一种水中机器人协作顶球策略

针对国际水中机器人大赛全局视觉组水中协作顶球项目,提出一种有效的多鱼协作顶球方法。从速度控 制、方向控制、多鱼协作和顶球动作4 个方面制定整体策略,进行特殊位置的设计,让机器鱼交替顶球,并经过反 复测试。测试结果表明：该策略能提高机器鱼的顶球效率,更加有效地完成比赛任务,已在2018 年国际水中机器人 大赛中获得冠军。     

超空泡航行体的反馈控制设计

针对超空泡航行体的弱阻尼和耦合特性,提出采用内外回路的设计思想。用俯仰角反馈来对弱阻尼的动态特性进行镇定,并与运动学进行解耦。再根据深度信号作为输出,对以运动学方程为主的主回路进行设计。对所设计的系统用Nyquist法进行了理论分析,结论是这种用回路和带宽来确定反馈增益的做法是很有效的,既能满足深度控制的良好性能要求,又能保证姿态回路的稳定性。通过在扰动作用下的仿真对这个结论进行了验证。所提出的这种设计的每一步都有明确的物理解释,为状态反馈设计提供了一种新的思路,具有推广价值。     

应用PLC改造大型板料刨边机床电控系统

针对大型板料刨边机床电控系统存在的问题,提出了对电控系统实施PLC改造方案,详细说明了改造的具体方法,包括硬件电路组成、程序设计及抗干扰措施等,从而更好地满足了实际生产的需要,提高了经济效益。     

机场跑道加铺超薄沥青层施工

广州白云国际机场跑道应急整修工程,在不停航条件下,采用单层5cm超薄国产SBS改性沥青混凝土加铺 层的施工技术进行夜间施工取得成功。文章介绍了超薄沥青加铺层的施工要点,特别是超长距离平接缝大面积铣刨、 六机联铺全幅热接缝摊铺和碾压等新工艺和新技术;提出施工的注意事项和预控措施。     

微棱镜反光阵列超声振动刨削试验研究

通过超声振动刨削加工微棱镜阵列的正交试验,分析了刀具材料、刀具工作前角、切削速度、第三次切削深度对微棱镜阵列表面质量和刀具寿命的影响。结果表明：刀具材料是试验指标粗糙度Ra、V形槽夹角β、加工后刀尖圆弧半径R的第一影响因素;第三次切削深度ap是磨损量NB的第一影响因素;切削速度v是四个试验指标的第二影响因素;当刀具材料选用PCD,刀具前角为-3.8°,切削速度为900mm/min,第三次切深为2μm时,微棱镜阵列表面加工质量好,刀具寿命高。     

The importance of market interdependencies in modeling energy systems - The case of the European electricity generation market

The analysis of complex electricity generation systems such as the European one require large scale models based on extensive databases of the relevant infrastructures. Such models are increasingly used to assist policymaking by developing scenarios to investigate the impact of certain policies on generation capacities, investments and prices. The continuing liberalization and interconnection of energy markets thereby requires the considerations of multiple interdependencies with other markets. Most models, however, do not take this into account. This paper develops and applies a large scale electricity investments and dispatch and natural gas market dispatch model to highlight the importance of recognizing interdependencies between power generation and the gas market. In an exemplary analysis, it is demonstrated that seasonal gas price patterns resulting from temperature-dependent household gas demand have a significant impact on the competitiveness of gas-fired power stations in competition with other technologies. Spatially, we show that competitive cost-based gas prices would lead to a relocation of such plants closer to the sources of natural gas.     

Feature Setup Determination in Integrated CAD/CAM System For Concurrent Engineering

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The effect of the cutting direction,number of blades and grain size of the abrasives on surface roughness of Taurus cedar (Cedrus Libani A. Rich.) woods

In this study, the surface roughness values of planed and sanded Taurus (Lebanon) cedar (Cedrus Libani A. Rich.) specimens were examined. The test specimens were cut in tangential and radial directions. One blade and three blades were used for planing and 60 grit and 100 grit abrasives were used for sanding. With this objective, a total of 80 specimens (2 cutting directions × 2 different numbers of blades ×2 types of abrasive × 10 replications) were prepared. The roughnesses of the specimens were measured according to ISO 4287. The values obtained were statistically analyzed and the results were interpreted. According to the test results, it was determined statistically that the cutting direction and the finishing techniques affected the surface roughness. It was determined that cutting in the radial direction in Taurus cedar wood also produced smoother surfaces compared to cutting in the tangential direction. Smoother surfaces are obtained as the grit number of the abrasive increases.     

人工智能在机器人领域的开发应用

近些年来,机器人学和人工智能作为两个不同的学科,各自发展着,均取得了很好的成果。同时,在一些领域,二者又相互结合,并取得了很好的效果。本文在查阅大量文献资料的基础上,对近些年来国内外人工智能在机器人领域的应用做了一个比较全面的总结,并提出了一些设想和展望。