欠驱动异构式下肢康复机器人动力学分析及参数优化

针对现有外骨骼机器人人机自由度不匹配和关节对中性差的问题,提出欠驱动下肢康复机器人. 欠驱动机器人只有4个直线驱动,驱动的直线运动通过推杆和人机连接机构转化为人下肢在矢状面内的屈伸运动,带动人体进行步态康复训练. 建立机器人系统的人机耦合模型,进行模型的动力学分析,对人机耦合模型中影响动力学结果的参数进行分析,建立驱动力与肢体推动力之间的关系模型,并以推力系数最大为目标进行参数分析与优化,得到最佳的结构参数. 根据优化后的结构参数搭建康复机器人实验系统,对髋、膝关节驱动力与角度进行对比. 实验结果表明最大髋关节角度误差为2.9°,最大膝关节角度误差为6.4°,最大误差均约为9%,验证了动力学模型和参数优化结果的正确性.     

基于局部线性嵌入和支持向量机回归的TBM施工参数预测

依托吉林引松工程开展隧道掘进机（TBM）施工参数预测研究,提出TBM施工数据分段提取算法,提取上升段前30 s的总推进力、刀盘转速、推进速度、刀盘扭矩、刀盘转速电位器设定值、推进速度电位器设定值、贯入度、贯入度指数(FPI)、扭矩切深指数(TPI)9个参数作为输入;通过局部线性嵌入（LLE）完成对上升段数据特征的降维;基于支持向量机回归（SVR）建立TBM施工控制参数（推进速度、刀盘转速）和负载参数（总推进力、刀盘扭矩）预测模型. 分析是否结合前一掘进循环的FPI、TPI指数进行预测对预测效果的影响. 结果表明,上述方法在推进速度、刀盘转速、总推进力、刀盘扭矩的预测中均取得了较好的预测效果,平均预测绝对百分比误差均小于15%,验证了该预测方法的有效性,该方法可以为TBM现场施工提供指导.     

基于裂缝参数的钢筋混凝土预裂梁刚度试验研究

为研究钢筋混凝土简支梁桥跨中开裂后的刚度特性,开展不同裂缝名义损伤比下跨中预裂梁的力学试验.试件为现浇钢筋混凝土预裂梁,考虑了跨中3种不同长度a(a=8、18和26 mm)的预制裂缝.试验研究8 m标准跨径混凝土简支梁不同荷载级别下跨中预裂梁抗弯刚度折减系数k随裂缝名义损伤比λ和裂缝张开度w的演化规律.研究表明,不同试...     

气动肌肉驱动关节轨迹跟踪的自适应鲁棒控制

设计了一种简单、经济的单根肌肉关节驱动上肢外骨骼助力机器人.为解决单根肌肉关节轨迹跟踪控制精度差、抗干扰能力差及颤振严重等问题,基于反步法设计单根肌肉关节伺服系统的自适应鲁棒控制器.该控制器呈两层级联结构,每层均包含一个鲁棒反馈、参数自适应及快速动态补偿项,基于递归最小二乘法和梯度法分别设计参数自适应及快速动态补偿项....     

Scoring function based on weighted residue network

Molecular docking is an important method for the research of protein-protein interaction and recognition. A protein can be considered as a network when the residues are treated as its nodes. With the contact energy between residues as link weight, a weighted residue network is constructed in this paper. Two weighted parameters (strength and weighted average nearest neighbors' degree) are introduced into this model at the same time. The stability of a protein is characterized by its strength. The global topological properties of the protein-protein complex are reflected by the weighted average nearest neighbors' degree. Based on this weighted network model and these two parameters, a new docking scoring function is proposed in this paper. The scoring and ranking for 42 systems' bound and unbounded docking results are performed with this new scoring function. Comparing the results obtained from this new scoring function with that from the pair potentials scoring function, we found that this new scoring function has a similar performance to the pair potentials on some items, and this new scoring function can get a better success rate. The calculation of this new scoring function is easy, and the result of its scoring and ranking is acceptable. This work can help us better understand the mechanisms of protein-protein interactions and recognition.     

