基于虚拟样机技术的六自由度机械手建模与仿真

六自由度机械手广泛地应用于工业、农业等领域中,发挥着重要的作用。为此,设计了一种六自由度机械手,并基于虚拟样机技术进行了建模与仿真。首先,利用Pro/ENGINEER软件,建立了一种六自由度机械手机械系统的三维模型;其次,利用Pro/ENGINEER的模块对机械手进行了虚拟装配;接着,采用专用接口模块Mechanism/Pro将模型导入动力学仿真软件MSC.ADAMS;之后,利用MSC.ADAMS软件对机械手进行虚拟样机动力学干涉检查,验证运动锁止位置的合理性并绘制出相关特性曲线,为加工六自由度机械手物理样机提供了依据。     

立式挤压铸造机用三自由度三功能机械手

设计了一种与立式挤压铸造机配套的多用途机械手,具有3个自由度,可以模拟人的大臂、小臂和手腕运动,其主体部分是一个单支点的平行四边形机构。3个驱动电动机都设置在固定机架上,每个电动机只驱动1个运动,实现了驱动电动机与被驱动元件的运动学一一对应关系。在小臂端板上配置汤杯、取件器或喷雾器等执行元件后,即可成为给汤机、取件机或喷雾机,有利于立式挤压铸造机的自动化生产。     

追逐学术与心灵的自由--同济大学城市规划系教授、法国翌德（ETE）国际设计机构创始人于一凡访谈

作为同济大学城市规划系教授及法国翌德（ETE）国际设计机构创始人,于一凡结合自身的留学经验和成长历程,展现了其对于教学、研究、设计的态度,以及对于人生的思考——追逐学术与心灵的自由。     

基于FlightGear的A-SMGCS场面活动三维仿真

针对A-SMGCS系统场面活动三维仿真问题,提出一种以开源模拟飞行器FlightGear为场景仿真平台,以实时ADS-B监视数据为驱动,以Linux为操作平台的机场场面活动三维仿真系统设计新方法。仿真系统按照实际机场模型进行机场布局设计,飞机、航站楼、塔台三维建模,地形数据生成,对真实机场环境进行了完整建模。由于ADS-B监视数据缺少飞机姿态信息,提出一种根据位置数据推算出姿态信息的新方法。首先把ADS-B监视数据进行航迹卡尔曼滤波,然后根据飞机前后两个位置的空间连线矢量计算飞行姿态。通过FlightGear多机网络数据接口导入飞机定位数据与姿态数据驱动飞机模型运动,实现了对飞机运动的六自由度仿真。仿真结果表明,该系统能逼真、准确再现真实机场飞机实时活动情况。由于完全基于开源软件设计,该系统低成本实现了对场面活动的实时三维仿真。     

模型驱动算法在皮带配料系统中的应用研究

在选煤厂皮带配料系统中,皮带秤的连续配料和称重存在着控制精度不足,抗干扰力弱等缺陷,常规的PID控制器和模糊PID控制器已不能满足大型煤矿复杂多变的工作环境和生产要求,现改用二自由度模型驱动PID控制器对其进行优化设计,并对被控对象的相关参数进行计算与修正,同时运用Matlab仿真试验进行研究,结果表明优化后的皮带配料控制系统具有超调量小、调节时间短、响应速度快、抗干扰能力强等优点,能够有效地改善皮带配料控制系统的动态品质,提高了系统的配料精度和配料速度.     

S7—200在玻璃行业平钢化控制系统中的应用

一个由西门子S7—200PLC，以PPI和自由口形式组网通讯，与人机界面相联，组成一个功能完善的低成本控制系统，完成对平钢化全部工艺的完美控制。重点介绍工艺背景，系统选型思路及架构，硬件配置和软件编程要点，实施过程中有关通讯问题和解决，改造后取得效果及完成后的体会。     

The impact of Arab cultural values on online social networking: The case of Facebook

The purpose of this research is to investigate the impact of cultural values on motivations and attitudes toward Social Networking Sites (SNSs) in the Arab world, and the factors affecting the continuity of membership value. Online questionnaire was used to collect data from the Arab Facebook members. Structural Equation Modeling, using EQS was conducted to analyze the data. The results indicated to a disparity in cultural impact on motivations and attitudes. At the time that Arab youth seek to liberate from all the kinds of restrictions to satisfy their human needs through joining SNSs, their attitudes are still influenced by the cultural values of Arab nation. The results also revealed a significant effect of members’ motivations, attitudes, and usage on the continuity of Facebook membership value. The present study contributes to the continuing discussion about why and how people engage in SNSs from different nations’ cultures, especially after the critical roles of SNSs in so-called Arab Spring.     

Anticipatory assistance-as-needed control algorithm for a multijoint upper limb robotic orthosis in physical neurorehabilitation

Robotic devices are becoming a popular alternative to the traditional physical therapy as a mean to enhance functional recovery after stroke; they offer more intensive practice opportunities without increasing time spent on supervision by the treating therapist. An ideal behavior for these systems would consist in emulating real therapists by providing anticipated force feedback to the patients in order to encourage and modulate neural plasticity. However, nowadays there are no systems able to work in an anticipatory fashion. For this reason, the authors propose an anticipatory assistance-as-needed control algorithm for a multijoint robotic orthosis to be used in physical ABI neurorehabilitation. This control algorithm, based on a dysfunctional-adapted biomechanical prediction subsystem, is able to avoid patient trajectory deviations by providing them with anticipatory force-feedback. The system has been validated by means of a robotic simulator.Obtained results demonstrate through simulations that the proposed assistance-as-needed control algorithm is able to provide anticipatory actuation to the patients, avoiding trajectory deviations and tending to minimize the degree of actuation. Thus, the main novelty and contribution of this work is the anticipatory nature of the proposed assistance-as-needed control algorithm, that breaks with the current robotic control strategies by not waiting for the trajectory deviations to take place. This new actuation paradigm avoids patient slacking and increases both participation and muscle activity in such a way that neural plasticity is encouraged and modulated to reinforce motor recovery.     

开源片上系统Freedom E310调试方法研究

Freedom E310是第一款基于RISC-V指令集架构的开源商业片上系统,可以依据具体应用场景对其进行深度定制,在对Freedom E310及其Debug单元简单介绍的基础上,设计通过OpenOCD、J-Link建立Freedom E310调试环境,并进行了实际测试.     

基于遗传算法的自由曲面测量路径规划

在加工具有大型复杂曲面的工件或对这些工件进行加工误差的检测时，都需要对曲面上的点进行测量。由于检测点数很多，这一过程很费时间。为了提高检测效率，本文将这一问题等效于旅行商(TSP)问题，并利用遗传算法对检测路径进行了优化，实验证明该方法在解决这一问题时是有效的。