关节型博弈机器人智能控制系统模块化设计与实现

为解决关节型博弈机器人智能控制系统程序复杂,控制精度低的两大问题,通过综合机器视觉技术与电机控制技术,提出了基于MATLAB平台下的模块化机器视觉系统设计概念及自适应性模糊化PID控制系统的设计方案。结果表明:系统提取棋盘信息和落子信息速度加快,步进电机进入稳态响应时间提前,证实了博弈机器人执行人机对弈任务的高效性,并且为关节型机器人智能控制模块化设计提供了新思路。     

从经济学视角谈"绿色考场"制度构建

本文从微观教育经济学视角分析了“考试”的制度博弈问题 ,论证了降低传统考试制度成本的可能性 ,目的在于发现提高“考试”效用的制度创生途径。本研究采用了实验经济学 (ExperimentalEco nomics)的研究方法 ,组织了一场超博弈的“绿色考场”实验。在实际的制度博弈实验中 ,对所设计的超博弈模型作了严格的规范论证 ,对实验结果进行了实证分析 ,并利用常规统计检验工具 ,对实施“绿色考试”和未实施“绿色考试”的同一实验对象的行为结果进行了对比分析。实验结果说明 ,传统考试制度成本高昂。建立一种动态开放、信息对称的考试机制 ,将是提升考试制度效益的可行办法。     

AutoCAD 二次开发在叶片锻模设计中的运用

利用AutoCAD的开放性平台并根据叶片锻模设计的需要开发了VisualLISP程序,自动生成和优化叶片锻模进、出汽边分模线,并在实际叶片锻模设计中得到成功运用。该程序不仅提高了叶片锻模设计的效率及准确性,而且为今后同类VisualLISP程序的开发提供了经验与技巧。     

软PLC开发平台与EtherMAC接口技术研究

为提升基于Ether MAC工业实时以太网平台的运动控制系统开发效率,提出了一种可使用IEC61131-3编程语言在该平台下开发运动控制系统的方法。通过研究开放式软PLC开发平台Co De Sys在Windows CE 6操作系统下的二次开发技术,结合Ether MAC的从站首节点定时触发机制,设计一种以外部事件机制和内核对象事件机制实现程序同步的Ether MAC组件。并以开发数控绕线机的控制系统为例,对该组件的可行性和性能进行验证,结果表明其能够满足控制系统的功能要求,并有效地提高开发效率。     

采矿方法程序化设计

阐述了利用AutoCAD ActiveX/VBA二次开发技术,开发出金属矿山常用采矿方法智能设计程序。该程序将采矿方法设计中大量的绘图、计算工作转换为简单的程序操作,大幅提高了采矿方法设计效率。     

基于Pro/E锻件计算毛坯的二次开发

以Pro/E软件为平台,利用提供的Pro/Toolkit组件,开发了长轴类锻件的截面积自动计算及输出程序,结合EXCEL VBA环境,编制了截面数据处理及计算毛坯图绘制的程序。应用实例表明,该方法能够减少技术人员重复劳动,提高锻件工艺设计效率。     

PLC控制程序的设计与应用

介绍一种仅采用基本辑功能指令设计PLC控制程序的方法，该方法特别适用于复杂控制系统，采用该方法设计控制程序时，有规律可循、实现方便、容易掌握、可读性强。     

用ObjectARX开发基于AutoCAD 2002冲模标准件库

介绍了在AutoCAD 2002 for Windows98／2000平台下，利用VC 6．0和ObjectARX编程来开发冲模标准件库的方法，重点介绍了利用ObjectARX编程的方法。该文以卸料螺钉为例介绍了程序的设计方法。该程序采用参数化编程，大大提高了设计效率。     

基于人机约束的机床操作件设计研究及实现

本文将基于约束的设计思想引入机床产品的人机设计中，提出了一种基于人机工程学约束的设计方法，并借助于数据库技术，ＡｃｔｉｖｅＸ，ＡｕｔｏＣＡＤ二次开发等技术开发了可直接用于典型机床操作年的人机设计的软件系统。实践证明，这种方法是可行的、有效的，对于其他机电产品的工业设计、人机设计过程具有同样的借鉴意义。     

三菱Q系列PLC对象编程方法的研究与应用

文章将结合国内某汽车空气滤清器生产线,详细介绍如何进行面向对象编程、面向对象编程中硬件对象和流程对象的创建步骤以及这两种对象间数据的传递方法.实践证明,在大型工业控制系统中,由于该方法类似于高级编程语言中类的思想,把控制系统划分成设备硬件类和流程控制类,极大方便了程序的编写和维护,并提高了程序的可读性和开发效率.在做设备性能扩展时,只需对已有的类进行实例化,就可轻松扩展该系统中已有的类对象,此外,文中还给出了新方法的特点.     

