仿人机器人双足行走模型研究

针对仿人机器人双足行走的稳定性问题,引入零力矩点理论,根据稳定行走必须满足地面反作用力位于稳定区域内这个条件,推导出仿人机器人在行走过程中单双腿支撑期的稳定区域面积和稳定裕量。建立2种不同形状的仿人机器人双足模型,在足底和地面间创建一系列接触力,并通过机械系统动力学自动分析软件得到行走过程中足底各个点的受力曲线并进行受力分析,得出合理的双足形状。     

某空间光谱仪高稳定性光机结构设计

针对某空间傅里叶变换光谱仪部组件数量多、资源紧张、高稳定性需求等难题,提出了双层集成式结构构型方案,解决了光谱仪空间布局尺寸超出要求和主体结构稳定性差的问题.介绍了空间傅里叶变换光谱仪工作原理、光学组成、光机主体结构设计难点和解决方案、双层集成式结构的设计方法和优点、以及对整机力学稳定性至关重要的组件--碳纤维铝蜂窝复合材料板的详细设计方法.建立了碳纤维铝蜂窝复合材料板和光谱仪的有限元模型,通过计算验证了星载傅里叶变换光谱仪双层集成结构的可靠性.对比光谱仪的正弦试验结果和有限元分析结果,证明设计和分析的正确性.     

多轴电驱动车辆横摆稳定性控制仿真研究

随着近年来对行车安全要求的提高,车辆的安全性研究也成为当前车辆研究中重要的一部分,对用于运载、发射等重型车辆尤其如此。对车辆横摆稳定性的控制是一种主动安全控制的手段,能够有效地保障汽车行驶过程中的侧向稳定性。因此对横摆稳定性控制方法的研究显得尤为重要。针对各轮独立电驱动多轴重型发射车辆的结构特点,建立了二自由度数学模型,利用其各电动轮独立可控的优点,对基于直接横摆力矩控制(Direct Yaw-moment Control,DYC)理论的横摆稳定性控制策略进行了研究和分析。并利用联合仿真,从响应速度、精确性等方面,验证了横摆稳定性控制系统的可行性。仿真结果表明该车辆稳定性控制系统可以使车辆横摆角速度和质心侧偏角得到有效控制,从而提高其稳定性。     

An effective method to increase bandwidth of EIK at 0.34 THz

To increase the bandwidth of Extended Interaction Klystron (EIK) at 0.34 THz, the method of staggered tuning on cavities’ configurations is proposed. Based on the analysis of phase relationship between gap voltage and the bunched beam, the buncher cavities in EIK are reasonably staggered-tuned to achieve various resonance frequencies, which is helpful to flat the gain response of the whole device. The characteristics of output cavities with different numbers of gaps are then researched and the issue of start current for the self-oscillation mode is also involved, leading to the optimum number of gaps to enhance the interaction and avoid the instability. By comparing the performances of various typical stagger-tuned models, the final configuration is accordingly confirmed. Particle-in-cell simulation is eventually applied to study performance of the optimised structure, whose gain is 34.8 dB in peak and ?3 dB bandwidth reaches about 500 MHz, which is double that of the synchronous-tuned structure.     

Tunnel lane‐positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system

Currently, studies on autonomous driving are being actively conducted. Vehicle positioning techniques are very important in the autonomous driving area. Currently, the global positioning system (GPS) is the most widely used technology for vehicle positioning. Although technologies such as the inertial navigation system and vision are used in combination with GPS to enhance precision, there is a limitation in measuring the lane and position in shaded areas of GPS, like tunnels. To solve such problems, this paper presents the use of LED lighting for position estimation in GPS shadow areas. This paper presents simulations in the environment of three‐lane tunnels with LEDs of different color temperatures, and the results show that position estimation is possible by the analyzing chromaticity of LED lights. To improve the precision of positioning, a fuzzy logic system is added to the location function in the literature [1]. The experimental results showed that the average error was 0.0619 cm, and verify that the performance of developed position estimation system is viable compared with previous works.     

