基于STM32与MCX314的双核四轴运动控制器

自主设计了一种双核四轴运动控制器.该运动控制器以MCX314As与STM32为核心硬件.该控制器不仅能够完成四轴的位置、速度和S曲线的加减速控制等功能,还能够完成直线插补,任意两轴圆弧插补与任意三轴位元插补.该控制器还基于STM32配备了USB接口、SD卡接口、USART口以及CAN总线等.该设备有很强的移植性,不仅能接人大型总线网络中,还具有很强的独立工作能力.     

基于体感技术的手势追踪与识别

体感技术使人们更直接的通过自己的肢体动作与电脑设备产生互动,减小了鼠标、键盘等传统输入设备带来的束缚。使用Kinect 体感设备,对体感关键技术及 Kalman滤波器算法进行了深入的研究,并在此基础上提出了一种基于骨骼坐标的手势识别算法。最后详细阐明了基于 Kinect 的手势追踪与识别系统的具体设计与实现方法。     

基于频域的运动模糊参数估计

运动模糊图像复原的关键之一是模糊核函数的估计,即降质图像的模糊方向和距离变化的估计。已经有多种方法用于模糊核函数的估计,通过对运动模糊图像频谱的研究,提出了一种基于形态学的模糊运动方向计算方法,并根据模糊图像频谱的黑色条纹周期出现的规律,采用投影法计算极值点,从而获取模糊运动距离。实验结果表明该算法简单有效,得到的运动模糊参数较准确。     

基于变维卡尔曼滤波的UUV目标运动优化估计方法

为实现无人水下航行器精准、安全的跟踪目标从而高效地实现目标的信息采集,提出了一种针对该个体的目标运动优化估计方法。此方法通过建立目标运动模型,基于卡尔曼滤波基本原理,利用变维卡尔曼滤波的方法,达到UUV个体对目标运动状态准确估计的预期效果。为提高该方法的可行性,在利用最小化目标位置估计协方差矩阵完成目标运动轨迹估计及优化的过程中,考虑实际UUV机动时的最大速度限制、与目标最小距离的限制。文章详细阐述该方法的实现和步骤,并通过仿真实验验证了该优化算法的有效性。     

基于MATLAB的模块化机器人手臂运动学算法验证及运动仿真

针对由模块化关节构成的六自由度串联机器人手臂, 采用DH法对手臂的操作空间进行了描述, 得到了正运动学模型; 采用欧拉角表示手臂姿态, 得到了包含六个参数的用于表示手臂位姿的完备广义坐标, 并对欧拉角的几何关系进行了分析。针对SolidWorks虽然实体建模简洁方便但计算并非其强项的缺点, 编写相应接口程序, 将建立的手臂三维实体模型保留几何约束关系简化后导入MATLAB软件。基于MATLAB编写正逆运动学算法验证程序以及连杆驱动程序, 实现了手臂的仿真运动。通过仿真, 不仅更进一步验证了手臂正逆运动学解算的正确性, 而且非常直观地看出手臂末端在空间中运行的路径以及各关节的动作情况。机器人手臂正逆运动学算法正确性的验证及运动仿真为手臂的精确定位及其路径规划提供了必要的保证。     

PHASE-SPACE DIFFUSION EQUATIONS FOR SINGLE BROWNIAN PARTICLE MOTION NEAR SURFACES

In numerous physical processes involving the motion of micron and submicron sized particles near surfaces, such as the filtration of hydrosols and aerosols, the particle motion is the net result of the combined effects of fluid convection, external forces, particle inertia, Brownian particle motion, and particle-surface fluid dynamic interactions. The most general method of describing particle motion under the combined action of these effects is through the so-called Fokker-Planck equation. In the absence of particle-surface fluid dynamic interactions, the Fokker-Planck equation is well-known, and it has been applied in a general way to problems involving the adsorption or deposition of Brownian particles onto surfaces through a solution technique known as the Brownian dynamics simulation method.

In this study, the Fokker-Planck equation for Brownian particle motion near surfaces is generalized to include particle-surface fluid dynamic interactions. The Fokker-Planck equation is shown to follow from the Liouville equation for the Brownian particle and n-fluid molecules present in the system, thus, establishing a firm theoretical foundation for the Fokker-Planck equation and the various other phase-space diffusion equations that follow from it.

Based on diagonalization of the Fokker-Planck equation, its short-time behavior is also derived here which enables a generalization of the Brownian dynamics method for the study of particle motion near surfaces including fluid dynamic interactions. Additionally, a perturbation solution of the Fokker-Planck equation under the conditions of small, but finite particle Stokes number is also derived. These solutions are shown to agree with previously given representations of the Smoluchowski or convective-diffusion equation for Brownian particle motion near surfaces, as well as with inertial corrections to the Smoluchowski equation available in the literature. This latter equation is also generalized here to include particle-surface fluid dynamic interactions.     

Simultaneous measurement of flow pattern and mass transfer coefficient in bubble columns

Mass transfer studies were carried out in a bubble column using the chemical method. Catalytic oxidation of sodium sulfite was chosen for the studies and the corresponding specific rates of oxidation were obtained using a stirred cell. Laser Doppler anemometer (LDA) was used to measure the instantaneous velocities in the same stirred cell as well as in bubble columns (100 and i.d.). An efficient algorithm based on the multiresolution analysis of the velocity-time data using wavelets was used for the isolation of data belonging to the gas and liquid phases. Eddy isolation model was used for the characterization of the eddy motion including the estimation of the energy dissipation rate. Using the knowledge of eddy motion, a methodology was developed for the prediction of true mass transfer coefficient (k_L) in a stirred cell as well as in bubble columns. The predicted values of k_L have been compared with the experimental values obtained by the chemical method.     

考虑空气阻力的抛体最大射程和最佳抛射角研究

为了研究抛体在什么抛射角抛出时具有最大射程,利用拉格朗日乘子法,推导出存在空气阻力并且起点和终点不在同一高度时,在某一斜面上抛出的抛体的最大射程和最佳抛射角.通过计算机编程,以计算投掷手榴弹时的最大射程和最佳抛射角为例进行验证,并对物理教学中抛体运动的动力学过程进行了进一步的分析和讨论,有利于提高教学效果.     

分数布朗运动下的寿险模型

以一类随机利率的寿险模型为对象,在对随机利率采用分数Brown运动建模的基础上,讨论了年金、保费等精算现值计算,并给出了较为简洁的表达式,得到更切实际的研究成果,达到规避利率风险的作用．     

UG环境下内燃机配气机构动力学模型的建立与仿真

针对内燃机配气机构的工作要求,得到气门的运动规律并建立多体动力学的设计模型.在UG平台上建立凸轮轮廓曲线并建立机构虚拟样机.在NX/Motion Simulation模块中运用ADAMS实现了机构运动仿真,得到内燃机进气门的位移、速度和加速度运动曲线等动态机构运动特性.运动仿真的结果能够反馈至CAD模块并修改和完善配气机构几何尺寸与装配关系等.