压电谐振驱动三足机器人的平面运动

设计并实现了一类利用压电陶瓷片作动,由三条曲梁足支撑的振动驱动机器人.建立了在一条足共振驱动下机器人水平运动的动力学方程,数值计算解释了摩擦作用下的运动机理,寻找到异性摩擦对运动方向、速度的影响和压电激励频率与运动速度间的关系.通过建立圆弧曲梁控制方程求解圆弧型足面内振动的固有频率及振型,设计了三组不同频率的圆弧曲梁足参数,实验制作了机器人模型,利用压电控制三足间振动的共振切换,实现了预想的三个方向的运动以达到平面运动的效果,实验测量了机器人的运动速度与理论计算吻合得较好.     

JSG-8型束管火灾监测系统井下布置方案探讨

介绍了JSG-8型束管火灾监测系统的工作原理及结构;针对工作面、采空区煤自燃指标气体采集困难的问题,详细阐述了该系统束管测点在工作面及采空区的布置方案,并指出在工作面进行束管测点布置时需考虑对工作面生产的影响程度。     

An effective heuristic for flexible job-shop scheduling problem with maintenance activities

Most production scheduling problems, including the standard flexible job-shop scheduling problem (FJSP), assume that machines are continuously available. However, in most realistic situations, machines may become unavailable during certain periods due to preventive maintenance (PM). In this paper, a flexible job-shop scheduling problem with machine availability constraints is considered. Each machine is subject to preventive maintenance during the planning period and the starting times of maintenance activities are either flexible in a time window or fixed beforehand. Moreover, two cases of maintenance resource constraint are considered: sufficient maintenance resource available or only one maintenance resource available. To deal with this variant FJSP problem with maintenance activities, a filtered beam search (FBS) based heuristic algorithm is proposed. With a modified branching scheme, the machine availability constraint and maintenance resource constraint can be easily incorporated into the proposed algorithm. Simulation experiments are conducted on some representative problems. The results demonstrate that the proposed filtered beam search based heuristic algorithm is a viable and effective approach for the FJSP with maintenance activities.     

Adaptive beam search lookahead algorithms for the circular packing problem

This paper addresses the circular packing problem (CPP), which consists in packing n circles C_i, each of known radius r_i, i∈N={1, …, n}, into the smallest containing circle C. The objective is to determine the radius r of C as well as the coordinates (x_i, y_i) of the center of C_i, i∈N. CPP is solved using two adaptive algorithms that adopt a binary search to determine r, and a beam search to check the feasibility of packing n circles into C when the radius is fixed at r. A node of level ?, ?=1, …, n, of the beam search tree corresponds to a partial packing of ? circles of N into C. The potential of each node of the tree is assessed using a lookahead strategy that, starting with the partial packing of the current node, assigns each unpacked circle to its maximum hole degree position. The beam search stops either when the lookahead strategy identifies a feasible packing or when it has fathomed all nodes. The computational tests on a set of benchmark instances show the effectiveness of the proposed adaptive algorithms.     

Development of active matrix LCD for use in high‐resolution adaptive headlights

Conventional adaptive driving beam headlamps are limited in achieving still higher quantities of switchable pixels by the number of LEDs and movable elements needed. In this paper, it is shown that by integrating an active matrix liquid crystal display module, it is possible to realize fully adaptive high‐resolution headlights without mechanical elements and a finite number of LED with 30 k switchable pixels.     

采煤机无线监测装置压电换能元件参数匹配分析

考虑到压电自供电装置中压电振子的几何参数直接影响其共振频率,从而影响压电自供电装置的发电量,因此需要根据环境激励频率设定最佳的压电振子的几何参数,对基于压电自供电的采煤机状态无线监测装置进行研究,通过理论分析、仿真以及实验方法对对不同悬臂梁结构在不同外界激励作用下的发电量进行研究.研究结果表明:悬臂梁自由端的质量块质量以及悬臂梁长度越大,悬臂梁压电结构的固有频率越低;随着悬臂梁厚度的增加,悬臂梁压电结构的固有频率逐渐增大.以此为依据对采煤机不同监测位置的装置选取最佳匹配的压电结构几何参数,并通过采煤机工作状态监测实验验证了本文研究的压电自供电无线监测装置的可行性.     