Extended Range Guided Munition Aerodynamic Configuration Design

Based on the analysis of the flying scheme and flying style of an extended range guided munition(ERGM), the aerodynamic characteristics design standards were put forward. According to the standards, the ERGM aerodynamic configuration was designed, and the wind tunnel experiments were processed. The experimental results show that the configuration has lower drag and good static stability at unguided flying stage. Moreover, the stability, maneuverability, rudder deflection angle and balance angle of attack of the configuration are all reasonably matched at guided flying stage, and the munition with the configuration can glide with larger lift-drag ratio at little balance angle of attack. The experimental results also indicate that the canard can't conduct rolling control when 1.0< Ma < 1.5, so the ERGM must take rolling flight style with certain limited rolling speed.     

Development of Dual-light Path Monitoring System of Optical Thin-film Thickness

The accurate monitoring of optical thin-film thickness is a key technique for depositing optical thin-film. For existing coating equipments, which are low precision and automation level on monitoring thin-film thickness, a new photoelectric control and analysis system has been developed. In the new system, main techniques include a photoelectric system with dual-light path, a dual-lock-phase circuit system and a comprehensive digital processing-control-analysis system. The test results of new system show that the static and dynamic stabilities and the control precision of thin-fihn thickness are extremely increased. The standard deviation of thin-film thickness, which indicates the duplication of thin-film thick-ness monitoring, is equal to or less than 0.72%. The display resolution limit on reflectivity is 0.02%. In the system, the linearity of drift is very high, and the static drift ratio approaches zero.     

基于断线扰动的电压控制区域边界节点修正方法

电压控制区域(Voltage Control Area, VCA)之间具有弱耦合性,修正VCA能够提升区域内电压变化的一致性,从而优化电网分区结果。传统分区修正法存在计算量大、PV节点归并缺乏理论依据等问题。因此,提出了一种修正VCA边界节点的方法,可以有效减少分区修正的计算量。所提方法采用小元素去除法得到各阈值下的电网划分结果,以Q-V曲线为判据选取各划分结果中最佳阈值对应的准分区。基于区域间的弱耦合性,采用所提方法修正准分区,得到优化后的分区结果。所提方法针对准分区的边界节点进行断线修正,并采用平均电气距离归并剩余的PV节点,不仅能减少分区修正的计算量,而且为各区域无功源的合理分配提供了理论依据。以新英格兰10机39节点系统为算例,通过仿真分析验证了所提方法的有效性。     

基于SSD的多因素融合的驾驶疲劳检测研究

为了降低因疲劳驾驶而导致的事故发生率,提出一种利用卷积神经网络与人脸特征点、疲劳判定指标相融合的方法,共同构建疲劳驾驶检测模型。首先利用SSD（Single Shot MultiBox Detector）网络定位驾驶员的眼睛与嘴巴区域,VGG16 网络学习这两个区域所包含的疲劳特征;同时再结合人脸68特征点、眼睛纵横比（Eye Aspect Ratio, EAR）和嘴巴纵横比（Mouth Aspect Ratio, MAR）共同判定驾驶疲劳状态。最后,在相同测试集下分别计算SSD算法和Faster-RCNN算法的平均精度均值mAP;在YawDD数据集上应用此模型;并通过模拟驾车环境来验证此模型的可行性。实验结果表明,SSD算法要优于Faster-RCNN算法,并且此模型在YawDD数据集上的检测准确率约达97.2%,摄像头也能对驾驶员的状态进行实时检测。此模型对疲劳状态的检测十分有效,可在一定程度上降低因疲劳驾驶而导致的事故发生率。     

纳米晶软磁材料磁性温度稳定性与退火温度的关系

研究了Fe73.5Cu1Nb3Si13.5B9纳米晶软磁材料的磁导率温度稳定性、居里温度等特性以及退火温度对它们的影响。结果表明:退火温度Ta低于520℃时,磁导率温度系数αμ与环境温度T呈递增趋势;退火温度为540-580℃时,αμ与T呈递减趋势,且在交流初始磁导率μi-温度T曲线上只出现一个Hopkinson峰;退火温度在520-560℃范围内,αμ较小,磁性温度稳定性较高。