more mixed and open-mouth calls. Call sequences were similarly structured across contexts, mostly containing repetitions of a single call type, with a mean interval of 0.57 s between calls and a greater cumulative vocalization duration, attributed to an increased number of vocal units per sequence. Overall, calf separation was associated with a greater proportion of calls emitted as a sequence (inverse of single isolated calls), a shorter interval between separate call sequences, and a greater number of vocal units per sequence, compared with calf interactions. These temporal vocal features varied predictably with the high stress expression from cows during calf separation and may represent temporal modulations of emotional expression. Despite the noisy farm soundscape, empirical call type and temporal vocal features were easy to measure; thus, findings could be applied to future cattle studies wishing to analyze vocalizations for on-farm welfare assessments.     

在轨维修后端模块接口机构的研究

在轨维修可以大大的延长空间科学仪器的使用寿命,节省大量的经济成本。为了实现空间望远镜后端模块的在轨操作和更换,设计了一套与之对应的接口机构,能够解决在轨快速定位与安装。根据321运动学定位准则,详细介绍了该接口机构的内部组成和工作原理;然后把该接口机构与后端模块进行组件级有限元仿真,仿真结果表明一阶模态远高于整机基频可以有效地避免发射时候的共振;设计了一套平面内的工装来模拟后端模块,利用等效质量法对整个机构进行重力卸载;搭建实验平台,利用激光跟踪仪来测量整个后端模块的重复定位安装精度,实验数据表明,X,Y,Z 3个方向的重复平移定位误差分别为±5.58μm,±3.24μm及±3.63μm,优于总体指标±10μm;热实验结果表明整个机构可以完全释放由于温度变化产生的形变,具有很高的热稳定性;使入射光线和靶面的相对位置持续稳定,保证了较高的成像质量。为其他空间在轨维护装置提供强有力的参考价值。     

一种新型包装专用蜡的研制

为了根据某瓦楞纸箱生产厂的实际生产条件制备一种耐热、耐低温、防水、透气等性能优异的包装专用蜡，将58号全炼蜡和70号微晶蜡混合物作为基础蜡料，分别考察添加剂、助剂、抗氧剂等对基础蜡料滴熔点、运动黏度及外观等的影响，确定了最佳制备配方：合成蜡、添加剂B、助剂1、助剂2、抗氧剂加入量（w）分别为基础蜡料质量的9.8%，6.5%，1.5%，2.1%，0.1%。在温度为160 ℃、时间为30 min、搅拌速率为200 r/min条件下制备的包装专用蜡具有熔点高、黏附性强、光泽性好的优点，满足该瓦楞纸箱生产厂的质量和外观要求。     

单头单面旋转式化学机械抛光机的运动机理研究

以单头单面旋转式化学机械抛光机为例建立了抛光头的运动模型,并利用Matlab软件模拟出了抛光头的运动轨迹,分析并讨论了抛光盘和抛光头两者之间不同的转速比、旋转方向、偏心距以及抛光点的初始位置等参数对抛光轨迹和抛光质量的影响,为CMP机床的结构和运动设计提供理论依据。     

双柱塞砂浆泵补偿机构的运动分析和仿真

介绍了双柱塞砂浆泵的工作原理，通过对采用摆动滚子从动件的凸轮机构的双柱塞砂浆泵的工作凸轮机构和补偿凸轮机构进行运动学分析，建立了砂浆泵运动机构的仿真模型．用Matlab软件进行了仿真分析，进一步验证了运动学分析模型的正确性．