平行梁式电容传感器极板耦合角位移计算和分析

为了解决平行梁式电容称重传感器极板耦合角位移带来的输出电容值与输入载荷之间的非线性问题,运用力法对平行梁式弹性体超静定结构进行了计算分析,得出了与上下极板夹角关联的主要结构参数,通过内力对极板角度进行了解析,并在有限元软件中验证了计算的正确性。此结果为平行梁通过结构参数设计优化耦合角位移提供了理论方法,并根据非平行板电容计算公式,构建了更加精确的载荷与电容的数学模型,为传感器输出输入特性曲线的拟合提供了依据。     

Cooperative and competitive concurrency in scientific computing. A full open-source upgrade of the program for dynamical calculations of RHEED intensity oscillations

A computational model is a computer program, which attempts to simulate an abstract model of a particular system. Computational models use enormous calculations and often require supercomputer speed. As personal computers are becoming more and more powerful, more laboratory experiments can be converted into computer models that can be interactively examined by scientists and students without the risk and cost of the actual experiments. The future of programming is concurrent programming. The threaded programming model provides application programmers with a useful abstraction of concurrent execution of multiple tasks. The objective of this release is to address the design of architecture for scientific application, which may execute as multiple threads execution, as well as implementations of the related shared data structures.

New version program summary

Program title: GrowthCPCatalogue identifier: ADVL_v4_0Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADVL_v4_0.htmlProgram obtainable from: CPC Program Library, Queen?s University, Belfast, N. IrelandLicensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.htmlNo. of lines in distributed program, including test data, etc.: 32 269No. of bytes in distributed program, including test data, etc.: 8 234 229Distribution format: tar.gzProgramming language: Free Object PascalComputer: multi-core x64-based PCOperating system: Windows XP, Vista, 7Has the code been vectorised or parallelized?: NoRAM: More than 1 GB. The program requires a 32-bit or 64-bit processor to run the generated code. Memory is addressed using 32-bit (on 32-bit processors) or 64-bit (on 64-bit processors with 64-bit addressing) pointers. The amount of addressed memory is limited only by the available amount of virtual memory.Supplementary material: The figures mentioned in the “Summary of revisions” section can be obtained here.Classification: 4.3, 7.2, 6.2, 8, 14External routines: Lazarus [1]Catalogue identifier of previous version: ADVL_v3_0Journal reference of previous version: Comput. Phys. Comm. 181 (2010) 709Does the new version supersede the previous version?: YesNature of problem: Reflection high-energy electron diffraction (RHEED) is an important in-situ analysis technique, which is capable of giving quantitative information about the growth process of thin layers and its control. It can be used to calibrate growth rate, analyze surface morphology, calibrate surface temperature, monitor the arrangement of the surface atoms, and provide information about growth kinetics. Such control allows the development of structures where the electrons can be confined in space, giving quantum wells or even quantum dots. In order to determine the atomic positions of atoms in the first few layers, the RHEED intensity must be measured as a function of the scattering angles and then compared with dynamic calculations. The objective of this release is to address the design of architecture for application that simulates the rocking curves RHEED intensities during hetero-epitaxial growth process of thin films.Solution method: The GrowthCP is a complex numerical model that uses multiple threads for simulation of epitaxial growth of thin layers. This model consists of two transactional parts. The first part is a mathematical model being based on the Runge–Kutta method with adaptive step-size control. The second part represents first-principles of the one-dimensional RHEED computational model. This model is based on solving a one-dimensional Schrödinger equation. Several problems can arise when applications contain a mixture of data access code, numerical code, and presentation code. Such applications are difficult to maintain, because interdependencies between all the components cause strong ripple effects whenever a change is made anywhere. Adding new data views often requires reimplementing a numerical code, which then requires maintenance in multiple places. In order to solve problems of this type, the computational and threading layers of the project have been implemented in the form of one design pattern as a part of Model-View-Controller architecture.Reasons for new version: Responding to the users? feedback the Growth09 project has been upgraded to a standard that allows the carrying out of sample computations of the RHEED intensities for a disordered surface for a wide range of single- and epitaxial hetero-structures. The design pattern on which the project is based has also been improved. It is shown that this model can be effectively used for multithreaded growth simulations of thin epitaxial layers and corresponding RHEED intensities for a wide range of single- and hetero-structures. Responding to the users? feedback the present release has been implemented using a well-documented free compiler [1] not requiring the special configuration and installation additional libraries.Summary of revisions:

