基于广域测量系统的快速暂态稳定预测方法

在运用相量测量单元实测系统故障时轨线的基础上,采用一种在机器人领域广泛应用的抓球算法,对电力系统故障后预判失稳的发电机转子角进行预测.该方法分为跟踪和预测2个阶段:首先应用粒子群优化算法对跟踪阶段进行多参数优化,加快了跟踪的过程;然后利用泰勒级数展开法预测发电机的转子角.该方法无需知道系统结构的先验知识,可以提前0.5 s判断各发电机的同步性,得到足够的"可用反应时间"用于在线失稳预警或就地控制.在10机39节点的新英格兰测试系统和50机145节点测试系统上的仿真结果表明了该方法的有效性.     

面向快速制模的机器人铣削原型工艺研究

机器人快速制造原型是正在发展的一种快速制造原型和零件的方法,但是它的应用范围目前仅局限于石蜡、木材、塑料和轻金属等材料。本文开发了一种机器人快速铣削制造陶瓷材料原型的工艺,并成功用于机器人快速制造金属模具工艺。试验研究了适用于该工艺的陶瓷原型材料、陶瓷原型铣削制造工艺以及机器人的铣削特性。从而扩展了机器人原型制造的可加工材料范围以及快速原型制造的应用领域。     

智能轮椅中人机界面的分类及评估

本文针对目前智能轮椅中已出现的诸如语音交互、头部运动等种类繁多的人机界面进行了归纳整理，从人的意识行为和能动性角度提出了一种新的分类方法，进而对各类人机界面的适用人群、硬件构成、成本估算以及产业化前景等方面进行了分析。从而有利于人机界面的行业标准的制定，也使得开发人员能够迅速定位自己开发产品所需的人机界面。     

挖掘机器人电液比例位置自调整模糊PID 控制技术研究

针对挖掘机器人工作装置液压系统存在滞后、不确定性和非线性,不能实现有效精确控制的问题,设计一种基于模糊PID的电液比例位置自调整控制策略。介绍了电液比例位置控制系统组成和自调整模糊PID控制器原理,建立了控制规则表,采用中点向下融合法进行模糊推理和去模糊化处理。仿真与实验验证结果表明:该控制方法具有很好的鲁棒性,控制效果满足技术要求。     

面向机器人加工复杂轮廓误差控制的策略研究

针对机器人加工复杂曲面零件,提出一种面向加工轮廓误差的控制策略。通过向量的形式定义了机器人加工任务的轮廓误差,结合双向搜索、斐波那契搜索和球面线性插补算法,对机器人轮廓误差进行了估计;在此基础上通过将加权轮廓误差分量补偿到机器人任务空间的速度指令中,设计了机器人加工任务的轮廓控制策略。实验结果表明：对于位置和姿态轮廓误差,估计值与真实值的差异非常小,且与单纯的跟踪控制相比,位置和方向轮廓平均误差大约降低了30%,验证了所提加工轮廓误差控制策略的有效性。     

Cooperative adaptive sampling of random fields with partially known covariance

This paper considers autonomous robotic sensor networks taking measurements of a physical process for predictive purposes. The physical process is modeled as a spatiotemporal random field. The network objective is to take samples at locations that maximize the information content of the data. The combination of information‐based optimization and distributed control presents difficult technical challenges as standard measures of information are not distributed in nature. Moreover, the lack of prior knowledge on the statistical structure of the field can make the problem arbitrarily difficult. Assuming the mean of the field is an unknown linear combination of known functions and its covariance structure is determined by a function known up to an unknown parameter, we provide a novel distributed method for performing sequential optimal design by a network comprised static and mobile devices. We characterize the correctness of the proposed algorithm and examine in detail the time, communication, and space complexities required for its implementation. Copyright © 2011 John Wiley & Sons, Ltd.     

A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience

In this paper, we study the problem of designing motion strategies for a team of mobile agents, required to fulfill request for on-site service in a given planar region. In our model, each service request is generated by a spatio-temporal stochastic process; once a service request has been generated, it remains active for a certain deterministic amount of time, and then expires. An active service request is fulfilled when one of the mobile agents visits the location of the request. Specific problems we investigate are the following: what is the minimum number of mobile agents needed to ensure that a certain fraction of service requests is fulfilled before expiration? What strategy should they use to ensure that this objective is attained? This problem can be viewed as the stochastic and dynamic version of the well-known vehicle routing problem with time windows. We also extend our analysis to the case in which the time service requests remain active is itself a random variable, describing customer impatience. The customers’ impatience is only known to the mobile agents via prior statistics. In this case, it is desired to minimize the fraction of service requests missed because of impatience. Finally, we show how the routing strategies presented in the paper can be executed in a distributed fashion.     

基于PLC的挖掘机司机用减震座椅模糊控制系统

利用可编程序控制器S7-200作为主控制器,以加速度作为输入信号,通过对气体回路实施模糊控制,实现挖掘机司机座椅的减震.实践证明,这是一种简便可靠、经济实用的控制系统.     

机器人操作手弹性动力学一般模型

把弹性动力学有限元方法中的分布参数法与集中参数法统一起来，推导出机器人操作手弹性动力学一般方程，并对方程中的系数矩阵进行了比较细致的讨论。在一般方程中，考虑了关节弹性的影响。给出一空间型机器人操作手的计算实例。     

掘进机盘形滚刀的磨损及其侧向力的探讨

根据盘形滚刀工作的实际破岩，建立了盘形滚刀的空间运动模型；分析了全断面岩石掘进机盘形滚刀磨损不均匀的原因及改进措施；探讨了盘形滚刀侧向不平衡力的产生并建立了预测其大小的公式。不仅完善了全断面岩石掘进机盘形滚刀的破岩机理，更为盘形滚刀的合理设计、刀盘回转电机最佳容量的确定，提供了理论依据。