The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.     

柱体自由扭转时的最优横截面形式

当柱体自由扭转时，柱体的抗扭性能与横截面形式有关，针对单连通域下的具有最优抗扭性能的横截面形式问题，本文建立了相应的最优形式控制模型，并通过变分法求解得到：在横截面面积相等的情况下，圆截面是所有截面中使结构整体应变能最小和扭转刚度最大的截面形式，这与圣维南所给的一般性结论是一致的。     

Simulation of the Forming Behaviour of a Boron Modified P91 Ferritic Steel

The forming behaviour at high temperature of a modified 9%Cr‐1%Mo (P91) ferritic steel containing B and Ti for elevated temperature service was investigated. The microstructure of the as‐received material is mainly martensite at room temperature, but special etching revealed prior austenite grains of about 25 μm in size. Torsion tests were conducted at temperatures in the range 850 to 1250 °C to simulate the hot rolling process under comparable conditions of temperature, strain rate and strain. The deformation data obtained from these tests were correlated with the Garofalo equation with a stress exponent of 4.6 and an activation energy of 315 kJ/mol. This equation was used to predict the formability behaviour for the rolling process and also to determine the maximum forming efficiency and stability of the steel. A temperature of 1200 °C is recommended to conduct the forming process.     

Prediction of the twisting moment and axial force in a circular rubber cylinder for combined extension and torsion based on the logarithmic strain approach

The scope of the present work is the application of a particular class of strain energy function, based on the logarithmic strain, for the prediction of the twisting moment and axial force of a rubber circular cylinder under combined extension and torsion. The strain energy function involves four material parameters three of which are determined by fitting published experimental data from simple tensile and compression tests of natural rubber. One of the parameters of the proposed model has physical meaning, and it is equal to one ninth of the initial modulus of elasticity of the material. Hence, the number of unknown parameters is reduced to three. The logarithmic strain energy function is then applied to a combined extension and torsion problem of a rubber circular cylinder to check its performance for more complicated deformations. The results are compared with corresponding experimental and theoretical solutions available in the literature to validate the proposed model. It is found that the proposed strain energy function apart from predicting the common modes of deformations is also capable to determine more complicated types of deformation. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

无端点检测汉语识别算法的实现及改进——动态时间规整和隐马尔可夫统一模型的应用

语音识别算法中，动态时间规整（ＤＴＷ）和隐马尔可夫模型（ＨＭＭ）是最有效的识别算法，并且两者之间有着本质的联系和内在的统一［１］，据此前期工作中，已经建立了ＤＴＷ和ＨＭＭ的统一模型（ＤＨＵＭ）［２、３］。本文对ＤＨＵＭ进行了改进，在ＤＨＵＭ中引进寂静段自环，并根据汉语语音的特点，提出了一种无端点检测的语音识别算法。在识别过程中，该算法无需确定语音信号起止点位置，而是从寂静段开始，直接按帧提取特征（帧长２０ｍｓ，帧间重叠５０％），特征向量由１５阶倒谱系数和帧平均能量组成。实验中，用ＤＨＵＭ实现了该算法，对９９个相似汉语单字的识别测试结果表明：无端点检测的识别正识率为９４．９５％，正识率下降很少，但不作端点检测却降低了算法的复杂程度。为进一步改善识别性能，特征向量采用一种听觉模型特征，识别器具有更好的鲁棒性，识别率会略有提高。     

基于视频的现实人物运动创作

提出一种根据用户指定的人体运动和观察视角生成真实感视频的方法.首先采集演员进行少数基本运动时的多视角视频数据库,并使用无标记运动捕捉的方法获得任意时刻人体对应的骨骼和3D模型.其次,用户对人体骨架指定运动并设定视角,以此定义目标视频.实验结果验证了文中方法能够利用有限的数据库合成演员在用户指定运动和视角下的真实感视频.     

斜加劲梁柱节点翘曲传递分析

对梁和柱内的翘曲位移及其双力矩通过斜加劲的梁柱节点的传递提出了新的数学分析模型.新模型除了节点区内梁柱翼缘在自身平面内的弯曲变形和扭转变形外,还考虑了斜加劲肋在自身平面内的弯曲变形和扭转变形、节点区腹板对斜加劲肋扭转变形的约束,得到了节点域双力矩的计算公式.算例表明,提出的模型与板壳有限元方法结果符合非常好,而传统的梁柱翘曲连续的处理方法与板壳有限元方法结果有较大的误差.该方法可以简单地通过修改传统的薄壁杆件单元刚度矩阵来实现,并可以解决薄壁构件框架弯扭线性和非线性分析.     

基于分层动态时间弯曲的序列相似性度量方法研究

为了更好地体现时间序列的形态特征,并探索更适合于较长时间序列之间相似性度量的方法,在动态时间弯曲算法的基础上进行改进,提出了基于分层动态时间弯曲的序列相似性度量方法。对时间序列进行多层次分段,并从分段中均匀抽取相对应的层次分段子序列,然后将层次分段子序列抽象为三维空间的点（反映了分段子序列的均值、长度和趋势）进行相似性度量,最后综合各个层次的相似性度量作为结果。实验表明,在参数设置合理的情况下,此方法能获得较高的序列相似性度量准确度和效率。     

基于混合属性的产品优化聚类算法

针对分类研究中采用单一类型数据造成的结果失真, 提出了综合考虑产品属性和销售时间序列的两阶段优化聚类算法。分别采用基于属性的相似性排序及时间序列的分层优化聚类实现产品单独聚类, 然后基于初始聚类结果及参数化的动态相对权重提出考虑噪声数据处理的分层聚类方法实现产品综合优化分类。企业实例应用研究表明综合聚类模型及两阶段算法在聚类精度及时间复杂度上具有明显的优势, 相对权重的动态参数化设置有效解决了不同产品间个性化特征的差异表示。通用数据集的仿真进一步验证了算法在解决混合属性产品聚类问题时的优越性及广泛适用性。     

New and Improved Tests for Adhesion

Three new methods are discussed for measuring the work G_a, required to detach unit area of an adhering material from a substrate. The first is a simple modification of the Outwater double-torsion test for long rectangular plates, bonded together. This method is suitable for evaluating aluminum-epoxy bonds, for example, or the transverse strength of fibrous composites. The second is a pull-off test for long strips adhering to a rigid surface. It seems suitable for adhesive tapes and laminates. The third is a reconsideration of the “blister” test for films and coatings, in which a circular debond at the interface is made to grow by internal pressure. The relation obtained between pull-off force F for a strip, or blow-off pressure P for a layer, takes the unusual form:

F⁴ (or P⁴) ∞ KG³_a

where K is the tensile stiffness of the detaching layer. This dependence arises from the non-linear (cubic) relation between load or pressure and deflection in these configurations. Nevertheless, the product Fθ, where θ is the angle of detachment of a strip, or Py, where y is the height of a “blister”, give direct measures of the strength of adhesion G_a, independent of the stiffness of the adhering material and of the extent of detachment.