基于约束满足的多目标双足机器人动态步态参数优化*

目前的步态优化算法仅仅实现了对单一目标的优化,把双足机器人步态优化看做是多目标优化问题,构建了衡量稳定性、能量消耗、步行速度三个目标评价函数。考虑到直接对多个目标加权求和的方法不能很好地处理多目标问题,提出一种新的基于约束满足的多目标步态参数优化算法,其思想是把基于惩罚函数的SPEA2(strength Pareto evolutionary algorithm2 )应用到多目标双足机器人动态步态参数优化问题上,规划出了同时满足这三个目标的动态优化步态。通过仿真实验表明了算法的有效性。     

Preparation,characterization and salt-resistance of a coal based super absorbent composite

Potassium humate was extracted from brown coal.A novel super absorbent composite,poly (acrylic acid-co-acrylamide)/potassium humate (PAA-AM/KHA),was prepared by graft polymerization of acrylic acid,acrylamide and coal based potassium humate using N,N'-methylenebisacrylamide as a crosslinker and potassium peroxydisulfate as an initiator.The effects of reaction temperature,degree of neutralization of the poly (acrylic acid) and the amounts of crosslinker,initiator and potassium humate were investigated.Salt resistance tests were also carried out.The composite prepared under optimal conditions had a potassium humate content of 10% and exhibited a water absorption of 770 g/g in distilled water,and 349,286 and 41 g/g in 0.5 mol/L KC1,MgCl2 and AlCl3 solutions respectively.The results indicate that the salt resistance of PAA-AM/KHA was superior to that of poly (acrylic acid-co-acrylamide) because of the collaborative effect of functional groups of the coal based potassium humate.The PAA-AM/KHA micro powder was characterized by IR spectroscopy and the micrographic surface was characterized by scanning electron microscopy.Introduction of potassium humate into the poly (acrylic acid-co-acrylamide) structure creates a composite more suitable for use as a water-managing material in the renewal of arid and desert environments.The salt resisting property of the composite is improved,production costs are reduced and the growth stimulant effect is still present.     

壳聚糖/羧甲基壳聚糖止血膜的制备与表征

针对壳聚糖止血膜柔韧性差的问题,以丙三醇和酚磺乙胺作为改性剂,采用溶液浇膜的方法制备了不同组成配比的壳聚糖(CS)/羧甲基壳聚糖(CMCS)止血膜,并评价了CS/CMCS止血膜拉伸性能和止血效果.丙三醇的引入可使CS/CMCS止血膜的断裂伸长率提高4~7倍,尽管其拉伸强度也降低了70%.丙三醇改性的CS/CMCS=8/2载药止血膜具有较好的拉伸强度(10.4±0.9 MPa)和断裂伸长率(50.4±4.5%);与未加入酚磺乙胺的CS/CMCS止血膜相比,酚磺乙胺的离子交联作用使CS/CMCS载药止血膜的拉伸强度提高55%,而断裂伸长率仅降低24%.止血评价结果表明经丙三醇改性的CS/CMCS=8/2止血膜均能使血液发生分离的时间明显缩短,并具有促使血液凝结形成黑色血块的能力.     

适度出砂技术在海上稠油油田的应用研究

通过理论计算和室内出砂模拟实验,分别从地层出砂、井筒附近防砂以及井筒内的携砂生产三方面时适度出砂开采方式进行了研究.结果表明:地层出砂对储层物性有所改善,不同粒径段颗粒出砂1%后,渗透率增幅为20%左右,其中细微砂粒(<39 μm)的产出对渗透率提高贡献最大,为21,07%-37.60%;防砂管和地层环空间砂粒的堆积对产能影响很大,环空无砂时产能提高1.71倍,但当环空充满砂时产能仅提高14.70%;只有当井筒内的流体流速大于等于砂粒的沉降末速时产出砂才能被携带出井筒.该开采方式在渤海稠油油田得到成功应用.     

Zonal disintegration phenomenon in enclosing rock mass surrounding deep tunnels -- Elasto-plastic analysis of stress field of enclosing rock mass

The zonal disintegration phenomenon (ZDP) is a typical phenomenon in deep block rock masses. In order to investigate the mechanism of ZDP, an improved non-linear Hock-Brown strength criterion and a bi-linear constitutive model of rock mass were used to analyze the elasto-plastic stress field of the enclosing rock mass around a deep round tunnel. The radius of the plastic region and stress of the enclosing rock mass were obtained by introducing dimensionless parameters of radial distance. The results show that tunneling in deep rock mass causes a maximum stress zone to appear in the vicinity of the boundary of the elastic and the plas-tic zone in the surrounding rock mass. Under the compression of a large tangential force and a small radial force, the rock mass in the maximum stress zone was in an approximate uniaxial loading state, which could lead to a split failure in the rock mass.     

一般克隆选择算法的收敛性证明*

克隆选择算法已经广泛应用于计算智能领域,而针对克隆选择算法理论方面的分析和研究工作却很少。为了丰富克隆选择算法的理论基础,采用了与研究遗传算法相似的方法,研究了克隆选择算法的收敛性,推导出克隆选择算法在求解优化问题时,收敛到全局最优解的充分条件。因此,对基于克隆选择算法的各种应用如BCA和CLONALG算法,只要检查这些充分条件是否满足就可以证明算法的收敛性。     

一种基于无线传感器网络的目标跟踪调度算法*

基于无线传感器网络的IPv4/IPv6混合组网的视频监控系统的调度算法可以有效地增强视频监控的智能控制功能。在综合考虑无线传感器网络的自身特性和监控系统功能扩展清晰度要求的基础上,对原有的后来先服务调度(LCFS)算法进行改进,并设计和实现了一种简单有效的目标检测和跟踪方案,提出了清晰度最优负载平衡的调度算法(DOLB)。理论分析及实验结果表明,该算法性能明显优于原有的调度算法。     

基于小波分析和遗传神经网络的模拟电路故障诊断方法*

针对BP网络极易收敛于局部极小点与过拟合等缺点,在构建小波神经网络的基础上,提出用遗传算法优化BP神经网络的模拟电路故障诊断方法.该方法使用小波作为预处理工具,经PCA分析和归一化后提取输出信号的能量信息作为特征向量,用遗传BP神经网络作为故障识别器,对模拟电路故障进行诊断.与传统BP神经网络相比较,结果表明,该方法可明显改善神经网络结构、提高故障诊断的精度和速度.     

聚羧酸系减水剂对水泥水化过程的影响

研究了以聚乙二醇800、丙烯酸、顺酐、烯丙基磺酸钠、丙烯酸羟乙酯为原料合成的聚羧酸系XYZ18减水剂对水泥水化过程及微观结构的影响.结果表明,XYZ系减水剂具有缓凝特性,能减少并延缓水泥水化放热;使水泥早期微小晶体大量生长并填充孔隙,气孔细化且分布更加合理,晶体向外伸长使水泥粒子相互搭接而形成网络结构,提高了水泥石的密实性.     

煤炭漏斗车装卸载过程仿真

煤炭漏斗车端、侧墙侧压力是车体静强度校核中的重要作用载荷.运用离散单元法,建立煤炭漏斗车仿真模型,对装卸载过程中车体所受的侧压力进行了仿真分析,并对车体内部的压力场和速度场的分布情况进行了分析.仿真结果表明,装载平衡后,端、侧墙侧压力沿墙高呈非线性分布;卸载过程中,侧墙侧压力呈现明显的波动变化.研究结果说明,离散单元法用于模拟和分析漏斗车车体压力及散粒体流动规律是可行的.仿真结果对漏斗车车体结构的研发具有一定的现实指导意义.