Design and development of an intelligent controller for a pole-balancing robot

In this paper, an intelligent controller capable of static balancing as well as dynamic balancing of a pole mounted on a motorized robot is designed and developed. The brain of the intelligent controller lies in the Fuzzy Inference System, which receives as its input displacement, velocity and acceleration information. An embedded instrumentation system onboard the robot measures the displacement of the robot and the angle of inclination of the pole from the vertical position. For static balancing, the controller needs to maintain the pole in an upright position while the robot is free to move on a flat surface. For dynamic balancing, the robot needs to balance the pole while performing transitions up and down a ramp. Furthermore, the robot needs to steer itself back to the center to prevent it from falling off the ramp.     

5万m~2地下特大型支撑爆破拆除

介绍了在复杂环境下爆破拆除一地下特大钢筋混凝土支撑的技术难点。由于合理选取爆破参数,采取孔内高段、孔外低段毫秒微差起爆网路,安全防护采取覆盖、近体、保护性三种措施,有效地阻止了飞石对周围建筑物的损害,并对爆破可能产生的危害进行了科学验算,最后分多次爆破圆满完成拆除任务。     

河流生态功能综合评价的层次决策分析方法

介绍了基于层次决策分析的河流生态功能综合评价方法,提出了在河流水文评估、物理化学评估、生物栖息地质量评估和生物评估4个单项评估的基础上,构建以河流生态功能综合指数为目标、4个单项因子为准则、5个等级标度为决策标准的层次递阶模型,应用模型进行了河流综合评价的两种情景分析。     

湖塘水库大坝混凝土的质量检测及分析

介绍了湖塘水库大坝混凝土检测的依据、方法及内容,并对其是否影响大坝安全运行进行实验研究.     

Ni-Ta-Hf三元系等温截面的研究

应用三元扩散偶技术测定Ni-Ta-Hf三元系1423K的等温截面，用电子探针微区成分分析方法对Ni-Ta-Hf三元扩散偶进行相区成分分析，测得Ni-Ta-Hf三元系1423K时形成13个二元中间化合物（ni5Hf,Ni7Hf2,Ni3Hf,Ni7Hf3,Ni10Hf7,Ni11Hf9,NiHf,NiHf2,Ni8Ta,Ni3Ta,Ni2Ta,NiTa及NT2),在扩散偶中未发现三元中间化合物。Ni-Ta-Hf三元系1423K存在11个三相区。并与外推计算的等温截面吻合的很好，由此确定了Ni-Ta-Hf三元系1423K时的相平衡关系。     

桃园煤矿大断面岩巷施工特大冒顶事故经验分析

根据大断面岩巷施工实践及遇构造变化冒顶特征,提出了U型钢加补木垛、撞楔复合超前支护的施工技术方案,为大跨度巷道冒顶施工提供了借鉴经验。     

Effects of surface shapes on properties of turbulent/non-turbulent interface in turbulent boundary layers

The effects of directional riblets surfaces on the turbulent/non-turbulent(T/NT) interface in turbulent boundary layers are experimentally investigated using two-dimensional time-resolved particle image velocimetry(PIV). The velocity field of streamwise—wall-normal plane for the smooth surface, converging and diverging riblets surfaces are measured. The interface is detected using the criterion of local kinetic energy. The statistical properties of interface height and conditional averaged velocity for different surfaces are analyzed. It is shown that, the converging and diverging riblets surfaces have little effect on the fractal dimension of the T/NT interface, but they cause the intermittency profile deviate from error function and the probability distribution of interface height deviate from Gaussian function. To be specific, the distribution of interface height for the converging riblets surface shows a positive skewness while it shows a negative skewness for the diverging riblets surface.Moreover, the conditional averaged streamwise velocity and spanwise vorticity across the interface are analyzed, and it is found that their self-similarities are preserved for different surfaces when normalized with respective friction velocity. The correlation analysis reveals that near-wall streamwise velocity fluctuation and interface height show a negative correlation.     

基于多元回归随机抽样一致性算法的圆柱拟合

现实中的三维激光点云数据中存在大量圆柱几何体,在实际操作中,由于测量环境的干扰性和实验仪器的局限性,使圆柱体测量数据的拟合精度受到影响。本文在随机抽样一致性算法的基础上研究一种基于多元回归随机抽样一致性算法的圆柱拟合方法,利用MATLAB编程实现对圆柱的轴线方向向量和半径拟合求解,通过设置仿真数据和实测数据实验与最小二乘及整体最小二乘拟合结果进行比较,结果表明本文算法对于圆柱拟合过程中的参数解算具有较好的鲁棒性。     

基于LC电源的混合式高压直流断路器分断试验方法

直流断路器分断试验为运行试验中最为核心的部分,其有效性直接关乎直流断路器电气性能的验证。该文针对柔性直流电网用混合式高压直流断路器分断试验展开研究,目的在于提出具有工程可行性的分断试验方法和试验参数。首先,在对混合式高压直流断路器原理和工况分析的基础上,揭示了混合式高压直流断路器整机应力特性;然后,在应力提取的基础上,提出了LC电源试验电路以及参数;最后,通过200 k V断路器整机短路电流分断试验验证了试验电路和试验方法的准确性。实验结果可为混合式高压直流断路器试验系统设计提供参考。     

电动汽车换电站时序响应能力模型与充电计划制订策略

由于蓄电池具有良好的储能特性以及可控性,电动汽车换电站运营商在满足换电需求的前提下,可以响应电网企业的激励措施,达到系统运行的要求。首先,根据换电站内电池组的状态参量,建立电池组的状态矩阵;其次,将电池组进行状态分群,对其中处于可控状态的电池组实施控制;最后,运用递推的思想研究该换电站内备用电池组的可控负荷裕度带,进而指导换电站运营商根据电网企业的运行目标制订相应的充电计划,达到负荷平衡、改善区域负荷特性等目的。