蛇形机器人越障研究

多机器人协调与合作作为一种新的机器人应用形式日益引起国内外学术界的兴趣与关注,但多机器人协调越障一直是机器人研究领域的一个难点.在建立并分析单机器人模块的结构模型以及最大越障能力的基础上,建立了蛇形机器人的结构模型,提出了一种新的越障方法.以蛇形机器人的弯举机构中的舵机为主要动力,推进机构的驱动电机为辅进行越障,推导出蛇形机器人越障的具体过程.在理论上论证了蛇形机器人的越障能力随着机器人的个数增加而相应增强.最后通过试验验证了本方法的有效性.     

八轮式爬楼越障机器人设计与仿真分析

以移动机器人为研究对象,提出了一种以多组四杆机构为基础的八轮式爬楼越障机器人,机器人整个悬架结构呈对称式分布且载荷平台为整体式,控制和结构简单、具备承载能力且越障性能高。对机器人进行了整体方案设计、稳定角分析和越障仿真,对越障机构进行运动学分析以及优化得到了优化的轨迹图形,验证了机器人结构的合理性和稳定性,并通过样机实验验证了机器人承载和越障的稳定性,得到了机器人负载、越障高度和爬坡角度等基本性能参数。     

救援机器人越障过程设计

介绍一种救援机器人.针对该机器人提出了基于最大越障高度和越障稳定性的越障过程,并对此过程中救援机器人的关键姿态进行分析,得出救援机器人的越障决策.     

磁悬浮巡检机器人越障结构设计及仿真

针对目前设计的架空高压巡检机器人越障步骤多,跨越障碍运行不稳定问题,提出一种基于磁悬浮运行方式的机械机构,该机构越障步骤少,越障过程平稳,可跨越间隔棒、防震锤和直线夹等障碍。该开合机构利用丝杆螺母实现机器人主体的张合运动,从而实现越障。对该机构进行运动学分析,验证了此设计的理论可行性;建立了巡检机器人的三维模型及障碍物模型,运用Solidworks Motion插件对巡检机器人越障进行仿真分析,并对越障机构的机械结构进行优化,通过对越障机构末端执行件弯连杆的速度与加速度曲线图分析,显示该越障机构可以较好地越过障碍。     

具有越障功能的小型地面移动机器人

针对在危险环境下对移动机器人的运动要求,研究了机器人系统的总体设计,提出了一种具有越障功能的小型地面轮履复合式移动机器人,阐述了其机构设计度其实现。分析了谊机器人通过台阶、斜面、楼梯等障碍时的越障特性。研制完成的第一台样机具有结构简单、体积小、质量轻的特点,通过实验验证了该机器人运动灵活,具有很好的环境适应性和越障能力。     

可越障多足机器人机构设计与仿真分析

设计了一种可越障多足机器人,该机器人具有移动速度快,越障能力强等特点.腿部机构设计是影响多足机器人运动特性的重要因素之一,采用曲柄摇块机构原理设计了一种新型的多足机器人腿部机构.为了保证机器人移动过程中重心不发生变化,运用Matlab软件对踏片的踏面曲线进行设计,并分析了腿部机构不同尺寸参数对踏面曲线、单个踏片与地面接触点水平方向运动速度和加速度的影响规律.同时,设计了多足机器人的辅助爬升机构,并分析了多足机器人翻越障碍物的工作流程.最后,通过虚拟样机运动仿真以及实物样机试验验证了可越障多足机器人机构设计的可行性.     

三节履带式机器人越障分析

设计了一种三节履带式结构机器人,通过轴套轴结构实现了机器人的主运动和摆臂运动的同步进行,有利于机器人功能的实现。为分析机器人的越障性能,选择了阶梯、斜坡、沟道等典型障碍分析了机器人的运动机理及其越障能力,重点研究了机器人翻越阶梯时的运动机理及其越障能力。以三节履带式探测搜救机器人样机为例,分析了机器人仰角、摆臂摆角与越障高度的关系,并用MATLAB仿真得到阶梯高度函数以及相应关系曲线,求出了最大越障高度的理论值,并与实测数据进行了对比。推导出了机器人的最佳越障性能及对应的质心和摆臂的位置,为机器人越障时的控制提供理论依据。     

一种可变径轮腿式越障机器人的设计与研究

针对地面移动机器人在非结构化地形中越障存在的局限性，提出一种基于平面齿轮连杆杆组的可变径轮腿式越障机器人的设计方案。首先对越障机器人的变径机构在轮式和轮腿式两种模式之间的变换原理进行了介绍。当遇到障碍物时，变径机构可依据障碍物的高度来变换模式从而进行越障运动。在此基础上通过计算其变形比以及运动学分析仿真，验证了该变径机构设计的合理性、较强的越障能力和模式变换时的可靠性和稳定性。其次通过构建力学模型来分析两种模式下机器人的越障能力，得出其在不同模式下的极限越障高度。最后，基于ADAMS软件对机器人在单台阶、连续台阶以及复杂路面时的越障能力进行运动仿真。结果表明该越障机器人在面对不同工况时都具有较好的越障能力，验证了设计方案的可行性。     