Role of Ti and Sn ions in spinel formation and reactive sintering of magnesia-rich ceramics

The solid solubility of magnesia in magnesium aluminate spinel and magnesium aluminate spinel in magnesia does not change with temperature thus not creating bonds or precipitation over periclase grains in a single stage sintering process. In comparison, the precipitated spinels in magnesia-chromia refractories form complex spinel due to inversion in the position of bivalent and trivalent cations within the structure, making them more stable at high temperature than either normal or inverse spinel. Additives form low-temperature compounds that diffuse into the spinel structure and create defects that change the properties of spinel solid solution. In the present study, magnesia and alumina powders along with tetravalent oxide additives were analyzed for their role in reactive densification of spinel in a single stage firing process in order to achieve a better binding system for magnesia-based refractories. These tetravalent oxides on reaction with magnesia form spinel solid solution with MgAl₂O₄ as they have similar crystal structure. The spinel solid solution formed using oxide additives is expected to have higher solubility in magnesia than magnesium aluminate spinel, resulting in improvement of the bonding during sintering through increased in solid solubility at elevated temperatures followed by precipitation of secondary spinel phases, similar to the complex spinel in magnesia-chrome refractories. The formation of spinel during firing remains as a second phase that retards the grain growth of periclase. The changes in unit cell dimensions with temperature and amount of additive were analyzed using Reitveld method and correlated with the densification behaviour at different temperatures.     

Asymptotic results for Fourier‐PARMA time series

Periodically stationary times series are useful to model physical systems whose mean behavior and covariance structure varies with the season. The Periodic Auto‐Regressive Moving Average (PARMA) process provides a powerful tool for modelling periodically stationary series. Since the process is non‐stationary, the innovations algorithm is useful to obtain parameter estimates. Fitting a PARMA model to high‐resolution data, such as weekly or daily time series, is problematic because of the large number of parameters. To obtain a more parsimonious model, the discrete Fourier transform (DFT) can be used to represent the model parameters. This article proves asymptotic results for the DFT coefficients, which allow identification of the statistically significant frequencies to be included in the PARMA model.     

Discrete element analysis of experiments on mixing and stoking of monodisperse spheres on a grate

Understanding the details of the mixing and stoking process on grate firing systems is crucial for the optimization of the combustion process in waste or biomass incineration plants. The Discrete Element Method (DEM) can help to obtain further information on the mixing process within a bed of fuel particles. Especially the influence of a change in operational parameters can be examined avoiding large experimental effort. In the current paper five simulations for a generic grate are compared with the corresponding experiments. The experiments were carried out throughout an anterior parameter study on mixing and stoking on a grate [Sudbrock F.; Simsek E.; Wirtz S.; Scherer V.: “An experimental analysis of the influence of operational parameters on mixing and stoking of a monodisperse granulate on a grate”, Powder Technology 198, Issue 1, 29-37, 2010] [19]. The system considered is equipped with vertically moving bars which induce stoking. In a first approach monodisperse plastic spheres are used. The grate is encased by a transparent polycarbonate housing which provides optical access to the movement of the particles in the wall planes. The mixing process is measured and quantified by image analysis of the front wall of the grate. The mixing behaviour of the particle assembly observed in experiments and simulation appears to be very similar indicating that DEM is able to predict the particle mixing in the bed. In order to quantify the visual observations the mixing behaviour has been evaluated by different mixing parameters. They are compared in dependence of the number of strokes of the grate bars. A good agreement between measurements and simulations could be observed.     

含铝典型炸药爆轰参数计算研究

用途不同,对炸药的爆速、爆压、爆热要求不一样。准确、快速计算炸药的爆轰参数对于设计指定性能新型炸药和炸药的应用研究具有十分重要的意义。本文用不同的方法对含铝炸药的爆轰参数进行了计算,采用含铝炸药经验公式计算含铝炸药的爆速、ω-Г公式方法计算的爆压、盖斯定律计算爆热,较其他计算方法计算结果相对误差小。     

互感线路零序带电测量的理论及其微机实现

提出可用于线路的自感抗系数测量的干扰法。利用本认为防碍测量的干扰信号做 为测试电源,化害为利,可以完全克服由于互感造成的干扰。文中对该方法进行了理论上的分 析,给出了实测结果,证明该方法正确有效,现场测试方便。文中给出了存在干扰时外加电源 测试自感的接线图和计算公式。 提出了用于带电测量线路互感的零序电流增量法。从理论上对该方法进行分析,对专用于带 电测量互感的计算机系统的硬件结构和软件结构进行了介绍,完成了传统方法无法实现的带 电测量互感的工作。