机械结构与系统精度通用计算法及其应用——机器人机构误差分析与计算

本文详细论述了机械结构与系统精度的通用计算法,并以 PUMA 型机器人机构和圆柱型空间缩放机构为例,进行了误差分析,建立了相应的误差数模,证明了用精度通用计算法分析机器人机构误差是简单而适用的。     

“勇士号”遥控移动式作业机器人

介绍了８６３智能机器人型号之一－以核工业为应用背景的“勇士号”遥控移动式机器人的作业内容及其主要功能指标，分析了该型号的总体设计思想，同时概括总结了其操作性能，移动性能及计算机系统等方面的技术特点。     

Echolocation — From range to outline segments

A ring of ultrasonic sensors mounted on a mobile robot is used to map a room. The sensors are modelled with an arc model: the object causing the reflection lies on an arc with radius equal to the range and arc angle equal to twice the beam angle. By fusing sensing with motion, a surface is displayed as a sequence of arcs. In this paper, the algorithm for obtaining outline segments from the arcs is presented.     

Analysis of a conjugated infinite element method for acoustic scattering

This work is devoted to a study of a conjugated infinite element method for Helmholtz problems in exterior domains. A formulation of this method with Lagrange multipliers defined on (semi-)infinite space is presented and analyzed in a domain decomposition context. The implementation aspects of this method in a parallel industrial acoustic software (SYSNOISE) are described in details. Numerical results show the computational efficiency of this method on acoustic scattering problems.     

Networks for sorting multitonic sequences

Lee and Batcher have designed networks that efficiently merge k separately provided sorted sequences of known lengths totalling n. We show that the design is still possible, and in fact easier to describe, if we do not make use of the lengths, or even the directions of monotonicity, of the individual sequences—the sequences can be provided in a single undelimited concatenation of length n. The depth of the simplest resulting network to sort sequences that are “k-tonic” and of length n is , generalizing Batcher's 1968 results for the extreme values of k (k=2 corresponding to merging, and k=n/2 corresponding to general sorting).The exposition is self-contained and can serve even as an introduction to sorting networks and Batcher's results.     

一种识别薄板对接接头的视觉方法

对薄板紧密对接接头的识别问题进行了深入的分析，提出了由照明、自适应局部特征提取、全局特征识别和验证融合在一起的视觉识别方法。它克服了电弧光的干扰，识别结果可靠，可以有效地解决薄板紧密对接接头识别这一难题。     

LED大屏幕动态显示的实现

本文介绍了一种基于并行通讯的ＬＥＤ大屏幕动态显示的实现方案，包括发送和接收的软，硬件设计以及多机通讯技术。     

Parallelism in ILU-preconditioned GMRES

A parallel implementation of the preconditioned GMRES method is described. The method is used to solve the discretized incompressible Navier–Stokes equations. A parallel implementation of the inner product is given, which appears to be scalable on a massively parallel computer. The most difficult part to parallelize is the ILU-preconditioner. We parallelize the preconditioner using ideas proposed by Bastian and Horton (P. Bastian, G. Horton, SIAM. J. Stat. Comput. 12 (1991) 1457–1470). Contrary to some other parallel methods, the required number of iterations is independent of the number of processors used. A model is presented to predict the efficiency of the method. Experiments are done on the Cray T3D, computing the solution of a two-dimensional incompressible flow. Predictions of computing time show good correspondence with measurements.     

Fast parallel Preconditioned Conjugate Gradient algorithms for robot manipulator dynamics simulation

In this paper fast parallel Preconditioned Conjugate Gradient (PCG) algorithms for robot manipulator forward dynamics, or dynamic simulation, problem are presented. By exploiting the inherent structure of the forward dynamics problem, suitable preconditioners are devised to accelerate the iterations. Also, based on the choice of preconditioners, a modified dynamic formulation is used to speedup both serial and parallel computation of each iteration. The implementation of the parallel algorithms on two interconnected processor arrays is discussed and their computation and communication complexities are analyzed. The simulation results for a Puma Arm are presented to illustrate the effectiveness of the proposed preconditioners. With a faster convergence due to preconditioning and a faster computation of iterations due to parallelization, the developed parallel PCG algorithms represent the fastest alternative for parallel computation of the problem withO(n) processors.