Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

适用于仿真工业控制系统的软件包

本文提出的仿真软件包具有丰富的数学运算功能、控制算法功能、逻辑运算功能及图形编辑能力．软件包结构上充分体现了模块化的设计思想，而在功能及组态方法上又十分类似于分散控制系统相应的功能。使用该软件包，可方便地对各种典型的工业控制系统特别是由微处理机组成的分散控制系统进行仿真研究。     

铀工业指标研究的几个问题

本文介绍在铀矿床工业指标制定中,对未来矿山开采设计方案及经济计算参数几千问题的分析,以利于合理的制定铀矿床工业指标,为铀矿冶企业技术改造,在建企业修改设计和为选择新建企业提供决策依据,进而使铀矿冶企业提高经济效益。     

城市RBD的成长机制与产业结构演变研究——以深圳华侨城为例

深圳华侨城是一个持续成长的休闲商务中心区的典型范例.在华侨城的成长和产业变迁过程中,休闲商务的发展具有很强的影响力.从城市边缘的华侨农场逐步发展为现代化城市中心区的RBD,华侨城演变的动力直接来源于4个方面:政策导向、市场导向、所有制导向和城市化导向.     

High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.     

浅谈集成电路的废气处理

集成电路的工业废气有含氟化物、硫酸雾的酸性废气,含氨的碱性废气,含异丙醇、光刻胶的有机废气,含SiO_2的含尘废气,以及含硅烷、磷烷的工艺尾气等,这些工业废气中大部分成分是有毒有害的,必须进行有效的处理才能排入大气中。主要讨论上述工业废气的分类、处理方式、应用范围及应用实例等。     

打捆机器人自动控制系统

介绍了莱钢中小型轧钢生产线打捆机器人自动控制系统的硬件配置、软件结构及其主要控制功能，并对打捆定位和打捆过程作了详细说明。     

Water management in the Flemish steel industry: the Arcelor Gent case

Steel production is an energy- and water-intensive process: large quantities of water are used for cooling, process and environmental-technical applications. In the mid-1990s, Arcelor Gent, a large integrated carbon steel producing company in Flanders (Belgium), started a number of water-related projects: the existing water infrastructure was adapted: the water from the coke plant was biologically treated; canal water was demineralised using reverse osmosis; waste water from the blast furnaces was neutralised with alkaline water from the steel plant. As a result of these projects, the quantity of discharged waste water was reduced by a factor of 2 (water recycling doubled from a factor of 10 to a factor of 20), and the discharge of pollutants decreased. Also resource consumption decreased: lime used in the steel plant, could be recovered to precipitate Zn in the waste water of the blast furnaces. Arcelor Gent obtained for these projects several Environmental Awards.     

Use of zeolite-rich rocks and waste materials for the production of structural lightweight concretes

This paper aims at testing the use of mixtures constituted by natural zeolitized products and SiC-bearing industrial wastes (sludge deriving from polishing of porcelain stoneware tiles, hereafter DPM) for the production of lightweight expanded aggregates as constituents of structural and/or thermo-insulating lightweight concretes. Two commercial products have been used as zeolite natural source: Cab70 (Yellow facies of Campanian Ignimbrite) and IZclino (Turkish clinoptilolite-rich epiclastite). Different amounts of a calcareous material (Pozzano limestones — hereafter CP) from the Sorrento peninsula (Naples — Italy) were also added to a Cab70–DPM mixture. All raw materials were characterized by means of mineralogical (XRPD) and chemical (XRF) analyses. All the products and mixtures were tested from a technological point of view by means of fusibility and firing tests in order to evaluate the expanding properties. It was evidenced that the expansion of the mixture was deeply depending on the occurrence of SiC in the industrial waste. The addition of CP (10 wt.%) to the mixtures accounts for an even increased expansion, though this is accompanied by a worsening of the mechanical features of the material.These results along with literature data allowed to select 3 mixtures (70% Cab70–30% DPM, 70% IZclino–30% DPM, 60% Cab70–30% DPM–10% CP) and each of them was used for the preparation of 5 l of lightweight aggregates afterward employed for the manufacture of lightweight concretes. It was remarked that natural zeolitized materials mixed with DPM (30 wt.%) can provide lightweight aggregates with densities ranging between 0.8 and 1.0 g/cm³ suitable for the preparation of structural lightweight concretes. The addition to the mixture of CP (10 wt.%) produces less dense aggregates (0.6–0.7 g/cm³) potentially useful for the manufacture of thermo insulating lightweight concretes.     

基于Matlab的教学型机器人空间运动轨迹仿真

根据教学型机器人的实际结构特点，利用Matlab中SimMechanics工具箱建立了运动学仿真模型。并进行机器人关节空间和直角坐标系下的运动仿真。仿真结果表明利用仿真模型可以准确、有效地得到机器人的运动参数和运动轨迹，为机器人分析设计提供了可靠依据。