Effects of Post-weld Heat Treatment on Microstructure,Mechanical Properties and the Role of Weld Reinforcement in 2219 Aluminum Alloy TIG-Welded Joints

In as-welded state, each region of 2219 aluminum alloy TIG-welded joint shows diff erent microstructure and microhardness due to the diff erent welding heat cycles and the resulting evolution of second phases. After the post-weld heat treatment, both the amount and the size of the eutectic structure or θ phases decreased. Correspondingly, both the Cu content in α-Al matrix and the microhardness increased to a similar level in each region of the joint, and the tensile strength of the entire joint was greatly improved. Post-weld heat treatment played the role of solid solution strengthening and aging strengthening. After the post-weld heat treatment, the weld performance became similar to other regions, but weld reinforcements lost their reinforcing eff ect on the weld and their existence was more of an adverse eff ect. The joint without weld reinforcements after the post-weld heat treatment had the optimal tensile properties, and the specimens randomly crack in the weld zone.     

The First Phase of the SRIF Industrialized Base in ＂West Area＂ Has Been Put into Operation

After nearly two years＇ tense construction, the first phase of industrialized base of Shenyang Research Institute of Foundry （SRIF）, located at the Tiexi Casting and Forging Industrial Park in the west of Tiexi District, has now been completed and formally put into operation.     

Thermodynamics Study on the Decomposition of Chromite with KOH

Institute of Process Engineering, Chinese Academy of Sciences, China, has proposed a method for oxidative leaching of chromite with potassium hydroxide. Understanding the mechanism of chromite decomposition, especially in the potassium hydroxide fusion, is important for the optimization of the operating parameters of the oxidative leaching process. A traditional thermodynamic method is proposed and the thermal decomposition and the reaction decomposition during the oxidative leaching of chromite with KOH and oxygen is discussed, which suggests that chromite is mainly destroyed by reactions with KOH and oxygen. Meanwhile, equilibrium of the main reactions of the above process was calculated at different temperatures and oxygen partial pressures. The stable zones of productions, namely, K2CrO4 and Fe2O3, increase with the decrease of temperature, which indicates that higher temperature is not beneficial to thermodynamic reactions. In addition, a comparison of the general alkali methods is carried out, and it is concluded that the KOH leaching process is thermodynamically superior to the conventional chromate production process.     

Influence of Heat Treatment on Damping Behaviour of the Magnesium Wrought Alloy AZ61

The effect of isochronal heat treatments for 1h on variation of damping, hardness and microstructural change of the magnesium wrought alloy AZ61 was investigated. Damping and hardness behaviour could be attributed to the evolution of precipitation process. The influence of precipitation on damping behaviour was explained in the framework of the dislocation string model of Granato and Lücke.     

Effect of Rare Earth Doping on Impedance,Modulus and Conductivity Properties of Multiferroic Composites:0.5(BiLa_xFe_(1-x)O_3)–0.5(PbTiO_3)

The Lanthanum-doped bismuth ferrite–lead titanate compositions of 0.5(Bi LaxFe1-xO3)–0.5(Pb Ti O3)(x = 0.05,0.10,0.15,0.20)(BLxF1-x-PT) were prepared by mixed oxide method.Structural characterization was performed by X-ray diffraction and shows a tetragonal structure at room temperature.The lattice parameter c/a ratio decreases with increasing of La(x = 0.05–0.20) concentration of the composites.The effect of charge carrier/ion hopping mechanism,conductivity,relaxation process and impedance parameters was studied using an impedance analyzer in a wide frequency range(102–106Hz) at different temperatures.The nature of Nyquist plot confirms the presence of bulk effects only,and non-Debye type of relaxation processes occurs in the composites.The electrical modulus exhibits an important role of the hopping mechanism in the electrical transport process of the materials.The ac conductivity and dc conductivity of the materials were studied,and the activation energy found to be 0.81,0.77,0.76 and 0.74 e V for all compositions of x = 0.05–0.20 at different temperatures(200–300 °C).     

