Development of a mobile robotic system for working in the double-hulled structure of a ship

Shipbuilding processes involve highly dangerous manual welding operations. Welding ship walls inside double-hulled structures presents a particularly hazardous environment for workers. This paper describes the “Rail Runner X” (RRX), a new robotic system that can move autonomously inside the walls of a double-hulled ship and automatically execute the required welding processes. The RRX robotic system is composed of a mobile platform and a welding robot consisting of a 3P3R serial manipulator. The robot is used to weld U-shaped trajectories located between two longitudinal stiffeners. The mobile platform enables traverse movements onto neighboring longitudinal stiffeners. The entire cross section of the robotic system is small enough to be placed inside the double-hulled structure via a conventional access hole from the outside shipyard floor. The overall engineering design process that led to the final robot solution developed is presented in this paper, including kinematic analysis data and experimental results for verifying the autonomous movement and welding performance.     

基于属性计算网络的动态手势识别的研究

基于视觉的动态手势识别既是当今人机交互系统研究的热点也是难点。该文提出了基于属性计算网络的识别方法对动态手势进行识别,与现有的识别方法相比,具有明显的特点和优点。首先利用肤色分离手部对象,然后跟踪手部对象,并对手部对象轮廓和运动轨迹抽取特征并建立对应的特征向量,最后将手部对象轮廓特征和运动轨迹特征进行加权组合,得出识别结果。本方法的特点和优点是识别分析速度较快,能够很好的满足人机交互系统实时性的需要,并且能够适应动态手势表达在速度和幅度上的差异性。     

矿用自动风门技术的发展及其分析比较

文章从控制系统、信号检测方式以及机械传动机构3个方面介绍了矿用自动风门技术的发展及应用现状,分析了目前较为常见的矿用自动风门的工作原理,并比较了其各自的优缺点,最后介绍了一种新型的隔爆兼本安型风门控制器。     

浅析CST软启动装置的日常维护

以济三煤矿胶带机所使用的CST软启动装置为例,指出煤矿用CST软启动装置发生故障的主要原因是日常维护不到位;基于CST软启动装置控制系统的液压原理,结合CST厂家对换油、更换滤芯、日常清洁及紧固方面的维护要求,分析了对这3个方面进行日常维护的重要性;最后指出,应根据煤矿自身情况实现经济的CST软启动装置日常维护。     

嵌入式系统的课程实验研究

分析现有高低端嵌入式系统实验板的问题和不足,针对本科生"嵌入式系统"实验教学的实际需求,提出实验所应遵循的设计指导思想,并阐述了一种新电路设计,较好地解决了现有系统的问题。最后介绍其应用至"可编程逻辑器件"课程实验的效果。     

一种自动监测系统异构性解决方案

文章对空气质量自动监测系统的异构性问题进行了分析与研究,提出了＂抽象设备、映射数据、虚拟协议＂的解决方案,将物理设备屏蔽在驱动一级,将抽象设备屏蔽在转换程序一级,将数据按空气质量因子分类型打包传送到组态王对应的寄存器组,实现了不同数据接口、不同数据类型以及不同传送协议下的企业信息自动化。     

基于虚拟设备的访问控制模型

访问控制系统需具备便携性、易用性。基于此,提出一种Windows操作系统I/O模型下的访问控制模型。该模型基于以加密文件为容器的虚拟设备,在用户态和内核态进行授权判定、透明加解密、访问重定向,可扩展为各种定制访问控制系统。根据需求进行模块设计,使用API钩子、虚拟设备驱动和过滤驱动等技术开发,测试包括性能的模型特点,并给出2种应用扩展。     

基于FPGA和ARM的现场总线设备

根据现场总线的特点,提出一种基于现场可编程逻辑门阵列(FPGA)和高级精简指令集机器(ARM)的现场总线设备设计框架。FPGA负责完成协议栈链路下层逻辑和物理线路控制逻辑,该部分功能有严格的时延限制,ARM负责完成协议栈链路上层逻辑和网络层以上所有层逻辑,该部分功能有稍微宽松的时延限制。实验结果表明,该设计框架能够满足通信、互联和实时性要求。     

普适计算环境下的虚拟机技术研究

普适计算环境中资源和服务利用率较低,传统应用程序在该环境下无法兼容。为此,提出一种适用于普适计算环境的虚拟机技术。使用设备请求代理屏蔽复杂的普适计算网络环境,对上层应用提供统一硬件平台,支持多个普适计算应用同时运行。实验结果表明,该虚拟化技术能兼容传统应用,提高普适计算资源和服务的利用率。     

An aggregated optimization model for multi-head SMD placements

In this article we propose an aggregate optimization approach by formulating the multi-head SMD placement optimization problem into a mixed integer program (MIP) with the variables based on batches of components. This MIP is tractable and effective in balancing workload among placement heads, minimizing the number of nozzle exchanges, and improving handling class. The handling class which specifies the traveling speed of the robot arm, to the best of our knowledge, has been for the first time incorporated in an optimization model. While the MIP produces an optimal planning for batches of components, a new sequencing heuristics is developed in order to determine the final sequence of component placements based on the outputs of the MIP. This two-stage approach guarantees a good feasible solution to the multi-head SMD placement optimization problem. The computational performance is examined using real industrial data.