基于能耗优化的六足机器人摆动腿轨迹规划

以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑.     

中职学校基建档案科学化管理

中职学校基建档案是中职学校整体规划和建设管理的重要组成部分,是学校实行各项评估的重要内容之一,因此,加强中职学校档案管理工作是十分重要的。详细阐述了中职学校基建档案的特质和效能,分析了如何实现中职学校基建档案的科学化管理,提出了加强基建档案科学化管理的相关建议。     

Construction-specific spatial information reasoning in Building Information Models

In recent years, there have been significant advances in modeling technology for object-oriented building products. However, the building models are still lacking of providing construction-specific spatial information required for construction planning. Consequently, construction planners visually analyze building product models and derive geometric characteristics such as bounded spaces and exterior perimeter to develop detailed construction plans. Such a process presents fragmented information flows, from building product information to construction planning, that rely on subjective decisions of construction planners. In order to overcome these drawbacks, this research proposes a geometric reasoning system that analyzes geometric information in building designs, derives the construction-specific spatial information, and uses the information to assist in construction planning. The scope of presented work includes detecting work packages formed by faces during construction, such as large work faces and bounded spaces, and using information in the work packages directly to support planning of selected indoor construction activities. The main features of the proposed system named Construction Spatial Information Reasoner (CSIR) include a set of relationship acquisition algorithms, building component relationship data structure, and interpretation of the relationship to support detailed construction activity planning. The relationship acquisition algorithms identify adjacency between building components that is stored in the relational data structure. Then, acquired adjacency relationships are transformed into a set of graphs that represent work packages. To implement the proposed approach, CSIR utilized a commercially-available Building Information Modeling (BIM) platform and the algorithms were imbedded to the BIM platform. For validation, CSIR was tested on a real commercial building. For interior ceiling grid installation activities, CSIR successfully detected existing work packages and analyzed the spatial characteristics impacting construction productivity. The major contribution of the presented research would be to enable a realistic analysis of building geometric condition that is not possible in current BIM and a seamless information flow from building product information to construction process plans. These can potentially reduce current manual and error-prone construction planning processes. Limitations and future research suggestions are also presented.     

Designing multimodal tracks for mobile users in unfamiliar urban environments

While there have been many studies of navigation design guidelines for integrating maps in mobile devices, we argue that the research focus should turn more towards the design of multimodal navigation aids, which would reflect the impact of typical human wayfinding behaviour. Therefore, we suggest an interdisciplinary design approach, i.e. building on urban design practice that focuses on supporting the navigation of pedestrians in urban areas. The design implications are explored in this study with the subjects being pedestrians accomplishing wayfinding tasks in an unfamiliar, urban area. The main areas that this paper contributes to are: investigating the design implications of multimodal navigation aids; evaluating these in the context of mobile wayfinding tasks; and reflecting the results according to the user's wayfinding strategies and spatial anxiety. It is concluded that through designing multimodal tracks into mobile navigation applications we can help users to find their way in unfamiliar, urban environments.     

Cognitive evaluation for conceptual design: cognitive role of a 3D sculpture tool in the design thinking process

ABSTRACT

This study focuses on the decisive role played by the digital design environment in the cognitive design process and design thinking. To analyse the cognitive role of digital design tools, we carried out a protocol analysis of conventional design sketching and a 3D sculpture tool. Cognitive evaluation was a differentiating factor when considering the contextual role of the 3D sculpture tool in subsequent evaluations, non-sequential evaluations for conversion, and passive approaches within the design process. Cognitive evaluation played the following roles: validation, extension, navigation, exploration, and confirmation. The navigation, exploration, and extension roles played by non-sequential evaluation were mainly related to inductive design thinking. Finally, the types of cognitive evaluation and their roles when using the 3D sculpture tool were different, according to the design thinking type. This study explored the multidimensional roles of cognitive evaluation using a 3D sculpture tool and its relationship with design thinking types.     

Path planning in complex 3D environments using a probabilistic roadmap method

This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, free space is represented by free voxels, which have enough space margin for the UAV to pass through. A bounding box array is created in the whole 3D space to evaluate the free voxel connectivity. The probabilistic roadmap method （PRM） is improved by random sampling in the bounding box array to ensure a more efficient distribution of roadmap nodes in 3D space. According to the connectivity evaluation, the roadmap is used to plan a feasible path by using A＊ algorithm. Experimental results indicate that the proposed algorithm is valid in complex 3D environments.     

Study on Robot Path Planning Based on an Improved Artificial Potential Field Method

The method of artificial potential field has obvious advantages among the robot path planning methods including simple structure, small amount of calculation and relatively mature in theory. This paper puts forward the ＂Integral method＂ focusing on solving the problem of local minimization. The method analyses the distribution of obstructions in a given environment and regards adjacent obstacles as a whole, By changing the parameters of the repulsive force field, robots can quickly get out of the minimum point and move to the target point. This paper uses the Simurosot platform to carry on the simulation experiment on the improved artificial potential field method, which projects a feasible path successfully and verifies this method.     

企业数据中心规划设计

为了满足企业生产经营,IT基础设施保障核心应用系统高效可靠运行成为本企业信息化建设的重点。从企业信息化建设的未来发展需求及结合现状,分析IT基础设施规划设计目标与原则、软硬件基础设施的设计内容及使用的技术架构。     

基于CSP的学习智能导航服务模型与算法研究

研究了在网络学习平台中如何为自主学习者提供学习活动智能导航服务的问题。目前,为了进一步满足虚拟学习环境中学习者的个性化需求,笔者所在课题组开发的网络学习系统中采用了基于知识点的学习路径生成算法和资源组合算法,从而能为不同学习者从资源库中提取出个性化的学习内容包。然而,在实际使用中笔者发现,学习者虽然获得了符合需求的学习内容,其学习效果仍然缺乏有效的保障。原因在于学习过程实质是由学习活动而非静态的学习内容组成的,在学习过程中学习者应该根据教学规律和自身特点,有步骤地完成一系列学习子任务,才能保证最后的学习效果。为此,在以往的知识点关系层之上建立了学习活动,并将学习活动的调度问题转化为了csP问题模型,并提出了相应的求解方法。实验表明,该方法能够生成符合预期目标的学习任务调度,从而实现学习活动的智能导航服务。