Dynamic isotropic design of a class of Gough-Stewart parallel manipulators lying on a circular hyperboloid of one sheet

This paper proposes an optimal design method based on dynamic isotropy conditions of a generalized natural frequency matrix in task space for a standard Gough-Stewart parallel manipulator (GSPM). Firstly, the dynamic isotropy conditions are discussed and presented. Next, it is proved that standard GSPMs lie on a circular hyperboloid of one sheet. Further, we present a method to use a circular hyperboloid to construct 3-3-, 6-3- and 6-6-type standard GSPMs. Moreover, such novel definition is used to examine various dynamic isotropy conditions as functions of the coefficients of a hyperboloid. An optimal design method is also proposed accordingly. Finally, a numerical example is given to illustrate the design procedures. The results are very close to the complete dynamic isotropy.     

Development of a robot assisted carotid blood flow measurement system

The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.     

A constant-force bistable mechanism for force regulation and overload protection

A novel constant-force bistable mechanism (CFBM) allowing constant contact force and overload protection is developed. When a device equipped with a CFBM is loaded by an unknown force exceeding a critical force of the CFBM, the CFBM can snap to its other stable equilibrium state to safeguard the device. The bistability of the mechanism originates from combined compression and bending of the beam structures. Finite element analyses are used to characterize the constant-force behavior and bistability of the mechanism under static loading. A design formulation is proposed to find the CFBM shape for a specified displacement range with constant output force of the mechanism. Prototypes of the CFBM are fabricated and tested. The characteristics of the CFBM predicted by theory are verified by experiments. Using the CFBM, sophisticated sensors and control system for force regulation of machining systems can be eliminated.     

基于无线传感网的轻量级数字签名系统设计

为了确保传感器网络中传输数据的可靠性,本文设计了一个基于对称密码体制的数字签名系统。系统使用对称密码机制来提高效率,采用硬件加密设备保证共享密钥池的安全,通过使用特定的密钥生成算法解决对称密钥的分发问题。实验结果表明,系统能耗低、效率高,具有很强的实用性。     

一种强制访问控制机制的审计方法

目前的安全操作系统模型有很多,以SELinux安全模型,AppArmor安全模型等为大家所熟知,基于这些强制访问控制模型的审计机制也更有不同。本文提供了一种基于轻量级DTE安全模型的审计机制,该机制中的审计信息采用固定大小格式,这样方便对其进行操作。该审计机制有效的监控了系统中主体对客体的所有访问,包括作法用户的操作和合法用户的误操作等。在系统自带的审计机制中,审计信息是系统中所有的审计记录的集合,数量相当庞大,不利于进行分析。本文提出审计开关,对审计记录中的数据进行分类处理,大大提高了检索和查找的速度。     

里底水电站坝址右岸倾倒变形岩体成因机制和变形程度

以里底水电站坝址右岸岩体结构特征为基础,分析了岩体倾倒变形的成因机制.通过对右岸勘探平硐揭露岩层产状的详细量测,结合硐壁物探测试成果,建立了倾倒强烈程度的分级体系,对右岸倾倒岩体进行了划分,为边坡稳定性评价确定了控制边界.     

冻融循环作用下盐渍土病害机理及改良技术综述

盐渍土在冻融循环作用下,主要表现出盐胀和冻胀特性,对土体结构造成破坏,土体发生变形,从而降低土体强度,给工程建设造成危害。为改良盐渍土、防治盐渍土病害,从盐渍土病害产生的机理出发,介绍了结晶压力是导致土体结构发生破坏、土体发生变形的本质因素,证实了结晶压力的大小与孔隙大小有关。水盐迁移会加剧盐胀和冻胀的发生。在冻融循环作用下,水分和盐分向土体表层发生运移。盐渍土的盐－胀特性受土体的干密度、含水量、含盐量、荷载和温度的影响,不同因素的影响程度不同,干密度的影响较含水量小。干密度越大、含水量和含盐量越高、降温速率越慢,盐－冻胀越强烈。荷载对盐－冻胀有抑制作用。通过对盐渍土病害机理的研究,结合盐渍土盐－冻胀的影响因素,从土质改良、加固土体、阻断水盐通道和温度控制四个方面阐述了冻融作用下盐渍土的改良方法,可供盐渍土地区的工程建设参考。目前关于结晶压力的研究主要是定性方面的,水盐迁移的研究以室内试验为主。未来对盐渍土病害机理的研究将主要集中在结晶压力的定量研究和水盐迁移的现场试验等方面。     

从南四湖水利管理局水管体制改革实践看管养分离运行机制

南四湖水利管理局自2006年以来按照国务院水管体制改革实施意见和水利部水管体制改革实施方案要求,全面推行了水利工程管理和维修养护分离。总结了水管体制改革取得的显著成效,结合基层工作实际分析了管理和养护运作过程中存在的一些问题,提出了完善措施及建议。     

水电站斜拉门机小车液压驱动机构研究

水电站双向门式启闭机的小车液压驱动机构的设计关键,是保持驱动小车的两侧液压缸同步运行,并采取措施防止活塞杆产生挠度和弯扭变形.液压管路对称布置,减少了管路对双缸同步的影响;液压系统采用“调速阀+旁路泄油纠偏回路”同步控制方式;关节轴承和滑动轴承组合采用铰接结构和抗挠托架,实现了液压缸对外界产生的挠、弯、扭作用的自适应.工程实践证明:小车液压驱动机构运行平稳、同步控制准确、无啃轨现象,满足实际工况需要.     

航行体有攻角出水全过程数值模拟

水下航行体高速出水时,空泡溃灭会产生较大的弯矩载荷,是其结构强度的主要设计依据.本文基于计算流体方法与结构动力学方法的单向耦合,建立了航行体有攻角出水全过程数值模拟方法,并针对抽象的典型工况进行了较大规模的并行计算,最终得到了航行体关键截面的全时程载荷响应.进一步通过分析航行体空泡形状和表面压力的演化特征,解释了航行体出水载荷的直接形成原因.