MKR──一种有效的增量式概念获取系统

本文对示例式学习的ＩＤ５Ｒ算法进行了深入的研究并作了进一步的改进，提高了其计算效率．并提出一种适合于增量式学习的抗干扰机制，拓广了算法的适用范围．     

Real-World Robotics: Learning to Plan for Robust Execution

In executing classical plans in the real world, small discrepancies between a planner's internal representations and the real world are unavoidable. These can conspire to cause real-world failures even though the planner is sound and, therefore, proves that a sequence of actions achieves the goal. Permissive planning, a machine learning extension to classical planning, is one response to this difficulty. This paper describes the permissive planning approach and presents GRASPER, a permissive planning robotic system that learns to robustly pick up novel objects.     

反向回转双激振器振动机控制同步的理论研究

本文对两激振器作反向回转的振动机控制同步进行了理论研究和计算机仿真。推导出了考虑质心偏移时两主轴的转矩差方程，在此基础上建立了控制系统的数学模型，设计了具有鲁棒性的非线性变结构滑模控制器．仿真结果表明，控制同步不仅可以消除由质心偏移、电机特性差等原因引起的稳态相位差，同时还能大大降低瞬态相位差，从而使机体的振动方向保持不变，减小起、制动过程中机体的摇摆振动．     

机械合金化Fe50Ti50非晶的形成及球磨强度对它的影响

本文通过电子扫描和Ｘ衍射对机械合金人Ｆｅ５０Ｔｉ５０非晶粉末形成做了研究。研究发现：机械合金非晶形成可以大致地分为二个阶段－粉末的破碎阶段和非晶的形成阶段。另外，对球磨强度对非晶形成的影响进行了研究。结果表明：强度低时粉末需要较长的时间才能形成非晶，强度高时粉末形成非晶的时间大大缩短，但在随后的球磨中，粉末会重新晶化形成新相。     

Machine assignment and part-families formation using group technology

The conventional way of solving the group technology (GT) problem is to start from an assignment of parts to machines and try to find a partitioning of machine cells and part families. The similarity between parts is measured based on commonality of the machines assigned to them. However, parts are assigned to machines based on their operation requirements and the operation capabilities of machines. Similarity between parts should be based on their required operations. In this paper, the authors attempt to solve or facilitate solving the GT problem at the assignment level. An algorithm for assigning parts to machines is provided which utilizes the types of operations required by parts and applies GT principles in producing the assignment. This leads to better partitioning of machine cells and part-families. Furthermore, operation sequences required by parts in determining the similarity between parts have been considered. An algorithm to form part-families based on the operation sequence similarity coefficient has been developed. The resulting families are then used by the assignment algorithm to produce machine assignments to part-families. The use of the algorithm is demonstrated by examples.     

数控加工的基本坐标系和对刀问题

数控加工中的对刀问题影响机械加工的各个方面。这里从介绍数控机床的基本坐标系出发，重点阐述了对刀的基本原理和方法以及常见数控机床对刀问题的处理。     

落脚河水电站引水发电系统的调节保证计算分析

水轮发电机组在运行中遇到启动、正常停机、增减负荷、事故甩负荷等工况变化时，经常会引起引水发电系统的水力过渡过程，所以在设计中必须通过调节保证计算以选择合适的导叶调节规律及其调节时间，从而优化压力引水系统的运行工况，使水电站的水工建筑物布置既经济合理又安全可靠。     

球头碗球面加工组合机床设计

根据球面形成原理,利用铣刀和工件的两个圆运动,合成球头碗的不完整内球面。采用组合机床,结构简单,调整、维护方便,主轴弹性卡头便于工件装卸。对零件尺寸、形状和位置误差进行了分析。通过对铣刀和主轴电机的变频调速,找出最佳切削参数,实现了内球面的高效率高精度加工。