基于体感识别的辅助倒水机器人控制系统

为了更好的给老年人及残疾人提供服务,基于体感识别技术,设计了辅助倒水机器人控制系统。首先通过Kinect摄像头获取人体景深图像,然后利用体感识别控制算法对人体姿势进行识别,最后将识别结果转换为控制命令传输到辅助倒水机器人使其执行相应动作。实验表明,辅助倒水机器人具有良好的操控及执行性能,能较好地满足老年人及残疾人的需求,对服务型机器人领域的发展研究具有很好的参考价值。     

Removal of alpha case on titanium alloy surfaces using chemical milling

Elevated temperature deformation processing of titanium such as during forging causes the formation of alpha case, a brittle layer on the processed components. Alpha case removal has been attempted by several methods, however, in-depth understanding of chemical milling to this end is not evident from the prevailing literature. This work therefore undertakes experimental analysis of chemical milling to remove alpha case generated on titanium alloys after deformation after forging. Several compositions of chemicals and heat treatment conditions for titanium work-material were evolved. Effectiveness of these methods and their applications in removing alpha case on forged titanium alloy were investigated by performing a series of experiments. After the alpha case removal, the titanium work surfaces were examined using optical and scanning electron microscopy as well as electron back scattered diffraction and X-ray diffraction. The optimum results achieved show that 8% HF and 10% HNO₃ solution with 13 min and 30-s etching time is more effective in completely removing alpha case layer by chemical etching of Ti-6Al-4V alloy work specimens heated in air at 930°C.     

Analytical and experimental study on the integration of ultrasonically vibrated tool into the micro electro-chemical discharge drilling

Electrochemical discharge machining (ECDM) is a non-traditional machining process which is used to create micro-features on non-conductive materials. Micro holes and micro channels are the most interested features that have been fabricated by researchers. In recent years, some technical augmentations have been added to the ECDM process to achieve a more efficient machining process, but the employment of each augmentation in the most efficient way is not subjected. In this research, ultrasonic vibration is concentrated on the tool tip which directly and continuously effects on the machining zone and avoids global undesirable effects. For this purpose, modal analysis is used to design a special configuration which achieves the maximum amplitude of vibration in the tool tip. Also, an analytical model is presented for both of the electro-chemical discharge machining (ECDM) and ultrasonic assisted electro-chemical discharge machining (UAECDM) to study the effect of ultrasonic vibration on the thickness of gas film. Practical gas film thickness, machining speed, entrance overcut and tapering zone are studied for both of the ECDM and UAECDM to comprehensive understanding the effect of integration of ultrasonic vibration into the traditional ECDM process. Captures of gas film in different condition confirmed that ultrasonic vibration has reduced the thickness of gas film. Same behavior was achieved by employment of the analytical modeling. As a result, numerous small discharges were achieved which increased the material removal rate (MRR) and hole accuracy, simultaneously. Results showed that ultrasonic vibration can increase MRR up to 82%. Also, tapering zone and entrance overcut deviation as accuracy parameters improved 50% and 40%, respectively.     

渐开线圆柱齿轮倒棱刀设计

介绍了渐开线圆柱齿轮倒棱刀的设计原理和设计方法,提出了使用CAD软件进行倒棱刀切削仿真的方法,提高了复杂倒棱刀设计效率;介绍了几种特殊的倒棱刀设计方法,解决了有齿端台阶、齿端倒角、变棱边倒棱等特殊要求的产品倒棱刀设计难题。     

光场图像重构算法仿真

根据光场成像原理,对非聚焦型光场相机和聚焦型光场相机的成像原理和采样模式进行了分析,对比了两种光场成像系统的成像特点。针对不同类型光场相机的信息采样特点,推导了非聚焦型光场相机空域平移叠加重聚焦算法及聚焦型光场相机基础图像重构算法,并在MATLAB中对两种图像重聚焦算法进行了仿真验证,实验证明两种算法都可以有效获得任一景深清晰的像,可为光场成像技术的应用提供借鉴。     

浅析混凝土保护层厚度

从钢筋粘结锚固要求、混凝土和钢筋的耐久性两方面分析了混凝土保护层厚度的确定因素及取值原理，指出只有在保证混凝土质量的前提下，才能考虑合理改变保护层的厚度。     

强夯效果影响参数及其回归分析

本文针对强夯法应用于不同土体种类分析了影响其效果的主要因素，引进夯后特征作为推断强夯效果的参数，并在工程观测数据基础上，归纳了几个计算公式。     

考虑桩端土体加固效果的挤密砂石桩间距计算方法

若干砂性土地基上采用振动挤密砂石桩处理的工程实测资料表明,沉桩施工对桩端以下一定深度土体的加固效果也相当明显。考虑此影响,提出桩端加固影响深度的概念,并基于土颗粒体积在地基处理前后保持不变的前提对振动挤密砂石桩桩间距的理论计算公式进行推导。在已有研究的基础上,进一步提出同时考虑细颗粒含量影响,并用标准贯入击数表达的桩间距实用计算式,通过在实际工程的应用及与现有计算方法的比较,验证该计算方法的合理性。     

复合土钉墙中垂直支护桩临界桩长的研究

复合土钉墙是由土钉墙和垂直支护桩所组成,设计时应验算其整体稳定性,而垂直支护桩的桩长直接影响到复合土钉墙的整体稳定性,垂直支护桩存在着临界桩长问题。本文从垂直支护桩对复合土钉墙的整体稳定性的抗滑作用出发,分析了垂直支护桩的桩长对复合土钉墙整体稳定性的影响,并研究了临界桩长的主要影响因素。在工程设计中,应根据临界桩长设计垂直支护桩。