Physics-based simulation for manual robot guidance—An eRobotics approach

Manual robot guidance is an intuitive approach to teach robots with human's skills in the loop. It is particularly useful to manufacturers because of its high flexibility and low programming effort. However, manual robot guidance requires compliance control that is generally not available in position-controlled industrial robots. We address this issue from a simulation-driven approach. We systematically capture the interactive dynamic behavior of intelligent robot manipulators within physics-based virtual testbeds, regardless of the type of application. On this basis, we develop structures to equip and employ simulated robots with motion control capabilities that include soft physical interaction control driven in real-time with real external guidance forces. We then transfer the virtual compliant behavior of the simulated robots to their physical counterparts to enable manual guidance. The simulator provides assistance to operators through timely and insightful robot monitoring, as well as meaningful performance indexes. The testbed allows us to swiftly assess guidance within numerous interaction scenarios. Experimental case studies illustrate the practical usefulness of the symbiotic transition between 3D simulation and reality, as pursued by the eRobotics framework to address challenging issues in industrial automation.     

A Haar wavelet quasilinearization approach for numerical simulation of Burgers’ equation

In this paper, an efficient numerical scheme based on uniform Haar wavelets and the quasilinearization process is proposed for the numerical simulation of time dependent nonlinear Burgers’ equation. The equation has great importance in many physical problems such as fluid dynamics, turbulence, sound waves in a viscous medium etc. The Haar wavelet basis permits to enlarge the class of functions used so far in the collocation framework. More accurate solutions are obtained by wavelet decomposition in the form of a multi-resolution analysis of the function which represents a solution of boundary value problems. The accuracy of the proposed method is demonstrated by three test problems. The numerical results are compared with existing numerical solutions found in the literature. The use of the uniform Haar wavelet is found to be accurate, simple, fast, flexible, convenient and has small computation costs.     

Messil — simulation properties of measuring systems

The paper discusses the problem of computer simulation of measurement systems. The operations appearing in the system are defined. Application possibilities of the MESSIL program package created for simulation analysis and design of measuring systems are described. The range of possible applications of the presented modelling methodics of measuring system simulation is specified.     

An SVM—ANN Hybrid Classifier for Diagnosis of Gear Fault

A hybrid classifier obtained by hybridizing Support Vector Machines (SVM) and Artificial Neural Network (ANN) classifiers is presented here for diagnosis of gear faults. The distinctive features obtained from vibration signals of a running gearbox, which was operated in normal and fault-induced conditions, were used to feed the SVM-ANN hybrid classifier. Time-domain vibration signals were divided in segments. Features such as peaks in time domain and in spectrum, central moments, and standard deviations were obtained from signal segments. Based on the experimental results, it was shown that SVM-ANN hybrid classifier can successfully identify gear condition and that the hybrid SVM-ANN classifier performs much better than standard versions of ANNs and SVM. The effectiveness of the hybrid classifier under noise was also investigated. It was shown that if vibration signals are preprocessed by Discrete Wavelet Transform (DWT), efficacy of the SVM-ANN hybrid is significantly enhanced.     

Optimization–simulation–optimization based approach for proactive variation reduction in assembly

This paper addresses the economic benefits of selectively assigning a batch of subassemblies to each other after inspecting and correcting them as needed. Our work is based on optimizing the collective cost of subassembly inspection, rework, scrap, final assembly failure, and the act of subassembly mating. The expected value for the cost is estimated using Monte Carlo Simulation and optimized using a metaheuristic. After each simulation replication where we simulate a batch of subassemblies, we assign the inspected subassembly parts so that the rolled yield throughput is maximized. The complexity of this work is attributed to the fact that we solve an optimization problem for an objective that is estimated using simulation, and in each simulation replication there is another optimization problem to be solved for selective assembly. Significant improvements in assembly lines are predicted to be accomplished when this work is integrated in a real production environment.     

A two-parameter model for crack growth simulation by combined FEM–DBEM approach

This paper describes the application of a two-parameters crack growth model, based on the usage of two threshold material parameters (ΔK_th and K_max,th) and on the allowance for residual stresses, introduced at the crack tip by a fatigue load spectrum or by material plastic deformations. The coupled usage of finite element method (FEM) and dual boundary element method (DBEM) is proposed in order to take advantage of the main capabilities of the two methods.The procedure is validated by comparison with available experimental results, in order to assess its capability to predict the retardation phenomena, introduced by a variable load spectrum or by a plastic deformation introduced with a tool on the panel (indentation).In particular two different tests are made: the first test involve a CT specimen undergoing a load spectrum and the second one involve a dented panel undergoing a constant amplitude fatigue load. In both cases a satisfactory numerical–experimental correlation will be proved.The main advantages of the aforementioned procedure are: the simplicity of the crack growth law calibration (few constant amplitude tests are sufficient without the need for any non-physical calibration parameters), and the possibility to simulate residual stress effects on crack propagation with a simplified approach, based on linear elastic fracture mechanics.     

Integrating information — a task-orientated approach

To date, there have been few attempts at integrating the increasing amounts of information that are available to users of computer systems. Using published literature, this paper collates some relevant principles (or heuristics) for integrating information based on task orientation. These are then applied to the electronic fishing aids in an in-shore fishing vessel's wheelhouse with the purpose of reducing the number of screens used therein. However, the application raises some issues; in particular that of the designer's knowledge of the tasks so that unique information is not lost.     

