6-PRRS并联机器人的动力学建模研究

为解决并联机器人动力学模型的计算复杂性与实时准确控制之间的矛盾,采用虚功原理建立6-PRRS并联机器人各构件随参数变化的完整动力学方程,对6-PRRS并联机器人动力学模型在各种工作情况下进行仿真分析,对机器人各部分质量和转动惯量对驱动力的影响进行研究,提出动力学模型简化策略,减小了动力学计算量,提高并联机器人动力学的计算速度,为并联机器人的控制和参数识别奠定了基础.     

基于CYT资料的储层岩石特性参数定量预测

介绍了空间源直接探矿仪(CYT)岩性探测原理,探讨了用探测资料预测储层岩石特性参数的可行性.利用天然低频电磁波作场源,获取地下不同深度岩性综合能量值,经计算机处理来预测储层岩石特性参数;导出了预测孔隙喉道平均半径、毛细管迂曲度、孔隙度和渗透率的理论模型.2个现场验证实例对比分析表明,用CYT资料预测储层岩石特性参数是可行的,储层岩石特性参数预测符合率总体为75.8%,误差为24.2%,预测误差达到24.2%的主要原因是实例井探测层段的地层倾角较大.     

求解背包问题的病毒协同进化粒子群算法

为提高粒子群算法的搜索性能,提出一种基于病毒进化理论的改进离散粒子群算法:病毒协同进化粒子群算法.在粒子群中引入生物病毒机制和宿主与病毒基于感染操作的思想,病毒采用与粒子等长的编码方式,执行反向代换、结合等操作,利用病毒的水平感染和垂直传播能力较好地维持个体的多样性和对解空间的局部搜索能力.通过解决背包问题对算法进行验证,仿真表明所提算法搜索性能优于遗传算法、模拟退火及标准粒子群等其他算法.该算法能有效求解背包问题等NP难题.     

泡沫金属的力学性能研究

利用Gibson—Ashby模型,对泡沫金属的基本参量（弹性模量和泊松比）进行了理论分析,建立了泡沫金属在弹性范围内的弹性模量和泊松比随相对密度变化的关系式,通过与Nieh等人的实验结果和Roberts等人的有限元分析结果比较表明,得到的关系式能较好地反映泡沫金属特性。研究表明,对于同一模型中,在相时密度相同的情况下,开孔泡沫金属材料的筋条截面惯性矩越大,其弹性模量越大,而泊松比越小。     

四辊冷轧机基于机理与工况相结合的工作辊磨损模型研究

在大量的现场试验与理论研究的基础上,充分考虑到冷轧生产过程中的设备与工艺特点,将磨损机理与轧制过程中实际磨损数据的测量结果有机结合,建立了一套既考虑机理又考虑工况、不但适用于对称磨损而且适用于不对称磨损的工作辊预报模型,并将其应用到宝钢冷轧薄板厂1220五机架冷连轧机的生产实践,有效的保证了工作辊磨损的预报精度,为辊型设计、板形控制奠定了坚实的理论基础,提高了产品的板形质量,为企业创造了较大的经济效益,具有进一步推广应用的价值。     

Seepage-stress coupling constitutive model of anisotropic soft rock

To provide a seepage-stress coupling constitutive model that can directly describe the seepage-stress coupling relationship, a series of one-dimensional seepage-stress coupling tests on two kinds of soft rock (argillaceous siltstone and brown mudstone) were performed by using an MTS-815.02 tri-axial rock mechanics test system, with which the stress—strain curves according to the seepage variation were obtained. Based on the experimental results and by employing Hooke’s law, the formulation of the coefficient of strain-dependent permeability was presented and introduced to establish a coupling model. In addition, the mathematical expression and the incremental formulation for coupling model were advanced, in which five parameters that can be respectively determined by using the experimental results were included. The calculated results show that the proposed coupling model is capable of simulating the stress—strain relationship with considering the seepage-stress coupling in the nonlinear elastic stage of two kinds of soft rock. Foundation item: Projects(50378069, 50639090) supported by the National Natural Science Foundation of China; Project(50639090) supported by the Joint Fund of Yalong River Hydropower Development, China     

基于FPA的新型气动柔性球关节的研究

驱动关节是机器人研究的重要基础部件,提出了一种基于气动柔性驱动器(FPA)的新型气动柔性球关节,本球关节采用三个FPA作为驱动器,通过向三个FPA输入不同的气压实现其旋转运动.由球关节力矩平衡的条件,建立了新型气动柔性球关节的数学模型,根据并联机构位置逆解易求的特点和BP神经网络的特性,建立了合适的BP神经网络模型,求解了新型气动柔性球关节的位置正解,最后通过MATLAB仿真验证了新型气动柔性球关节模型的准确性.     

超高压改性对鸡蛋蛋白液起泡及物理性质的影响

采用超高压改性鸡蛋蛋白液,研究了压力、保压时间对蛋白液起泡性质和物理性质的影响结果表明,新鲜蛋白液在350MPa的静水压下处理15min后的起泡性质最好．此外,超高压改性还导致蛋白液的黏度和表面张力呈现升高后又急剧降低的趋势,并能够降低蛋白液的明度.     

New Method of Manufacturing Micro Parts Using Thiobacillus Ferrooxidans

A new method of processing and manufacturing certain parts of instruments through biological approach is studied. Knowledge of feasibility of micro-manufacturing is obtained by comparing experimental results of etching surfaces of copper, aluminium alloy, brass, steel and stainless steel using strain of Thiobacillus ferrooxidans (T.f.). Our experimental results show that certain metals can be etched using T.f., the most feasible material is copper, followed by brass, etc., with stainless steel the least. The surface of the stainless steel material is nearly unchanged during surface-etching. Micro parts made of copper or brass can be satisfactorily processed with T.f. and the rate of processing on copper is about 14?μm/h. Furthermore, surface roughness and processing speed are controlled by pH value and temperature of etching liquid, in addition to swing rate of the the swing bed.     

基于DBR的生产控制方法研究

为解决DBR方法在生产控制研究中的局限性,分别对DBR方法中时间缓冲量的确定、瓶颈识别和控制机制进行改进,建立了一套完善的、基于DBR的生产控制方法,使之能够有效地识别制造系统的瓶颈资源,减少生产中不确定性对系统带来的影响,提高生产绩效．