基于改进粒子群优化算法的移动机器人路径规划

为了实现微型足球机器人的平滑最优路径规划,提出了一种结合Ferguson样条路径描述和改进粒子群优化算法的路径规划方法。利用Ferguson样条描述移动机器人路径,将路径规划问题转化为三次样条曲线的参数优化问题,借助改进的具有速度变异的粒子群算法进行路径优化。仿真实验表明,算法可以有效进行障碍环境下机器人的无碰撞路径规划,改进的粒子群算法进行路径优化迭代80次左右即可收敛,规划路径平滑、合理,有一定的实用价值。     

高层框架结构拆除爆破触地振动测试与特征分析

以某楼房拆除爆破振动的工程为例,得出了拆除爆破触地引起地面振动的特征,通过对实测数据进行加速度时程分析和频谱分析发现:拆除爆破触地振动具有脉冲型高峰值,次大高峰值持续出现的现象,拆除爆破触地振动的竖向分量明显高于两个水平分量,且水平向的振速衰减速率明显高于垂直方向,拆除爆破触地振动产生的地面振动主频以中低频成分为主,与建(构)筑物固有频率范围相近。     

服务器受冲击过程竖插扩展卡应变仿真分析

服务器在运输过程中有受到较大冲击力的风险,故研发阶段对服务器进行一定程度的冲击测试。首先,分析服务器冲击测试过程中PCI扩展卡强度较差的应变试验数据,再借助仿真分析方法,对比分析多种扩展卡加强固定方案,比较单一方案及组合方案的效果差异,选择最优方案配置。通过仿真对比分析多种加强固定方案可知,采用组合方案最为稳妥。     

A fast color image enhancement algorithm based on Max Intensity Channel

In this paper, we extend image enhancement techniques based on the retinex theory imitating human visual perception of scenes containing high illumination variations. This extension achieves simultaneous dynamic range modification, color consistency, and lightness rendition without multi-scale Gaussian filtering which has a certain halo effect. The reflection component is analyzed based on the illumination and reflection imaging model. A new prior named Max Intensity Channel (MIC) is implemented assuming that the reflections of some points in the scene are very high in at least one color channel. Using this prior, the illumination of the scene is obtained directly by performing a gray-scale closing operation and a fast cross-bilateral filtering on the MIC of the input color image. Consequently, the reflection component of each RGB color channel can be determined from the illumination and reflection imaging model. The proposed algorithm estimates the illumination component which is relatively smooth and maintains the edge details in different regions. A satisfactory color rendition is achieved for a class of images that do not satisfy the gray-world assumption implicit to the theoretical foundation of the retinex. Experiments are carried out to compare the new method with several spatial and transform domain methods. Our results indicate that the new method is superior in enhancement applications, improves computation speed, and performs well for images with high illumination variations than other methods. Further comparisons of images from National Aeronautics and Space Administration and a wearable camera eButton have shown a high performance of the new method with better color restoration and preservation of image details.     

板式蒸发式冷凝器传热传质的数值模拟

根据能量守恒和质量守恒定律,对板式蒸发式冷凝器中制冷剂、冷却水与空气之间的传热传质过程,建立了热质交换过程的二维数学模型,由此分析板式蒸发式冷凝器中冷却水温度、空气温度和空气含湿量等参数的分布规律,以及空气流速、干湿球温度、冷却水喷淋密度和冷凝温度对板式蒸发式冷凝器热流密度的影响,并将模拟结果通过实验进行了验证,两者之间的误差在10%以内。研究表明:板式蒸发式冷凝器的热流密度随进口空气流速的增加而增大,随湿球温度的升高而减小,几乎不受进口空气干球温度的影响;热流密度随着冷却水喷淋密度的增加逐渐增大,但增大至一定量后不再对热流密度有明显影响;冷凝温度越高,其热流密度越大。上述结论对板式蒸发式冷凝器的优化设计具有指导意义。     

寒冷地区空气源吸收式热泵性能提高途径及对比分析

空气源吸收式热泵对于北方供暖的意义重大。为了提高空气源吸收式热泵在低温环境下的可靠性和能效,提出了双级吸收式热泵、双级耦合吸收式热泵和增压吸收式热泵。通过建模和模拟分析,对这三种途径在不同环境温度下的性能进行了对比分析。若采用风机盘管末端,当采暖期内气温低于-25℃的时间很少时,双级耦合热泵的性能最好;否则可以考虑采用双级空气源吸收式热泵。室外设计温度为-15℃和-30℃时,空气源吸收式热泵的一次能源效率分别比燃煤锅炉高28%和19%。若采用地板辐射末端,则增压吸收式热泵的能效最高,室外设计温度为-15℃和-30℃时,一次能源效率可达0.953和0.874,分别比燃煤锅炉高36%和25%。考虑整个采暖期内气温较高时热泵的性能较好,则增压空气源吸收式热泵用于地板辐射采暖的节能潜力更为可观。     

电容层析成像技术的研究进展与分析

电容层析成像(electrical capacitance tomography,ECT)技术是以医学CT技术为基础,伴随着计算机技术和传感器技术发展起来的一种过程层析成像技术。对ECT系统的各个组成单元和工程应用的研究成果进行分类,并逐类进行总结论述。比较了不同结构的电容传感器,并对传感器参数的优化方法进行总结。讨论了测量电容值的各种方法及其优劣性。在归纳主要图像重建算法及其改进方法的同时,还分析了典型算法的原理和流程。总结了ECT系统的各种主要工程应用和成功案例。在此基础上,指出了有待发展的若干研究课题及关键技术,并对某些发展方向予以展望。     

建筑产业集群类型与模式研究

根据当前建筑产业集群现象,研究建筑产业集群类型和模式。按照产业特点不同将建筑产业集群分为建筑施工集群、建筑设计集群、建筑装饰集群和建筑部品集群四种类型,并对它们的特点进行比较和探讨。根据形成原因的不同将建筑产业集群分为市场自发型和政府主导型两种模式,并对二者的形成机理进行分析,提出发展建筑产业集群的政策建议。     

Propagation effects of low frequency electromagnetic waves in production well

The frequency domain electromagnetic method has already been widely used for tomographic imaging or electromagnetic well logging. However, different from open hole logging, the metal casing existing in production well logging has a strong shielding effect on the electromagnetic waves, thus bringing some difficulties to the application of the frequency domain electromagnetic method in production well logging. According to the relation of the field source geometry to the ring around the mandrel, the general expressions of frequency domain electromagnetic responses in axially symmetrical layered conductive medium are deduced. The propagation effects caused by the low-frequency electromagnetic waves in cased hole are also analyzed. The distribution curves of eddy current density and magnetic flux density along the radial direction in the mandrel indicate that the eddy loss within the mandrel is proportional to the transmission signal frequency and the mandrel conductivity. The secondary field responses of different casing materials show that the transmission frequency has an important effect on the ability of electromagnetic waves penetrating the metal casing. The transmission frequency should be ultra-low in order to enable the electromagnetic signal to penetrate the casing easily. The numerical results of frequency responses for different casing physical parameters show that the casing thickness has a significant impact on the choice of the transmission frequency. It is also found that the effect of the casing radius on the transmission frequency can be neglected.