基于MATLAB的模块化机器人手臂运动学算法验证及运动仿真

针对由模块化关节构成的六自由度串联机器人手臂, 采用DH法对手臂的操作空间进行了描述, 得到了正运动学模型; 采用欧拉角表示手臂姿态, 得到了包含六个参数的用于表示手臂位姿的完备广义坐标, 并对欧拉角的几何关系进行了分析。针对SolidWorks虽然实体建模简洁方便但计算并非其强项的缺点, 编写相应接口程序, 将建立的手臂三维实体模型保留几何约束关系简化后导入MATLAB软件。基于MATLAB编写正逆运动学算法验证程序以及连杆驱动程序, 实现了手臂的仿真运动。通过仿真, 不仅更进一步验证了手臂正逆运动学解算的正确性, 而且非常直观地看出手臂末端在空间中运行的路径以及各关节的动作情况。机器人手臂正逆运动学算法正确性的验证及运动仿真为手臂的精确定位及其路径规划提供了必要的保证。     

基于改进PSO的均衡性视角铁矿石运输—分配模型研究

为了使钢铁企业铁矿石供应与均衡生产匹配, 在分析库存均衡性及码头能力需求均衡性约束的基础上, 构建了基于均衡性约束的运输—分配模型。引入了一种通过位置越界处理、位置更新因子和全局最优位置未更新计数器的改进模拟退火粒子群优化算法。仿真实例表明, 该优化策略在保持较高全局搜索速度的前提下, 增强了全局寻优能力, 提高了收敛精度, 算法稳定性得到了显著改善。采用该粒子群算法应用于运输—分配模型的综合优化实例中验证了模型和算法的有效性。     

水性核（PMMA）／壳（PU）聚氨酯丙烯酸酯杂化乳液的合成研究

合成高Tg低成膜温度的水性聚氨酯丙烯酸酯杂化乳液,研究了合成工艺、—N CO和—O H的比例、丙烯酸酯含量等因素对乳液稳定性和其他性能的影响。     

Molecular simulation of hydrogen adsorption in organic zeolite

The adsorption of molecular hydrogen on model zeolites has been simulated employing Grand Canonical Monte Carlo (GCMC) procedure. The effects of cation type, available volume, surface area, temperature, pressure and pre-adsorbed organics such as benzene on the hydrogen uptake are analyzed. The hydrogen adsorption can be affected mainly by the available volume and surface area per g-zeolite at the same temperature and pressure. Increase of temperature results in the decrease of sorption intensity and capacity. The adsorption capacity correlates well with the pressure with high linearity at room temperature. Adsorption is lowered by the pre-adsorbed benzene molecule. The orientation and the number of benzene molecule in zeolite affect the adsorption capacity. The organic zeolite with larger available volume shows larger adsorption capacity.     

杂交粒子群算法在列车运行调整中的应用研究

针对列车运行调整存在约束条件多、求解难度大等问题, 结合城市轨道交通列车运行特点, 建立了优化的列车运行调整模型。在此基础上, 引入遗传算法中的杂交思想, 采用改进后的粒子群算法对此模型进行求解, 给出了求解算法的具体步骤, 并采用西安地铁2号线数据进行仿真验证。结果表明, 采用杂交粒子群算法解决列车运行调整问题是一种有效的方法, 并且其优化能力优于标准粒子群算法。     

基于多智能体的虚拟企业群协同生产调度模式研究

为了实现虚拟企业群的协同生产调度, 提高企业群整体运作水平, 建立了基于多智能体的虚拟企业群制造企业生产调度模型, 分析了生产计划调度及信息交互作用。在企业协同层, 提出了基于多目标和价格协商的供应商选择过程, 确定了合作伙伴的初选过程方法, 企业层采用了基于EDD+SCR规则组合确定企业任务分配, 并为所有订单任务确定交货期, 各车间层则根据企业层的生产计划进行车间生产调度安排。最后, 运用Swarm仿真软件平台对案例进行仿真分析, 验证了提出的生产调度模式可以有效提高各企业的车间负载率, 并使车间负载率在短时间内达到稳定状态, 从而合理有效地利用企业资源。     

混合遗传算法求解应急抢修点选址问题

考虑设备应急抢修的时限要求和整个应急抢修系统的服务质量要求,采用0-1整数规划模型描述了应急抢修点选址问题,并针对该问题设计了一种混合遗传算法。在算法中使用启发式算法对种群中的不可行解进行修复,以保持种群在可行域内搜索,并采用近邻搜索算法改善种群中的最佳个体。算例计算的结果表明,该算法求得的结果要优于基于罚函数的遗传算法和采用简单修复算法的遗传算法。     

A numerical study of particle wall-deposition in a turbulent square duct flow

The deposition of dense solid particles in a downward, fully developed turbulent square duct flow at Re_τ = 360, based on the mean friction velocity and the duct width, is studied using large eddy simulations of the fluid flow. The fluid and the particulate phases are treated using Eulerian and Lagrangian approaches, respectively. A finite-volume based, second-order accurate fractional step scheme is used to integrate the incompressible form of the unsteady, three-dimensional, filtered Navier-Stokes equations on an 80 × 80 × 128 grid. A dynamic subgrid kinetic energy model is used to account for the unresolved scales. The Lagrangian particle equation of motion includes the drag, lift, and gravity forces and is integrated using the fourth-order accurate Runge-Kutta scheme. Two values of particle to fluid density ratio (ρ_p/ρ_f = 1000 and 8900) and five values of dimensionless particle diameter (d_p/δ × 10⁶ = 100, 250, 500, 1000 and 2000, δ is the duct width) are studied. Two particle number densities, consisting of 10⁵ and 1.5 × 10⁶ particles initially in the domain, are examined.Variations in the probability distribution function (PDF) of the particle deposition location with dimensionless particle response time, i.e. Stokes number, are presented. The deposition is seen to occur with greater probability near the center of the duct walls, than at the corners. The average streamwise and wall-normal deposition velocities of the particles increase with Stokes number, with their maxima occurring near the center of the duct wall. The computed deposition rates are compared to previously reported results for a circular pipe flow. It is observed that the deposition rates in a square duct are greater than those in a pipe flow, especially for the low Stokes number particles. Also, wall-deposition of the low Stokes number particles increases significantly by including the subgrid velocity fluctuations in computing the fluid forces on the particles. Two-way coupling and, to a greater extent, four-way coupling are seen to increase the deposition rates.     

工业变换炉最佳催化剂粒度

本文在建立数学模型的基础上，用计算机模拟变换炉的操作工况，考察改变催化剂粒度对经济效益的影响，从而得到工业变换炉催化剂颗粒最佳尺寸，开发了以经济效益为考察依据，工业反应器中催化剂颗粒最佳尺寸的计算方法。