基于变胞机构的移动机器人构型设计研究综述

基于传统机构设计的移动机器人,由于机构运动关系相对固定、配置形式单一,难以在复杂地形中快速通行。变胞机构是一种全新的机构组合形式,在瞬时能使某些构件发生合并和分离,使机构有效构件数或自由度数发生变化,具有较强的环境适应性。变胞机构设计的移动机器人可以将速度、灵活性和稳定性集于一体,实现移动机器人在复杂环境中的快速移动。本文针对变胞机构及其移动机器人的构型设计、运动原理、驱动方式及空间配置进行了综述,归纳了现有基于变胞机构的移动机器人所面临的关键问题和技术进展,并对变胞机器人的未来发展方向进行了展望,为变胞移动机器人的发展提供参考。     

Configuration optimization of service solution for smart product service system under hybrid uncertain environments

Configuration of service solution is recognized as a crucial task for smart product service system (PSS) development, which provides an effective way to meet dynamic customer requirements. New smart attributes, broader stakeholder value and hybrid uncertainty occur inherently in the service solution configuration for smart PSS. These emerging characteristics lead to urgent updating need of the existing approaches to service solution configuration optimization. Therefore, the current study proposes a systematic approach to optimization of smart product service (SPS) solution configuration, aiming to achieve the best smart capability and value symbiosis among stakeholders of the configured SPS schemes. In the proposed approach, a new attributes system is proposed to describe the smart service module instances, and then employed as criteria to determine the configuration parameters. A novel rough-fuzzy data envelopment analysis (DEA) method is proposed to obtain the configuration parameters of each service module, with objective of effectively handling the hybrid uncertainties involved in the configuration environments. In addition, a bi-objective optimization model for SPS solution configuration considering smart capability efficiency and value symbiosis efficiency is proposed, and it is solved by an adaptive non-dominated sorting genetic algorithm II (ANSGA-II) to acquire a Pareto set of optimized configuration solutions. Finally, an application of this systematic approach to smart vehicle service demonstrates the feasibility and effectiveness of the proposed approach.     

基于二维最小相位相干因子的MIMO穿墙雷达成像方法

讨论了基于因式分解的穿墙雷达多输入多输出阵列配置方法,在此基础上提出了基于二维最小相位相干因子(2D Minimum Phase Coherence Factor,2D MPCF）加权的成像方法。2D MPCF综合了相位相干因子和距离向相位相干因子的优点,在方位向和距离向均有良好的栅瓣和旁瓣杂波抑制效果。仿真实验结果验证了所提成像方法不仅可以有效抑制杂波干扰,而且提高了成像结果分辨率。     

低速真空轴承跑合实验台控制系统设计

针对航天低速真空轴承跑合实验效率低问题,开发设计了基于PLC、伺服电机和组态软件MCGS的实验台控制系统.通过PLC发出频率可调的高速脉冲串来控制加载电机的加载速度,以Modbus通信协议来控制轴承实验台的驱动主轴电机的速度,MCGS组态软件实现对多台低速真空实验台进行集中控制.实践表明,系统运行可靠,操作简便,提高了轴承跑合实验台的效率.     

智能水电厂通信模式、协议及配置方法研究

IEC 61850标准是智能水电厂的重要技术基础,它对智能水电厂通信系统基础架构作出了原则性的规定。然而,考虑到标准的普适性和简洁性,IEC 61850标准对应用于水电厂自动化系统时的通信模式、协议等规定过于笼统,而且也没有针对各项规定作出明确的解释,影响了该标准在智能水电厂中的推广应用。为此,专门进行了详细的分析研究,并提出了智能水电厂的分布式通信模式、典型通信网络、通信协议体系以及通信配置方法,以促进IEC 61850标准在智能水电厂的推广应用。     

单导叶调速器导叶状态监测系统设计与实现

单导叶调速器调节精度高、调节灵敏,但相对复杂的系统结构也易使其发生导叶开度不同步等故障。以提高单导叶调速器的安全可靠性为目标,针对泰山抽水蓄能机组提出了导叶状态监测系统的整体方案;根据功能应用需求,分析论述了系统的工程实施问题,介绍了硬件配置和软件设计的主要过程。     

Oxidative dimerisation of methane on a supported Pd-Ag catalyst using a diffusion controlled ceramic wall reactor

Supported palladium-silver oxides were used as catalysts for the partial oxidation of methane by molecular oxygen in a tubular reactor with ceramic wall separation. The ceramic wall controls the O₂ supply in the catalyst bed. The results indicate that the reactor configuration can play an important role in methane oxidation. C₂H₆, C₂H₄, CO₂ and H₂O were obtained at temperatures less than 300 °C. At this temperature any contribution from homogeneous gas phase reaction can be ruled out.     

Chirality of israeli pine bast scale,Matsucoccus josephi (homoptera: Matsucoccidae) sex pheromone

The absolute configuration of the sex pheromone of the Israeli pine bast scale,Matsucoccus josephi, was determined as (2E,5R,6E,8E)-5,7-dimethyl-2,6,8-decatrien-4-one, designated here asR-E with 10% (2E,5S,6E,8E)-5,7-dimethyl-2,6,8-decatrien-4-one, designated asS-E. The chirality of the quantitatively minorZ isomer was (2E,5R,6Z,8E)-5,7-dimethyl-2,6,8-decatrien-4-one (R-Z). Chiral assignments were made by comparative gas chromatographic (GC) analysis of naturalM. josephi pheromone with stereoselectively synthesized stereoisomers on a chiral Cyclodex-B column, which separated the enantiomers with baseline resolution. In gas chromatographic-electroantennographic detection (GC-EAD) analysis of the racemicZ andE isomers, the latter elicited the stronger antennal response by maleM. josephi. In GC-EAD of all four stereoisomers, employing the chiral column,R-E was the most active stereoisomer. In field testsR-E attracted 10 times more males ofM. josephi than didS-E. The racemicE/Z pheromone mixture, containing all four stereoisomers in approximately equal amounts, attracted as many maleM. josephi as did an equivalent amount ofR-E, indicating that the other stereoisomers are not inhibitory. The same keto-diene moiety with the same chiral center and configuration in all three known Matsucoccidae sex pheromones implies a common biosynthetic pathway and phylogenetic relationship.Contribution from the Agricultural Research Organization, the Volcani Center, No. 1496-E, 1994 series.Part of the work was performed during a sabbatical leave of E.D. at Simon Fraser University.     

结构可控增韧型核-壳结构乳液聚合物的研究进展

对结构可控增韧型核-壳结构乳液聚合物的制备方法、增韧机理及应用进行了综述，重点讨论了各种因素对核／壳结构聚合物乳胶粒子形态的影响，并进一步提出了结构可控增韧型核一壳乳液聚合物的最新研究方向。     

6LoWPAN无线传感器网络有状态地址配置方案*

提出一种基于分布式的6LoWPAN无线传感器网络有状态地址配置方案,其每个传感器节点都具有分配地址的权力且地址分配空间具有唯一性,从而将地址分配任务均匀地分布到每个传感器节点,实现了多个传感器节点的同时配置,提高了地址分配效率;同时,节点申请地址的控制信息的传输范围均控制在一跳范围内,降低了地址配置功耗,缩短了地址配置时间,延长了网络寿命。对所提方案与MANETConf、Strong DAD及LISAA的地址配置代价及地址配置延迟时间等性能参数进行了比较分析,分析结果验证了此方案的可行性和高效性。