Orientation angle workspaces of planar serial three-link manipulators

This paper presents a classification on the workspaces of planar serial three-link manipulators, that is, position workspace and orientation angle workspace. Position workspace indicates the region reached by the reference point on the end-effector. Orientation angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position workspace. By introducing a virtual equivalent mechanism, reachable position workspace can be divided into several Grashof intervals and non-Grashof intervals. The calculation equations of orientation angle workspace are deduced in three situations according to the relationships among four link lengths in the virtual four-bar chain. Three examples are given for three kinds of relationship of link lengths. The orientation angle workspace of extended groups, that is, two of the three link lengths equal, and the orientation angle workspace when the reference point on the end-effector moves along a non-radial direction are also discussed. A program is developed to calculate orientation angle workspaces and output variation curves of orientation angle workspace and key data within the position workspace. The approach and program in this paper can be used for fast calculation and identification of the variation rule of the orientation angle workspace of any given planar serial three-link manipulator on the basis of its link parameters, and for the design of a highly dexterous serial manipulator with proposed link relations. Supported by the Natural Science Foundation of Shanxi Province (Grant No. 20041070)     

基于集对论的医疗卫生财政支出绩效评价

以集对论为基础,依据财政部预算司提出的医疗卫生财政支出绩效评价指标和绩效评价等级级别,对绩效等级评价值进行同一性、差异性和对立性分析,建立了集对评价分析模型.以联系度最大为准则,获得绩效评价等级级别,实例研究结果表明了该评价方法的有效性.     

基于均值平移的自动人脸检测与跟踪算法

针对彩色图像序列的人脸跟踪问题,提出了一种基于均值平移的自动人脸检测与跟踪算法.对每帧图像采用基于肤色和支持向量机的算法检测人脸,可以减少计算量.对于检测到的人脸,判断是否含有新增人脸,有则将新的人脸加入跟踪序列,否则继续跟踪原有人脸序列.然后采用均值平移算法对人脸序列进行跟踪,其计算量小,跟踪稳定可靠,从而实现自动的人脸检测与跟踪.实验结果表明,该算法可以很好地进行人脸的自动检测跟踪.     

区域对接的多目标决策模型研究

在系统目标分析的基础上,提出了系统的模型体系结构,确定了区域对接模型的目标、决策变量,及约束条件;根据模型要达到的不同日标,分别建立了3种发展方案.该模型可较好地反映局部与整体协调发展的制衡关系,为区域对接的定量研究提供了基础.     

一种基于投影的特征选择方法

以轴承故障诊断为应用背景,基于低维投影能够反映原高维数据某些特征的思想,提出了一种基于投影的特征选择方法。该方法利用遗传算法找到最能反映样本分类特性的投影方向,并利用该方向剔除与投影值无关的特征指标,克服了传统特征选择方法在高维空间中计算复杂的缺点,有效避免了"维数灾难"。仿真结果表明,该方法能够在不降低投影值类别特性的情况下,有效降低样本数据维数,完成特征选择,提高了分类效率及准确率。     

基于 ISAPI 过滤器的 Web 防护系统

随着 Internet 的发展,恶意用户利用 Web 应用程序存在的漏洞,对 Web 站点实施攻击,从而完成获取信息资料、植入病毒木马、伪装钓鱼网站、恶意插入广告等恶意操作,危害用户的利益,降低网站的可信度。随着 Web 攻击的日益增长,网站的安全风险达到了前所未有的高度。针对 Web 站点安全问题,在 HTTP 协议模型的基础上,结合 URL 解析技术及 Web 服务器核心扩展技术,文章设计并实现了一个基于 ISAPI 过滤器的 Web 防火墙系统。该系统可抵御常见网络攻击行为,为基于 HTTP 协议的 IIS 网站提供安全保障。系统主要包括3个组成部分：配置模块、过滤模块及日志模块。文章对系统过滤模块的设计与实现进行了详尽的阐述,系统的主要功能包括：过滤 HTTP 请求类型、限制头部长度、禁止 SQL 注入、禁止 Cookie 注入、禁止跨站攻击、防止敏感目录扫描、过滤请求文件类型以及 IP 黑名单。系统通过上述功能可以有效检测 Web 攻击行为并能做出正确处理,为 Web 网站安全提供有效保障。文章最后对系统进行功能测试,测试表明,系统可以对常见的 Web 攻击行为进行过滤处理并做出预期响应。系统符合设计目标,具有较高的实用价值。     

