智能RLED动态目标中机器手的模糊鲁棒控制系统

给出了一种电机驱动机器手中非线性机电模型的模糊鲁棒闭环控制系统,此控制系统可处理非结构环境下的三个主要的智能机器人导航问题：自动化规划、快速连续导航中的避障、处理结构和（或）非结构不确定性。     

Flow characteristics of the two tandem wavy cylinders and drag reduction phenomenon

This paper presents an extensive numerical study of 3-D laminar flow around two wavy cylinders in the tandem arrangement for spacing ratios (L/Dm ) ranging from 1.5 to 5.5 at a low Reynolds number of 1...     

套缸式高空作业车摆臂机构机构综合分析

为选择机构的合理结构形式、运动副类型、数目及合理的尺寸搭配,对一种高空作业车摆臂机构进行分析.在已知连杆铰接点的起始位置、连架杆的对应转角及机架长度的平面综合连杆机构的各设计变量间关系的条件下,根据给定的运动学或动力学要求,进行了机构综合.对六杆运动链连杆类配方案进行选择,组合生成六连杆4种形式,在此基础上再生运动链,形成新的机构形式,给出机构多种可能的构型,完成摆臂机构的型综合.对不同方案进行比较,得出了满足运动学及动力学要求的最优解.     

七自由度气动人工肌肉机械手臂的设计及研究

设计了一种气动肌肉驱动的七自由度仿人机械手臂。肩部采用球绞形式,实现类人肩关节旋内／旋外、屈／伸及内收／外展三个自由度,旋转运动范围为-39．5～39．5°,屈伸运动范围为－44．5～44．5°,收展运动范围为0～35．0°。肘部和腕部均采用虎克铰形式,实现肘关节的屈／伸、旋内／旋外以及腕关节的内收／外展、屈／伸,其中肘关节旋转运动范围为～39．5～39．5°,屈伸运动范围为－60．5～32．5°;腕关节收展运动范围为～70．5～70．5°,抬伸运动范围为-39．5～39．5°。对机构进行了仿真分析,并搭建了手臂实物系统进行测试。实验结果表明,该手臂重量轻,受控性好,能够很好地实现人类关节的柔顺运动。     

The transmission of vibration through gloves: effects of push force,vibration magnitude and inter-subject variability

The extent to which a glove modifies the risks from hand-transmitted vibration is quantified in ISO 10819:1996 by a measure of glove transmissibility determined with one vibration magnitude, one contact force with a handle and only three subjects. This study was designed to investigate systematically the vibration transmissibility of four ‘anti-vibration’ gloves over the frequency range 16–1600 Hz with 12 subjects, at six magnitudes of vibration (0.25–8.0 ms^?2 r.m.s.) and with six push forces (5 N to 80 N). The four gloves showed different transmissibility characteristics that were not greatly affected by vibration magnitude but highly dependent on push force. In all conditions, the variability in transmissibility between subjects was as great as the variability between gloves. It is concluded that a standardised test of glove dynamic performance should include a wide range of hands and a range of forces representative of those occurring in work with vibratory tools.

Statement of Relevance: The transmission of vibration through anti-vibration gloves is highly dependent on the push force between the hand and a handle and also highly dependent on the hand that is inside the glove. The influence of neither factor is well reflected in ISO 10819:1996, the current standard for anti-vibration gloves.     

枝晶间距对镍基单晶合金蠕变性能的影响

为了研究枝晶间距对镍基单晶合金组织与蠕变性能的影响,采用不同抽拉速率制备出两种不同枝晶间距的单晶镍基合金.通过蠕变性能测试及组织形貌观察,研究了枝晶间距对合金成分偏析及蠕变性能的影响.结果表明,随着合金枝晶间距的减小,元素成分偏析程度降低,且在相同热处理条件下,枝晶间距较小的合金具有较好的蠕变性能.合金在稳态蠕变期间的变形机制是位错攀移越过筏状γ′相,而蠕变后期的变形机制是位错在基体中滑移和切入筏状γ′相.蠕变断裂后,在试样不同区域筏状γ′相具有不同的形貌,在远离断口区域,筏状γ′相与应力轴方向垂直,而在近断口区域,筏状γ′相尺寸及扭曲程度均增加.     

Polyaniline as a Gas-Sensor Material

Polyaniline (PANI) was synthesized by oxidative polymerization of aniline using ammonium persulfate in an acid medium. The polyaniline salt was converted to base form by treatment with ammonium hydroxide. The polyaniline base was dissolved in N-methyl pyrrolidone (NMP) for film casting. The cast film was doped with HCl for obtaining higher conductivity. Both doped and undoped PANI films were characterized by UV-visible, FTIR, and XRD analyses. The electrical conductivity of the PANI film was studied by a four-point probe method at room temperature. Finally, ammonia gas-sensing characteristics of the prepared polyaniline film were studied by measuring the change in electrical conductivity on exposure to ammonia gas at different concentrations. The influence of concentration of acid during polymerization of aniline and dopant concentration on the gas sensing characteristics of PANI film are reported in this paper.     

输油臂紧急分离装置

介绍了手动紧急分离装置和液压驱动型紧急分离装置的结构、功能及工作原理.手动紧急分离装置是双锥阀结构.液压驱动型紧急分离装置由紧急分离接头和电液控制系统组成.紧急分离接头为双球阀结构，具有较高的可靠性和密封性.电液控制系统由插装阀系统构成，蓄能器做辅助能源有利于节约能源.同时介绍了港口输油臂紧急分离装置的试验方法及可靠性试验、分离试验，为输油臂紧急分离装置的安全工作及安全生产提供了科学的依据.     

白山300MW发电机转子支臂裂纹分析与处理

白山水电厂水轮发电机组的转子支臂上发生了不同程度的裂纹 ,在对转子支臂强度分析计算的基础上 ,判定支臂通风孔圆角处存在很大的应力 ,在交变载荷作用下 ,使通风孔圆角产生裂纹并不断扩展 ,经过对症处理 ,取得了良好的效果 .     

V01弧焊机器人运动学反解及臂形标志的确定

为了对Ｖ０１弧焊机器人深层次的开发，需要首先剖析其运动学模型，求解的反臂形问题。本文利用几何解法，针对Ｖ０１弧焊机器人建立了相应的逆运动学算法，解决了求解臂形标志问题，从而为Ｖ０１弧焊机器人的离线编程打上了基础。