欠驱动柔性机器人的动力学建模与耦合特性

运用有限元法,建立具有柔性杆的欠驱动机器人的动力学一般模型。以此模型为基础,分析系统的主动与被动关节的加速度耦合和被动关节与驱动力矩的动力学耦合效应,并针对欠驱动柔性机器人,提出柔性杆弹性变形分别与主动关节、被动关节动力学耦合的新指标。将欠驱动柔性机器人的被动关节加速度耦合和力矩耦合仿真结果与刚性系统相比较,在某个驱动器位置,柔性系统得到较大的耦合值,说明此时柔性系统更加有利于能量的传递,体现了杆件的弹性变形对系统动力学特性的影响。同时,数值仿真还表明这些动力学耦合指标对欠驱动机器人的结构设计、位形设计、驱动装置位置及系统控制都具有重要意义。     

SILICON NEEDLE ARRAY ON FLEXIBLE SUBSTRATE FOR FLUID TRANSFER

Transdermal delivery is an attractive alternative, but it is limited by the extremely low permeability of skin. To solve this problem, a novel means-micro needle array based on micro electro-mechanical system (MEMS) technology, is provided to increase permeability of human skin with efficiency, safety and painless delivery. The fabrication method consists of a sequence of deep-reactive ion etching (DRIE), anisotropic wet etching and conformal thin film deposition. The novel technology can enable the realization of micro fabricated micro needle array on a flexible silicon substrate. The micro needle array can be mounted on non-planar surface or even on flexible objects such as a human fingers and arms. The fabricated hollow wall straight micro needles are 200μrn in length, 30μm inner diameter, and 50μm outer diameter with 250μm center-to-center spacing. Flow rate test proves that the polymeric base construction is important to function of micro needles array in package. Glucose solvent tests show that surface tension is the dominant force to affect the characters of flow in micro needles channel.     

认知灵活性理论指导下的网络教学交互设计

本文首先介绍了认知灵活性理论的涵义及其关于学习和教学的观点;探讨了认知灵活性理论对开展网络教学交互设计的启发性意义;从"人-机"交互和"人-人"交互两个方面,探究了认知灵活性理论柏导下的网络教学系统中的交互设计。     

Requirements and languages for the semantic representation of manufacturing systems

In the last years, attention has been devoted to the development of ontologies, which are ICT conceptual models allowing a formal and shared representation of a particular domain of discourse, and to the use of these representations in a variety of contexts, among which also the industrial engineering can be counted. Within the industrial engineering field, the manufacturing domain has not yet seen a wide application of ontologies. This paper firstly shows the use of ontologies for the semantic annotation of a Web Service-based architecture for the control of manufacturing systems; and then contributes to the research field of manufacturing domain ontologies by proposing a thorough literature review and analysis of the available languages supporting such objective. The paper collects the main requirements that semantic languages must meet to be used in the manufacturing domain with the outlined purpose. In fact, the available semantic languages are several and characterized by different features: the paper identifies the most proper ones for the manufacturing domain representation thanks to their analysis against the main requirements. Lastly, the paper shows how the discussed topics are deployed in a real industrial example.     

基于环境激励下的柔度灵敏度损伤识别方法

随着社会的快速发展以及科学技术的不断进步，现代结构特别是基础建设方面的结构逐渐趋向于大型化、复杂化的方向发展。同样，在结构的使用阶段所经受的环境影响也越来越复杂，遇到的冲击也越来越强烈，如地震、强风及暴雨等等各种突发性的灾害，严重后果影响着结构的整体强度，也影响着结构的使用寿命，因此对于正在使用中的结构的损伤检测就显得尤为重要和紧迫。本文将讨论以环境激励下的利用柔度灵敏度的方法识别结构的损伤。     

绿色数据中心的“最后50m”问题

从提高数据中心配电系统的可用性、节能性以及灵活性的角度．探讨了提高数据中心机房内配电效能的新方法，对以往采用传统解决方案带来的技术和管理上的问题给出了机房配电解决方案。     

Modeling managerial behavior in real options valuation for project-based environments

Project valuation, as a decision-making tool for initiating investments in projects, should be able to value project flexibilities and incorporate reasonable risk preferences of relevant decision makers. Real options valuation methods are the available approaches for valuing project flexibilities, whereas they have shortcomings in considering managers’ reasonable risk preferences in project decisions. Therefore, researchers have suggested approximating the perspective on risk of real options methods and practitioners in project management. This study proposes a fair real options valuation for project-based environments by a behavioral economic approach, which adopts binomial lattice method, Monte-Carlo simulation, and cumulative prospect theory. The results show that behavioral factors such as ‘risk attitude’ and ‘loss aversion’ should be accepted in project investment decisions while limited to an acceptable amount depending on the project conditions (e.g. uniqueness of decision-making scenarios). This research contributes to the project management domain by enhancing project investment decisions that include project flexibilities.     

Multi-structure information retrieval method based on transformation invariance

The needs of efficient and flexible information retrieval on multi-structural data stored in database and network are significantly growing. Especially, its flexibility plays one of the key roles to acquire relevant information desired by users in retrieval process. However, most of the existing approaches are dedicated to a single content and data structure respectively, e.g., relational database and natural text. In this work, we propose “Multi-Structure Information Retrieval” (MSIR) approach applicable to various types of contents and data structures by adapting a small part of the approach to data structures. The power of this approach comes from the use of the invariant feature information obtained from byte patterns in the files through some mathematical transformation. The experimental evaluation of the proposed approach for both artificial and real data indicates its high feasibility. Fuminori Adachi: He received his Master of engineering from Osaka University in ’03. He is enrolled in the doctoral course of Osaka University from ’03. His current research interest includes scientific discovery, data mining and machine learning techniques. Takashi Washio, Ph.D.: He received his Ph.D. from Tohoku University in ’88. In ’88, he became a visiting reseacher in Massachusetts Institute of Technology. In ’90, he joined Mitsubishi Research Institute Inc., and is working for Osaka University from ’96. His current research interest includes scientific discovery, data mining and machine learning techniques. Atsushi Fujimoto: He is enrolled in the master cource of Osaka University from ’03. His Current research interest includes correlation analysis, data mining and machine learning techniques. Hiroshi Motoda, Ph.D.: He received his Ph.D. from University of Tokyo in ’72. In ’67, he joined Hitachi Ltd. and has been working for Osaka University since ’96. His current research interest includes scientific discovery, data mining and machine learning. Hidemitsu Hanafusa: He received Master of Engineering from Keio University in ’83. In ’83, he joined The Kansai Electric Power Co. Ins. (KEPCO). He researched on Maintenance Support System at INSS from ’97 to ’02. Now, he is working in KEPCO.     

基于PC的柔性智能测控系统集成平台研究(PC-FISP)

本文将柔性控制、智能控制的思想与传统测控系统结合起来，提出了基于PC的柔性智能测控系统集成平台的基本结构，对开发平台涉及的关键问题进行了讨论，最后给出了一种基于PC的柔性智能测控系统集成平台的模型。     

换热网络的柔性分析

本文基于换热网络的过程模拟,借助于灵敏度系数,给出了一种简单有效的换热网络柔性指数计算的方法。当换网干扰变量变化并引起了控制变量的变化时,如有调节变量,可通过改变调解变量使控制变量返回到设定值。编制了计算机程序,调解曲线可在计算机屏幕上绘出,也可定点检验换网操作的可行性。