Computational fluid dynamics (CFD) modeling of spouted bed: Influence of frictional stress, maximum packing limit and coefficient of restitution of particles

Following the previous article [Du, W., Bao, X., Xu, J., Wei, W., 2006. Computational fluid dynamics (CFD) modeling of spouted bed: assessment of drag coefficient correlations. Chemical Engineering Science 61 (5), 1401-1420], this contribution describes the influences of the frictional stress, maximum packing limit and coefficient of restitution of particles on CFD simulation of spouted beds. Using the two-fluid method embedded in the commercial CFD simulation package Fluent 6.1, the spouting hydrodynamics of a cylindrical-conical spouted bed was simulated and verified with the experimental data of He et al. [He, Y.L., Lim, C.J., Grace, J.R., Zhu, J.X., Qin, S.Z., 1994a. Measurements of voidage profiles in spouted beds. Canadian Journal of Chemical Engineering 72 (4), 229-234; He, Y.L., Qin, S.Z., Lim, C.J., Grace, J.R., 1994b. Particle velocity profiles and solid flow patterns in spouted beds. Canadian Journal of Chemical Engineering 72(8), 561-568]. The results showed that, for coarse particles, the frictional stress is important only for the annulus computation and has no obvious effects on the hydrodynamics of the solids flow in the spout region. The specification of the maximum packing limit could significantly affect the properties of the pseudo-fluid phase of the particles by changing the radial distribution function. The strong dependence of the pseudo-fluid properties of the particle phase, such as pressure, bulk viscosity and shear viscosity, on the granular temperature accounts for the influence of the coefficient of restitution of particles on CFD modeling. The solids volume fraction at loose packing state is suitable for spouted bed simulations, and a pretest of the coefficient of restitution of particles must be conducted when no experimental datum is available.     

基于有色Petri网的1553B总线建模及分析

针对1553B总线的实时性评估问题,提出一种基于有色Petri网(Colored Petri Net,CPN)的1553B总线模型;该模型基于分层建模的思想,分别建立了1553B总线的拓扑模型、总线控制器模型、远程终端模型和总线信道模型,有效刻画了1553B总线的拓扑结构和动态行为;仿真实验验证了所建模型的正确性和有效性,该模型可为构建满足特定实时性要求的1553B总线系统提供理论依据。     

活性炭负载硅钨酸催化α-蒎烯的异构化研究

以活性炭负载硅钨酸为催化剂 ,研究了 α-蒎烯的异构化反应 ;考察了反应温度、反应时间、配料比和溶剂等因素对异构化反应的转化率和选择性的影响。实验结果表明 ,反应温度升高 ,反应时间增加 ,配料比减小 ,蒎烯的转化率增大。在乙醇介质中 ,α-蒎烯能发生异构化和乙氧基化反应。主要产物是莰烯、苎烯和 α-松油基乙醚 ,总醚选择性约 5 0 %     

新型无机絮凝剂聚硅酸铝的制备及其模拟净水试验

以硫酸铝为主要原料，引入硅酸根，在高速剪切的条件下，经过聚合，熟化反应合成出有效铝含量(以Al2O3计)9．5％～12％，碱化度45％～55％，pH2．8～3．8的半透明液体PASS，该产品稳定性好，处理后水中的铝残余远小于PAC。对产品用硅藻土配的浊度水进行絮凝试验，并与PAC、硫酸铝对比，去浊效果是PAC的一倍。且不受pH因素影响。