基于多线程的音频设备上位机控制系统

设计一种音频设备的上位机控制系统,实现对多台音频设备的集中和远程控制。为了保证上位机在与设备通信的同时,能及时响应前台界面的用户操作,引入了多线程技术。同时,音频设备具有经常被持续、快速调节同一参数的特点,为解决在此情况下由于硬件通信速度有限而导致的设备滞后响应上位机用户操作的问题,设计了一种冗余命令剔除机制。该机制不仅有效地减少了通信占用的资源,而且更好地保证了用户对设备调节控制的实时性。     

双余度稀土永磁直流电机可靠性研究

针对传统电机双余度设计中存在的问题，提出对永磁直流电机零件采用余度设计提高可靠性方法。建立不同结构的可靠性模型，采用相似产品法预计可靠性，对比得出最佳结论。     

冗余磁盘阵列的故障容错分析

本文在介绍冗余磁盘阵列(RAID)的故障容错机理之后,着重研究了设备故障对RAID系统可靠性的影响.其平均持续正常工作时间和系统在线修复设备故障容许的平均间隔时间的计算结果表明,只要在一定的容许时间内替换或修复故障磁盘,系统可保持持续正常工作状态.     

扭臂式静电微驱动器的pulli-n现象分析

从扭臂式微驱动器模型出发,分析了器件在静电驱动条件下pulli-n现象的产生条件,并给出公式化结果。讨论了器件的几何结构参数对于pulli-n现象的影响,并对具体结构的器件给出了pulli-n角度和pulli-n电压等方面的分析结果。对于特定的扭臂结构,pulli-n角度为悬臂梁最大扭转角度的44.04%,且与扭臂的结构参数无关。     

Control-faced dynamics with deformation compatibility for a 5-DOF active over-constrained spatial parallel manipulator 6PUS–UPU

Taking into account the effect of structural compliance, inverse dynamics of the active over-constrained parallel manipulator 6PUS–UPU with five degrees of freedom is solved in this article. Firstly, the relationship between driving forces and actuated force screws of each limb is derived. Then the coordination of elastic deformation between limbs which consider the effect of gravity and inertia is acquired. Finally the unique solution of driving forces for the active over-constrained parallel manipulator is derived by incorporating the force equilibrium equation of the moving platform. To validate the theoretical derivation, dynamics simulation model of manipulator based on rigid–flexible mixed structure is shown and numerical examples are given. Comparison with the traditional method of dynamics based on pseudo-inverse is also made. Finally, a feasible experimental method, as an effective test to the theoretical calculation, is proposed and applied on the prototype.     

DSA guiding template assignment with multiple redundant via and dummy via insertion

As an emerging manufacture technology, block copolymer directed self-assembly (DSA) is promising for via layer fabrication. Meanwhile, redundant via insertion is considered as an essential step for yield improvement. For better reliability and manufacturability, in this paper, we first concurrently consider DSA guiding template cost assignment with multiple redundant via and dummy via insertion. Firstly, by analyzing the structure property of guiding templates, we propose a building-block based solution expression to discard redundant solutions. Then, honoring the compact solution expression, we construct a conflict graph with dummy via insertion, and then formulate the problem to an integer linear programming (ILP). In addition, to optimize the guiding template cost, we incorporate it into the objective of ILP by introducing vertex weight and edge weight in conflict graph. To make a good trade-off between solution quality and runtime, we relax the ILP to an unconstrained nonlinear programming (UNP). Finally, a line search optimization algorithm is proposed to solve the UNP. Experimental results verify the effectiveness of our new solution expression and the efficiency of our proposed algorithm. Specifically, our guiding template cost optimization method can save 18% total guiding template cost.     

密闭爆发器中Al/KClO4点火器的输出性能研究

Al/KClO₄点火器的输出性能是火工分离装置总体设计的关键参数。为了更准确地描述Al/KClO₄点火器的输出性能,通过修正经典内弹道方程组假设,引入火药力修正系数,建立了改进Al/KClO₄内弹道分析模型。编写Matlab数值求解算法,计算了密闭爆发器内Al/KClO₄点火器压力峰值、压力上升时间和单位面积冲量等参数,结合实验分析了这些参数随药量和空腔容积的变化规律,计算结果与实验结果吻合较好。研究表明,Al/KClO₄点火器产生的压力峰值随药量的增加而增大,随空腔容积的增加而减小,在小容腔（<5 mL）范围内,空腔容积增加1倍,压力峰值下降约40%.     

余度捷联惯性测量装置的优化设计研究

冗余技术是改善导弹系统可靠性和精度的重要途径.为了获得导弹系统可靠性及精度与冗余度的总体优化,讨论了余度捷联惯性测量装置的优化模型及其算法,并进行了理论分析及公式推导.仿真实例也表明,模型和方法都是有效的,比较简单实用.     

An admittance based hierarchical control framework for dual-arm cobots

Dual-arm robotic platforms have solid arguments to match the growing need for versatility in the industry. Coupling the control of two manipulators for cooperative purposes enlarges the scope of feasible operations, while adding perception capabilities allows to navigate in dynamic environments. In this respect, we propose a complete online kinematic control framework for dual-arm robots operating in unstructured industrial settings. We base our approach on admittance control in the cooperative task space. Regulating internal and external efforts offer safe bimanual task execution and enables physical interaction. We implement a hierarchical quadratic programming architecture that applies a prioritization of tasks: most efforts are concentrated on the proper tracking of relative motions of the arms, which is the most critical for safety reasons. We demonstrate the performance of our framework through a “teaching-by-demonstration” experiment on the dual-arm mobile cobot BAZAR.     

A fractional approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.