基于非线性PID的柔性两轮机器人运动控制

柔性两轮机器人是一种不稳定、非线性、强耦合系统。该系统的突出特点是在机器人的腰部装有柔性的机体结构,能够更好地模拟人和动物的生物动力学特性,具有更好的仿生性质,同时,系统的控制难度显著增大,为使机器人能够平衡直立运动,且具有较强的鲁棒性,提出了非线性PD的姿态平衡控制方法,实现了机器人的姿态平衡,并同时设计了PID航向差动控制结构驱动左右轮电机,使机器人能够完成直线行进、自旋、环绕等多种运动平衡模式。实验结果表明,机器人具有优良的平衡能力和机动性能,从而验证了方法的有效性。     

Highly reliable a‐IGZO TFTs on a plastic substrate for flexible AMOLED displays

We have successfully reduced threshold voltage shifts of amorphous In–Ga–Zn–O thin‐film transistors (a‐IGZO TFTs) on transparent polyimide films against bias‐temperature stress below 100 mV, which is equivalent to those on glass substrates. This high reliability was achieved by dense IGZO thin films and annealing temperature below 300 °C. We have reduced bulk defects of IGZO thin films and interface defects between gate insulator and IGZO thin film by optimizing deposition conditions of IGZO thin films and annealing conditions. Furthermore, a 3.0‐in. flexible active‐matrix organic light‐emitting diode was demonstrated with the highly reliable a‐IGZO TFT backplane on polyimide film. The polyimide film coating process is compatible with mass‐production lines. We believe that flexible organic light‐emitting diode displays can be mass produced using a‐IGZO TFT backplane on polyimide films.     

Simultaneous solving of balancing and sequencing problems with station-dependent assembly times for mixed-model assembly lines

In spite of many studies, investigating balancing and sequencing problems in Mixed-Model Assembly Line (MMAL) individually, this paper solves them simultaneously aiming to minimize total utility work. A new Mixed-Integer Linear Programming (MILP) model is developed to provide the exact solution of the problem with station-dependent assembly times. Because of NP-hardness, a Simulated Annealing (SA) is applied and compared to the Co-evolutionary Genetic Algorithm (Co-GA) from the literature. To strengthen the search process, two main hypotheses, namely simultaneous search and feasible search, are developed contrasting Co-GA. Various parameters of SA are reviewed to calibrate the algorithm by means of Taguchi design of experiments. Numerical results statistically show the efficiency and effectiveness of the proposed SA in terms of both the quality of solution and the time of achieving the best solution. Finally, the contribution of each hypothesis in this superiority is analyzed.     

Teleoperation to robotics at Langley Research Center

A popular conception of the evolution of remote manipulation is a progression from teleoperation to telerobotics and then to robotics. This is logical because in going from teleoperation to robotics there would appear to be a continuous decrease in manned workload, an increase in system complexity, and an increase in the amount of intelligence in the automated system. During the past 10 years NASA Langley Research Center (LaRC) has been involved in all three areas. The decision on which system is most suitable for a task depends not only on the task, but on the allocation of responsibility for intelligence or high level control. The operator may be responsible for all intelligence and control functions, they may be shared between the operator and the automated system, or they may be performed by an autonomous system. This paper discusses some of the experiences in each area in applications related to possible space tasks and some of the lessons learned.     

小口径离轴抛物面反射镜挠性支撑设计分析

关于反射镜支撑稳定性优化设计问题,离轴抛物面反射镜作为空间光学遥感器的重要光学元件,面形精度直接影响遥感器性能。针对反射镜所处环境,组件一阶频率要求高,设计了一种反射镜背部中心单点挠性支撑结构,并利用拓扑优化技术对反射镜进行了轻量化设计。为了结构设计的合理性,采用有限元技术对反射镜组件进行了模态分析、结构强度分析、谐响应分析及热环境分析。分析结果表明:反射镜在重力作用下最大面形误差RMS=1.16nm;在±10℃温度载荷作用下最大面形误差RMS=11.46nm;反射镜组件一阶频率为574.19Hz。使挠性支撑结构具有良好的静、动态特性和热尺寸稳定性,满足反射镜面形要求。     

250kW炉底升降式电阻炉设计简介

介绍了新设计炉子的总体结构和主要参数；对炉子中的升降机构，电热元件，砌砖体等部分的设计构想和结构特点分别作了阐述。炉子经过制造和使用表明，制作容易，维修方便，使用性能良好。     

基于实验方法的硅胶圆管柔性关节静力学研究

采用两种不同材料的硅胶管和弹性骨架制作了柔性关节,对其进行静力学实验,得出了在相同气压下的弯曲角度和夹持力,并建立了柔性关节形变模型,获得了其气压下的形变特性。研究结果表明: 硅胶胶管邵氏硬度越小,其剪切弹性模量和弹性模量越小,其硅胶管制的柔性关节柔性和力学特性越好。该研究为弹性硅胶管在气动人工驱动器的应用进一步研究奠定了基础。     

绳牵引刚柔式波浪补偿并联机构的设计与建模

为了减少海上集装箱货物运输中风浪造成的损坏,提出刚柔混合驱动主动式波浪补偿并联机构. 基于刚柔混合并联机构的动定平台的矩阵旋转原理和几何封闭法建立位置逆解数学模型;利用空间几何原理构建机构位置正解数学模型;利用求导法则对位置逆解进行求导,建立速度雅可比矩阵与加速度的二阶影响矩阵;基于绳子是柔性变形体推导出系统刚度矩阵,探究影响系统刚度的因素和增加系统刚度的原则. 利用数值模拟仿真对运动学和系统刚度进行验证,结果表明位置正逆解的输入输出误差不超过实际误差的2.25%;发现理论仿真曲线和样机仿真曲线较吻合,误差不超过7.4%,验证了运动学模型的正确性;根据刚度矩阵发现刚度影响因素对系统刚度的影响规律. 通过对绳驱动刚柔混合驱动波浪补偿并联机构的实验验证,发现该机构的补偿效果均高于90%. 证明研究结果为刚柔混合主动式波浪补偿并联机构的运动和机构设计提供了理论支持.     

基于离散单元法的锥形双螺杆输送及混合机理分析

锥形双螺杆挤出机结构模型与其他普通螺杆挤出机相差很大且构成独特,近年来在聚合物加工行业中发挥了很大的作用。设计螺槽深度与螺杆半径比为1∶2、2∶5、1∶3的三种锥形双螺杆挤出机,通过离散单元法模拟了锥形双螺杆挤出机挤出LDPE、HDPE两种颗粒的过程,分析了锥形双螺杆挤出机螺槽内颗粒速度的变化,同时在不同参数下对三种锥形双螺杆挤出机的输送效率进行了比较。利用EDEM软件对LDPE和HDPE颗粒进行离散元分析,得出不同时刻两种颗粒在三种锥形双螺杆挤出机内的混合情况。结果表明,螺槽深度与螺杆半径比为1∶2的锥形双螺杆挤出机的混合效率优于螺槽深度与螺杆半径比为2∶5、1∶3的锥形双螺杆挤出机。     

双色挤塑成型

以彩色毛笔杆为例 ,分析了双色挤塑成型的基本原理 ,介绍了设计制造双色挤塑成型简易设备的方法。