System analysis and simulation—electric energy system

This paper deals with the application of cybernetical tools to different aspects of electric power industry. The effectiveness of the recursive least square instrument variables algorithm has been shown for on-line flow simulation of a hydro-electric power plant. The growth model of electric energy consumption has been developed with multi-layer group method of data handling algorithm. A polynomial model of optimum complexity shows the trends of installed plant capacity and electric energy consumption in India up to 2000 A.D. A model of electric energy utilisation factor is also obtained.     

专业电气CAD——SEE Electrical

目前，国内电气图纸普遍都是用机械设计软件来设计，这样的非专业设计软件在使用过程中，会存在以下一些弊端：1．重复劳动较多、效率不高：因为二维机械设计软件没有电气设计所需要的环境（如符号库、设备库、各类模板），所有的绘制基本上靠手动完成，重复劳动比较多，并且在绘制完原理图后，还需要手动统计各种报表，绘制相应的接线图，而这些信息在原理图中都有了明确的反映，这部分工作就完全是一种简单的重复劳动，不会产生任何创造性价值。     

The parallel quicksort algorithm part 2—simulation

This paper is the second of a two part series in which a general purpose sorting algorithm i.e. Quicksort is adapated for execution on an M.I.M.D. computer system. In this part, the parallel algorithm derived in Part 1 is simulated and qualitative agreement with the results from the run-time analysis was obtained.     

古调新曲重唱CAD——李华博士谈CAD技术与发展

CAD技术的研究与应用似乎是一个非常“古老”的话题,相关技术的发展将如何促进CAD技术的飞跃?我们面临怎样的问题急需解决?CAD市场不很火热的原因何在?带着这些问题,本刊记者近日走访了中国科学院计算技术研究所CAD开放实验室主任李华博士,请他就读者关心的问题一一作答。     

CAD图形开发工具—CADKit

如何充分利用Ｗｉｎｄｏｗｓ在管理，ＯＬＥ等方面的强大功能和技术，双发挥开发人员和应用人员的积极性，争取合理而又最大限度地组织信息资源，技术资源，人才资源和各用户单位早期和今后已投入和半投入的财务资源，达到在Ｗｉｎｄｏｓ网络下的应用集成，这是本文介绍了ＣＡＤ图形开发工具ＣＡＤＫｉｔ软件的目标。     

合金装备(Metal Gear)全攻略

操作简介： 小键盘方向键：控制主角运动，方向直接对应屏幕上的方向；如果主角贴住一个固定物体，你再让他往这个物体的方向移动，主角就可以贴在这个物体上，视角也会自动转向观察背后。此时配合方向键可以移动，配合Ｘ键可以观察 Ｘ：第一人称视角 ＣＴＲＬ：射击键；徒手时可做出擒拿动作，组合方向键可以将对手摔出 ＳＨＩＦＴ：蹲下，再按方向键为趴下，配合方向键匍匐前进 空格：动作 Ａ：物品栏，按住以后用方向键选择物品 Ｑ：切换是否将已选定的物品拿在手中 Ｓ：武器栏，按住后用方向键选择武器 Ｗ：切换是否将已选定的武器拿在…     

Building enterprise reuse program——A model-based approach

Reuse is viewed as a realistically effective approach to solving software crisis. For an organization that wants to build a reuse program, technical and non-technical issues must be considered in parallel. In this paper, a model-based approach to building systematic reuse program is presented. Component-based reuse is currently a dominant approach to software reuse. In this approach, building the right reusable component model is the first important step. In order to achieve systematic reuse, a set of component models should be built from different perspectives. Each of these models will give a specific view of the components so as to satisfy different needs of different persons involved in the enterprise reuse program. There already exist some component models for reuse from technical perspectives. But less attention is paid to the reusable components from a non-technical view, especially fromthe view of process and management. In our approach, a reusable component model--FLP modelfor reusable component     

跑酷穿越中 Gear Jackblack hole

时隔两年,意大利卡塔尼亚的游戏团队Forest Moon推出了《Gear Jack》的续作《Gear Jackblack hole》,游戏仍然是2D卡通风横版跑酷游戏,齿轮机器人Jack陷入了一个时空黑洞中,只有奔跑才能挽救他的生命,他将穿越时空面对致命的外星敌人、疯狂的陷阱和更多的挑战,更糟糕的是他的船W.Hale也被吸入黑洞中,玩家要操纵的机器人Jack在这个混乱的时空中收集齿轮零件,坐着飞船最终逃离这一个危险的地方。     

一个面向产品的CAD系统—QBZ CAD系统

我们把《大,中型企业建立计算机辅助设计系统的初步探讨》一文中所考虑到的原则与青岛“琴岛-海尔”家用电冰箱总厂的具体的设计生产的实际情况相结合,开发,研制了面向家用电冰箱产品的计算机辅助设计系统,称之为QBZ CAD系统。 这样的系统也可以很方便地进行改变,转变成面向任何一种家电,机械,运输,化工机械产品的CAD系统。也可以按厂家所提出的任何要求进行设计,开发,以满足实际设计,生产的需要。