腹腔微创手术机器人末端执行机构的设计和实现

为了提高腹腔微创手术的安全性,设计了一种新型的腹腔微创手术机器人末端执行机构,用于夹持手术器械．根据腹腔微创手术的特点和技术要求,采用轴驱动和平行四杆的运动原理设计定点机构．详细介绍了末端执行机构的机械结构,应用D-H法和矢量代数法给出了各个关节的运动学解公式,研究了控制系统的硬件结构和软件系统,并进行了样机实验．实验表明所设计的末端执行机构具有很好的定点运动效果,能够较好地完成手术规划,满足腹腔微创手术要求．     

冲击载荷下磁流变阻尼器结构优化设计

应用于火炮反后坐装置中的磁流变阻尼器工作在高冲击、高速环境下,对磁流变阻尼器的设计指标和性能提出了更高的要求.针对冲击试验中,磁流变阻尼器表现出的阻尼力可调动态范闱的不足,利用Herschel-Bulkley的磁流变液非线性结构特性的平行平板恒流模型,采用多目标规划方法,提出了火炮反后坐装置应用中的磁流变阻尼器优化设计方法.最后分析了磁流变阻尼器磁路设计准则,结合优化设计尺寸,对阻尼器活塞磁场进行了有限元分析.结果表明,磁流变阻尼器阻尼通道处能产生足够大的磁场强度且分布均匀.     

基于子空间方法的精馏塔系统辨识建模研究

子空间辨识方法作为一种有效的针对多输入-多输出系统(MIMO)的辨识建模方法近年来受到广泛的重视.目前主要采用的子空间辨识算法只能适用于白噪声环境,而实际的工业现场数据很多是受到较大有色噪声干扰的.针对问题采用了一种新的子空间辨识算法,利用马尔可夫参数用于处理随机性部分,同时引入辅助变量用以去除噪声的干扰,能够适用于存在较大有色噪声干扰情况下的辨识建模,并可得到对象的无偏模型,建模的精度优于通常所采用的子空间辨识算法.通过对精馏塔仿真模型的辨识结果证明了该方法的可行性和有效性,以及在实际工业过程对象建模中良好的应用前景.     

Structural topology optimization using ant colony optimization algorithm

The ant colony optimization (ACO) algorithm, a relatively recent bio-inspired approach to solve combinatorial optimization problems mimicking the behavior of real ant colonies, is applied to problems of continuum structural topology design. An overview of the ACO algorithm is first described. A discretized topology design representation and the method for mapping ant's trail into this representation are then detailed. Subsequently, a modified ACO algorithm with elitist ants, niche strategy and memory of multiple colonies is illustrated. Several well-studied examples from structural topology optimization problems of minimum weight and minimum compliance are used to demonstrate its efficiency and versatility. The results indicate the effectiveness of the proposed algorithm and its ability to find families of multi-modal optimal design.     

Continuity versus Discretization

The threefold interest in architecture, biology and mathematics motivated us to examine and justify new architectural forms. We discuss some notions of rhythm: Euclidean, morphogenetic and morphologic. Contemporary relationships between structure and form are based on the generation of shape by technological processes, thus the resulting objects are restricted to their material expression. Here a phenomenological organisation of form and its continuity with the landscape arise out of the mathematical and architectural creativity. The use of the computer is applied from outside to inside instead from inside to outside; this means that we are dealing with the organisational processes via continuous methods instead of evolutionary processes given by computer simulations, known as genetic algorithms, where the resulting configurations are reduced to a matter of routine. The role of design as an aesthetic component innovates the theoretical framework of structural engineering to establish the architectural environments.     

教学中的DM广告设计

DM广告业发展极为迅速,前景远大,在我们职业技术教育里占有很重要的位置。分析DM市场现状,形式单一结构上简单,无亲和力。学生确定选题,进行市场调研指导学生制作出有创意、有内涵、亲和力较强的DM广告。结构的创新,版式的新颖。     

Solving the Beck and Wieland model with optimal experimentation in DualPC

Currently, there is a renewed interest in the use of optimal experimentation (adaptive control) in economics. Example are found in [Amman and Kendrick, 1999], [Amman and Kendrick, 2003], [Cosimano, in?press], [Cosimano and Gapen, 2005b], [Cosimano and Gapen, 2005a], [Cosimano and Gapen, 2006], [Tesfaselassie et?al., 2007], [Tucci, 1997], [Wieland, 2000a] and [Wieland, 2000b]. In this paper we present the Beck & Wieland model [Beck, G., & Wieland, V. (2002). Learning and control in a changing economic environment. Journal of Economic Dynamics and Control, 26, 1359-1378] and the methodology to solve this model with time-varying parameters using the various control methods described in [Kendrick, 1981] and [Kendrick, 2002]. Furthermore, we also provide numerical results using the DualPC software [Amman, H. M., & Kendrick, D. A. (1999). The DualI/DualPC software for optimal control models: User’s guide. Working paper, Austin, TX 78712, USA: Center for Applied Research in Economics, University of Texas] and show first evidence that optimal experimentation or Dual Control may produce better results than Expected Optimal Feedback.     

Numeric and curve parameters for freeform surface feature models

The success of feature modelling systems depends to a large extent on offering user-friendly ways for specifying and varying feature models. In this paper, several new facilities are introduced for this.Numeric and curve parameters are presented for specification and variation of freeform surface feature models. Several properties of the parameters can be defined, such as the direction of evaluation for a curve parameter. In addition to parameters present in features, other parameters can be added to a feature model, including intersection curves between features.To provide these facilities, a new three-level structure is introduced, which includes a partially evaluated model that can capture new generic model entities, including feature intersection curves. The work has been implemented in a prototype surface feature modelling system with functionality for feature class definition, feature model creation, and advanced feature model variation through the new types of parameters.     

三维电场传感器仿真优化及性能测试

采用有限元方法对一种新型三维电场传感器的敏感结构进行仿真分析,优化结构设计参数,提高传感器的测量灵敏度;对采用优化参数制备的电场传感器进行了性能测试,结果表明,该传感器的输出与模拟仿真结果具有良好的一致性,并且与外部电场呈良好的线性关系,传感器的测量灵敏度可达到50V/m。     

An auxiliary theorem for stability analysis in the presence of interval-valued parameters

A theorem which helps to determine the boundary of the image of an interval inR ⁿ under a differentiable mapping,F:R ⁿ C, is expounded. Examples illustrating the application of the theorem are given.