• 1. 

  The logical structure of the Growth09 program has been modified according to the scheme showed in Fig. 1.1 The class diagram in Fig. 11 is a static view of the main platform-specific elements of the GrowthCP architecture. Fig. 21 provides a dynamic view by showing the creation and destruction simplistic sequence diagram for the process.

• 2. 

  The program requires the user to provide the appropriate parameters in the form of a knowledge base for the crystal structures under investigation. These parameters are loaded from the parameters.ini files at run-time. Instructions to prepare the .ini files can be found in the new distribution.

• 3. 

  The program enables carrying out different growth models and one-dimensional dynamical RHEED calculations for the fcc lattice with basis of three-atoms, fcc lattice with basis of two-atoms, fcc lattice with single atom basis, Zinc-Blende, Sodium Chloride, and Wurtzite crystalline structures and hetero-structures, but yet the Fourier component of the scattering potential in the TRHEEDCalculations.crystPotUgXXX() procedure can be modified and implemented according to users? specific application requirements. The Fourier component of the scattering potential of the whole crystalline hetero-structures can be determined as a sum of contributions coming from all thin slices of individual atomic layers. To carry out one-dimensional calculations of the scattering potentials, the program uses properly constructed self-consistent procedures.

• 4. 

  Each component of the system shown in Figs. 11 and 21 is fully extendable and can easily be adapted to new changeable requirements. Two essential logical elements of the system, i.e. TGrowthTransaction and TRHEEDCalculations classes, were designed and implemented in this way for them to pass the information to themselves without the need to use the data-exchange files given. In consequence each of them can be independently modified and/or extended. Implementing other types of differential equations and the different algorithm for solving them in the TGrowthTransaction class does not require another implementation of the TRHEEDCalculations class. Similarly, implementing other forms of scattering potential and different algorithm for RHEED calculation stays without the influence on the TGrowthTransaction class construction.

Unusual features: The program is distributed in the form of main project GrowthCP.lpr, with associated files, and should be compiled using Lazarus IDE. The program should be compiled with English/USA regional and language options.Running time: The typical running time is machine and user-parameters dependent.References:

• [1] 

  http://sourceforge.net/projects/lazarus/files/.

     

一类欠驱动系统的非线性输出跟踪控制

针对一类模型结构为非下三角的欠驱动系统,在反步法的框架下研究了其非线性输出跟踪控制问题．鉴于在此类欠驱动系统的反步法设计中,沿用一般下三角系统的偏差难以镇定全部的偏差动态,由此引入了“联系函数”的概念．在反步法设计中,构造了异于下三角系统的偏差,设计了状态反馈跟踪控制器,保证了系统偏差的全局一致渐近稳定性．仿真结果表明...     

机载脉冲多普勒雷达DBS成像实验研究

脉冲多普勒雷达是现代战斗机普遍采用的一种典型雷达体制。多普勒波束锐化（DBS）已成为机载脉冲多普勒雷达在空／地工作模式中对地面进行高分辨成像的有效途径,因而受到了国内外广泛的重视。本文首先分析了DBS技术的基本原理及其实现步骤,针对载机惯导参数误差较大的实际情况,应用本文提出的新的多普勒质心估计算法－－“曲线拟合相位较正叠代算法”,对某型脉冲多普勒雷达的实测数据进行了成像处理实验研究,给出了实测数据的DBS成像结果,证明了处理过程的有效性。