Application of parallel mechanism in varistructured quadruped/biped human-carrying walking chair robot

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS+UP(U,P and S are universal joint,the prismatic pair,and sphere joint,respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.     

Biodiesel fuel production with solid amorphous-zirconia catalysis in fixed bed reactor

Amorphous zirconia catalysts, titanium-, aluminum-, and potassium-doped zirconias, were prepared and evaluated in the transesterification of soybean oil with methanol at 250 °C, and the esterification of n-octanoic acid with methanol at 175–200 °C. Titanium- and aluminum-doped zirconias are promising solid catalysts for the production of biodiesel fuels from soybean oil because of their high performance, with over 95% conversion in both of the esterifications.     

基于粘滑驱动跨尺度精密定位技术的研究现状

目前跨尺度纳米定位技术在纳米操作、大规模集成电路制造和生物技术等众多领域都有着广泛的应用前景.该文对目前应用较多的宏微混合式驱动、压电超声马达驱动、尺蠖式驱动和粘滑式驱动这4种跨尺度定位技术驱动原理进行了介绍,并对其分辨率、速度、推力、尺寸、驱动器数量和结构6个方面进行了比较和分析,得出粘滑驱动以其驱动范围大,分辨率高,结构简单,体积小和集成度高等突出优点,适用于微纳操作领域.对目前国内外粘滑驱动在驱动原理、关键技术和样机实验方面的研究进行了分析,总结出目前粘滑驱动研究中的研究基础和不足,并提出了有待解决的问题和关键技术.     

基于小波变换和盲信号分离的多通道肌电信号处理方法

 为了消除多通道表面肌电信号(SEMG)采集时形成的混叠现象,提出一种新的SEMG处理方法.该方法将小波变换和独立分量分析(ICA)结合,利用小波变换的去噪作用,滤除混合在原始SEMG中的部分噪声后作为ICA的输入信号,采用Infomax算法对输入信号实施盲分离,并引入相关系数验证ICA分量与源信号的一致性.实验结果表明,该方法用于多通道SEMG的盲分离是很有效的.     

支持向量机在肌电信号模式识别中的应用

为了提高肌电信号多运动模式识别的准确性和实时性,提出了一种基于支持向量机的动作模式分类算法.在给出支持向量机的原理及其多类问题的基本算法基础上,着重介绍了两种改进的支持向量机多类识别算法,即有向无环图算法和基于先聚类后分类的二叉树算法,并比较了它们的优缺点.实验结果表明,针对前臂肌电信号的多运动模式分类,先聚类后分类的二叉树算法具有较高的分类准确性,更少的计算量,更好的实时性.     

Sampling-based robot motion planning: Towards realistic applications

This paper presents some of the recent improvements in sampling-based robot motion planning. Emphasis is placed on work that brings motion-planning algorithms closer to applicability in real environments. Methods that approach increasingly difficult motion-planning problems including kinodynamic motion planning and dynamic environments are discussed. The ultimate goal for such methods is to generate plans that can be executed with few modifications in a real robotics mobile platform.     

Fatigue behavior of ferritic–pearlitic–bainitic steel in loading with positive mean stress

The effect of positive mean stress on the fatigue behavior of ferritic–pearlitic–bainitic steel has been studied. Specimens, produced from a massive forging, were cycled with two constant stress amplitudes and various positive mean stresses. Plastic strain amplitude and cyclic creep rate were measured during cyclic loading and the effect of the mean stress on saturated plastic strain amplitude and mean strain at half-life was established. Plastic strain amplitude is weakly dependent but creep strain increases with the mean stress exponentially. Fatigue life decreases with the mean stress for both stress amplitudes. The contributions of cyclic plastic strain and cyclic creep to the fatigue damage were evaluated and discussed in relation with the Manson-Coffin curve.     

实用有限元后处理程序的研制及开发

简述了通用的有限元后处理中位移图和等应力线的生成方法，分析并提出了新的应力调色图的生成算法，该法简单且快速．实例表明本算法所生成的应力调色图能够清楚直观地反映应力分布及变化情况，其效果是等应力线所无法比拟的．     

语音指导查询与数据自动传输方法

为了建立远程分布式测量系统,提出了一个新颖高效的传输方法。利用双音多频数据编码和自行定义的传输协议使数据传输与语音传输相结合,创建了语音指导查询、超限自动报警的电话自动数据传输方法。通过对系统的设计、分析和样机试验,对这种方法进行了深入研究。试验应用证明这种传输方法结构简单、保密性强、实时性和可靠性很高,可以扩展到其他远程测量、控制系统中,具有重要实际应用价值和推广价值。