How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

转子叶片在非均匀来流条件下的流体激振特性

该文通过研究得出非均匀来流对转子叶片流体激振的三个重要特征 :非均匀来流相对于转子叶片的非定常流中主频分量是产生叶片动应力的决定因素 ;非均匀来流的非均匀度 (相当于非定常流的波幅 )大小和叶片流体激振的动应力大小成正比 ;转子叶片流体的定常压力水平与叶片动应力的水平密切相关。图 4表 2     

泡沫铝的动态压缩性能和吸能性研究

通过测量泡沫铝在动态和准静态压缩条件下的应力 -应变曲线 ,研究了泡沫铝的准静态和动态压缩行为以及不同应变条件下的吸能性 ,并对其应变率效应进行了分析。结果表明 ,在高应变速率和准静态压缩下 ,泡沫铝的σ -ε曲线均表现出弹性变形段、平缓段和密实段三阶段特征 ;泡沫铝的压缩性能具有明显的应变速率敏感性 ,随应变速率的提高 ,流动应力上升 ,吸能性升高     

基桩反射波法动测曲线的数值模拟与特征分析

采用美国PDI公司开发的PDI-S软件,对不同缺陷基桩的反射波法低应变动测曲线进行数值模拟,对动测曲线的特征进行归纳与总结,以便在解释反射波法曲线时作为参考与借鉴,提高基桩质量检测的可靠度。     

同心筒发射中旁泄流影响的数值研究

同心筒是一种先进的新型的舰载导弹垂直发射装置。文中采用动网格技术模拟了导弹在同心式发射筒内发射的瞬态过程。探讨了发射过程中旁泄流的产生与消失原因。通过设计内外筒的合理大小可以有效减弱旁泄流的影响。通过大量的数值实验,给出了避免外筒发生雍塞的代数关系式。     

Development,construction, and use of pneumometric tubes for measurement of steam flow in the steam lines of PVG-1000 at NPP

A system for the direct measurement of steam flow in steam lines after a steam generator, which utilizes a special design of pneumometric tubes and a computing unit that accounts for variation in steam pressure, has been developed to improve the quality of water-level regulation in the steam generators of VVéR-1000 power-generating units in the stationary and transitional modes. The advantage of the pneumometric tubes consists in their structural simplicity, high erosion resistance, and absence of irrevocable losses during measurement of steam flow. A similar measurement system is used at foreign NPP. The measurement system in question has been placed in experimental service at the No. 3 unit of the Balakovo NPP, and has demonstrated its worthiness. This measurement system can also be used to determine steam flow in the steam lines of NPP units with VVéR-1000 and VVéR-440 reactors, and PBMK-1000 power-generating units. __________ Translated from élektricheskie Stantsii, No. 3, March 2007, pp. 23–26.     

丹江口工程大坝加高后的几个水力学问题

依托1∶100水工模型试验成果,重点介绍了丹江口大坝加高后的几个水力学问题如泄流能力、坝面压力特性、河床局部冲刷、下游河道流速流态、泄洪对电厂及航运的影响等.研究显示:大坝加高后泄流能力可满足设计要求,坝下河床冲刷加重,挑距加远,设计洪水22 300 m3/s时坝下冲坑最低点高程为43.0 m,各级泄量冲坑上游坡均缓于临界坡,也略缓于初期工程同级流量冲坑的上游坡;坝下600 m以内为护岸工程重点防护段,岸边流速为5.8～9.8 m/s;泄洪对丹江口电厂影响较小,对自备电站不利影响较为显著;最大通航流量6 200 m3/s时下游引航道口门区流态复杂,水流较混乱.     

Multi-plant production scheduling in SMEs

Traditionally, companies used to view themselves as separate entities and did not devote efforts to collaborate with other echelons of the extended enterprise. This even happened at multi-site companies owning different plants that belonged to the same supply chain. However, manufacturing facilities of the same supply chain should intensively share information and coordinate planning and scheduling tasks in order to get a globally optimized solution. This paper discusses some specific characteristics of the planning and scheduling problem in the extended enterprise including an analysis of a case study, and reviews the available state-of-the-art research studies in this field. Most studies suggest that integrated approaches can have a significant impact on the system performance, in terms of lower production costs, and less inventory levels. The paper provides some conclusions and suggestions of future works.     

龙开口水电站溢流坝段动力模型破坏试验研究

采用仿真混凝土材料研究了龙开口水电站溢流坝段在不同因素影响下的动力破坏特征,并通过对6个模型试验结果的分析探讨了溢流坝段的动力破坏机理。试验中考虑了坝体-库水的动力相互作用以及横河向地震动对大坝破坏的影响,采用规范谱波和场地谱波两种地震动激励进行模型超载破坏分析。试验结果为工程设计和评价溢流坝段的抗震性能提供依据。     

提速列车作用下上承式钢板梁受迫振动实验研究

本文通过对京哈线下行大清河桥第9孔33.6m上承式钢板梁桥的现场实验结果的分析，以测试孔跨中实测横、竖向振幅为依据，较为详尽地研究了在提速列车作用下桥梁的自身的动力特性及其在提速列车作用下的动力响应，给出了在不同列车运行速度、不同列车编组情况下桥梁横、竖向振幅以及一阶受迫振动频率的变化关系，并对桥梁在列车通过时的桥梁的振动形态、结构的薄弱点及其加固方向进行了初步的探讨。