自主越障机器人在非结构化环境下的越障控制研究

根据对机器人的越障要求，研制出了一种小型自主的基于轮式、腿式及履带式的多种越障方式相融合的复合式越障机器人。本文介绍了越障机器人的机械结构，分析了越障机器人的越障能力以及越障姿态控制的问题，提出了在非结构化环境下，基于多传感器融合判定障碍类型，建立越障动作控制模块化数据库的控制方法。     

超高压线巡检机器人移动越障机构综述

介绍了国内外超高压输电线路巡检机器人的研究现状,分析了几种典型的巡检机器人传动原理、机械结构的特点,详细探讨了巡检机器人移动、越障的运动机理和机构形式。最后总结了巡检机器人移动越障机构的难点,展望了巡检机器人的发展趋势。     

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t...     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value.     

Non-monotonic material contrast in scanning ion and scanning electron images

30 keV Ga⁺ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z₂, and shows a non-monotonic relationship between contrast and Z₂. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z₂, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory.     

Application of Feature Extraction through Convolution Neural Networks and SVM Classifier for Robust Grading of Apples

This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an...     

分布动态载荷识别的抗噪处理

针对正交多项式频域法在用多种响应对矩形薄板进行载荷识别中抗噪性较差的问题,综合运用平均法、矩阵预处理和奇异值截断法等方法对之进行改善,并引入空间映射的思想,将该方法的应用范围拓展为复杂的模型.利用仿真算例,证实了该方法具有较好的抗噪性.     

基于MELTAC-N平台的核电厂安全级DCS环网研究与测试

针对工程实践中环网通讯相关问题的处理缺乏理论基础及国产化安全级DCS平台的开发缺乏成熟经验借鉴问题,对基于MELTAC-N平台核电厂安全级DCS环网的软硬件实现进行了研究。提出了安全级DCS环网双环网冗余设计、光切换开关设计等硬件设计方法,以及以RPR协议为基础,采用全数据收发策略的软件设计方法。在CPR1000安全级DCS平台上对安全级DCS环网的可靠性及实时性进行了评价,并进行了容错能力、响应时间及响应时间稳定性测试验证实验。结果表明,基于MELTAC-N平台安全级DCS环网软硬件设计具有较好的容错能力及响应时间稳定性。     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods....     

The laboratory simulation of abrasive wear

Abrasive wear has long been recognised as one of the most potentially serious tribological problems facing the operators of many types of plant and machinery; several industrial surveys have indicated that wear by abrasion can be responsible for more than 50% of unscheduled machine and plant stoppages. Locating the operating point of a tribological contact in an appropriate operational ‚map’︁ can provide a useful guide to the likely nature and origins of the surface degradation experienced in use, though care must be exercised in choosing the most suitable parameters for the axes of the plot. Laboratory testing of materials and simulations of machine contacts are carried out for a number of purposes; at one level for the very practical aims of ranking candidate materials or surface hardening treatments in order of their wear resistance, or in an attempt to predict wear lives under field conditions. More fundamentally, tests may be aimed at elucidating the essential physical mechanisms of surface damage and loss, with the longer term aim of building an analytical and predictive model of the wear process itself. In many cases, component surface damage is brought about by the ingress of hard, particulate matter into machine bearing or sealing clearances. These may be running dry although, more usually, a lubricant or service fluid is present at the interface. A number of standardised wear test geometries and procedures have been established for both two- and three-body wear situations, and these are briefly described. Although abrasive wear is often modelled as following an ‚Archard’︁ equation (i.e. a linear increase in material loss with both load and time, and an inverse dependence on specimen hardness) both industrial experience and laboratory tests of particularly lubricated contacts show that this is not always the case: increasing the hardness differential in an abrasively contaminated lubricated pair may not always reduce the rate of damage to the harder surface.     

ANGULAR DISTORTION ALLOWABLE VALUE AND ASSESS METHOD OF WELD ON COKE TOWER

A graph as the new engineering method for estimate the safety of bulging deformation of coke tower is proposed. Through stresses analysis of circumferential weld of coke tower and comparing the stresses produced by pressure with heat stress of steady state, residual stress, bending stress produced by both itself weight and wind loads, it showed that the stresses produced by pressure on the angle distortion are the main factor of equivalent stress of the combined stress. After comparing four kinds of stress controlling conditions, the relation to stress with depth of angular distortion, grade of curvature of angular distortion and half of region of angular distortion has been inferred. Graph of deformation allowable value of coke tower for different condition by angular distortion and half of region of angular distortion has been plotted. The five steps for its engineering use have been explained. The lighter the grade of curvature is, the larger of bulge allowance, may be, and the bigger of depth of angular distortion may pose too. For the coke tower with a popular structure of Dg 5 400 mm×28 mm, the result by graph is nearly more than the result of two formulas formed by other research, the error is less than 7.0%. But, the graph can be easily applied to different size of angular distortion.