A CONSTITUTIVE MODEL FOR ELASTIC-PLASTIC DEFORMATION UNDER CYCLIC MULTIAXIAL STRAINING

Abstract— The yield criterion is interpreted as defining the metric of the stress space. Hydrostatic stresses correspond to null geodesies. The plastic strain increment represents a normal projection of the increment undergone by a certain scalar function (hardening function) which depends only on the distance between stress points. This establishes a flow rule formally equivalent to the Prandtl-Reuss equations. Consideration of un-loading processes leads to the analysis of equivalent paths and to the definition of a generalized length or separation which provides a new representation of kinematic hardening.     

用奇异模型描述的受限机器人的学习控制

本文了一类受限机器人的迭代学习控制方案，控制器的设计是基于机器人模型的降阶形式。在存在有界未知干扰的情况下，对末端操纵器受线性、无摩擦约束面的受限机器人。本文给出的控制方案保证了机器人系统的完全运动跟踪，同时保证了力跟踪误差有界的，且界的大小是可调节的。     

管内机器人研究中的几项新技术

介绍了我们研制的管内机器人中应用的具有创新性的三项技术：１．轮式全主动新型行走机构；２．内壁环带视觉装置；３．新型离心喷涂器。     

Synthesis and Characterization of Nanosized ZSM-5 Zeolite with Mesoporous Carbon Nanotube as Templates

Preparation of nanocrystalline ZSM-5 has been proven possible with carbon matrix by using confined space synthesis. In combination with the hydrothermal method, by the use of a mesoporous carbon nanotube as the inert support material, ZSM-5 with SiO₂/Al₂O₃ ratios of 100 was successfully synthesized with an average crystal size of 27 nm. Their structures were preliminarily characterized by x-ray power diffraction (XRPD) and infrared spectroscopy (IR), and scanning electron microscopy (SEM), respectively. At the same time, we put forward the mechanism about the confined space synthesis in terms of the results.     

Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

计算机辅助施工放样设计与应用

应用数学理论知识和CAD技术对施工图进行建模,从而获得准确的放样参数指导施工,并结合工程实例对计算机辅助施工放样过程进行了具体的介绍。     

时空效应规律在软土深基坑工程中的运用

阐述了时空效应规律在软土深基坑工程中的运用情况，实践证明，运用时空效应规律，能可靠而合理地利用土体自身在基坑开挖过程中控制土体位移的潜力而达到保护环境的目的。     

Global Level Path Planning for Mobile Robots in Dynamic Environments

This paper presents a self-adapting approach to global level path planning in dynamic environments. The aim of this work is to minimize risk and delays in possible applications of mobile robots (e.g., in industrial processes). We introduce a hybrid system that uses case-based reasoning as well as grid-based maps for decision-making. Maps are used to suggest several alternative paths between specific start and goal point. The casebase stores these solutions and remembers their characteristics. Environment representation and casebase design are discussed. To solve the problem of exploration vs. exploitation, a decision-making strategy is proposed that is based on the irreversibility of decisions. Forgetting strategies are discussed and evaluated in the context of case-based maintenance. The adaptability of the system is evaluated in a domain based on real sensor data with simulated occupancy probabilities. Forgetting strategies and decision-making strategies are evaluated in simulated environments. Experiments show that a robot is able to adapt in dynamic environments and can learn to use paths that are less risky to follow.     

GPS接收机多径误差及窄相关性能分析

减少GPS接收机多径干扰的办法是采用特殊天线和在接收机中采取一定的措施。文中针对窄相关技术展开分析。重点分析影响接收机多径误差的因素及窄相关的性能，并给出仿真及分析结果。     

机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。