Quantitative Analysis of the Crystallographic Orientation Relationship Between the Martensite and Austenite in Quenching–Partitioning–Tempering Steels

The orientation relationships(ORs)between the martensite and the retained austenite in low-and medium-carbon steels after quenching–partitioning–tempering process were studied in this work.The ORs in the studied steels are identified by selected-area electron diffraction(SAED)as either K–S or N–W ORs.Meanwhile,the ORs were also studied based on numerical fitting of electron backscatter diffraction data method suggested by Miyamoto.The simulated K–S and N–W ORs in the low-index directions generally do not well coincide with the experimental pole figure,which may be attributed to both the orientation spread from the ideal variant orientations and high symmetry of the low-index directions.However,the simulated results coincide well with experimental pole figures in the high-index directions{123}_(bcc).A modified method with simplicity based on Miyamoto’s work was proposed.The results indicate that the ORs determined by modified method are similar to those determined by Miyamoto’method,that is,the OR is near K–S OR for the low-carbon Q–P–T steel,and with the increase of carbon content,the OR is closer to N–W OR in medium-carbon Q–P–T steel.     

Using Finite Element and Contour Method to Evaluate Residual Stress in Thick Ti-6Al-4V Alloy Welded by Electron Beam Welding

This work was to reveal the residual stress profile in electron beam welded Ti-6Al-4V alloy plates(50 mm thick) by using finite element and contour measurement methods.A three-dimensional finite element model of 50-mmthick titanium component was proposed,in which a column–cone combined heat source model was used to simulate the temperature field and a thermo-elastic–plastic model to analyze residual stress in a weld joint based on ABAQUS software.Considering the uncertainty of welding simulation,the computation was calibrated by experimental data of contour measurement method.Both test and simulated results show that residual stresses on the surface and inside the weld zone are significantly different and present a narrow and large gradient feature in the weld joint.The peak tensile stress exceeds the yield strength of base materials inside weld,which are distinctly different from residual stress of the thin Ti-6Al-4V alloy plates presented in references before.     

Microstructures and Tensile Properties of Ultrafine-Grained Ni–(1–3.5) wt% SiC_(NP) Composites Prepared by a Powder Metallurgy Route

Silicon carbide nanoparticle-reinforced nickel-based composites(Ni–Si CNP),with a Si CNPcontent ranged from1 to 3.5 wt%,were prepared using mechanical alloying and spark plasma sintering.In addition,unreinforced pure nickel samples were also prepared for comparative purposes.To characterize the microstructural properties of both the unreinforced pure nickel and the Ni–Si CNPcomposites transmission electron microscopy(TEM) was used,while their mechanical behavior was investigated using the Vickers pyramid method for hardness measurements and a universal tensile testing machine for tensile tests.TEM results showed an array of dislocation lines decorated in the sintered pure nickel sample,whereas,for the Ni–Si CNPcomposites,the presence of nano-dispersed Si CNPand twinning crystals was observed.These homogeneously distributed Si CNPwere found located either within the matrix,between twins or on grain boundaries.For the Ni–Si CNPcomposites,coerced coarsening of the Si CNPassembly occurred with increasing Si CNPcontent.Furthermore,the grain sizes of the Ni–Si CNPcomposites were much finer than that of the unreinforced pure nickel,which was considered to be due to the composite ball milling process.In all cases,the Ni–Si CNPcomposites showed higher strengths and hardness values than the unreinforced pure nickel,likely due to a combination of dispersion strengthening(Orowan effects) and particle strengthening(Hall–Petch effects).For the Ni–Si CNPcomposites,the strength increased initially and then decreased as a function of Si CNPcontent,whereas their elongation percentages decreased linearly.Compared to all materials tested,the Ni–Si CNPcomposite containing 1.5% Si C was found more superior considering both their strength and plastic properties.     

Directional Growth of Tin Crystals Controlled by Combined Solute Concentration Gradient Field and Static Magnetic Field

A new method was introduced to achieve directional growth of Sn crystals. Microstructures in liquid(Pb)/liquid(Sn) diffusion couples were investigated under various static magnetic fields. Results show that the β-Sn crystals mainly reveal an irregular dendritic morphology without or with a relatively low static magnetic field(B0.3 T). When the magnetic field is increased to 0.5 T, the β-Sn dendrites close to the final stage of growth begin to show some directional character. With a further increase in the magnetic field to a higher level(0.8–5 T), the β-Sn dendrites have an enhanced directional growth character, but the dendrites show a certain deflection. As the magnetic field is increased to 12 T, the directional growth of the β-Sn dendrites in the center of the couple is severely destroyed. The mechanism of the directional growth of the β-Sn crystals and the deflection of the β-Sn crystals with the application of static magnetic field was tentatively discussed.     

电化学噪声数据处理方法概述

综述了常见的电化学噪声数据处理方法,介绍了直流趋势剔除、统计分析、快速傅立叶变换(FFT)法计算功率谱密度(PSD)以及小波变换处理电化学噪声信号的基本过程,并阐释了各种数学处理及所得参数的物理意义。