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排序方式: 共有328条查询结果,搜索用时 15 毫秒
1.
《International Journal of Hydrogen Energy》2022,47(10):6936-6954
The DCRFoam solver (density-based compressible solver) built on the OpenFOAM platform is used to simulate the reflection and diffraction processes that occur when detonation waves collide with various objects. Static stoichiometric hydrogen–oxygen mixtures diluted with 70% Ar are used to form stable detonation waves with large cells, with initial conditions of 6.67 kPa pressure and 298 K temperature. The diameters of the cylindrical obstacle range from 6 mm to 22 mm, with x = 230 mm, x = 244 mm, and x = 257 mm being the chosen position. Cylindrical, square, triangular, and inverted triangular obstacles are used, and the quenched detonation re-initiation processes behind them are investigated. In the detonation diffraction process, four triple points exist at the same time due to the effect of cylindrical obstacles of smaller diameters. The re-initiation distance of the detonation wave increases with the increase of cylindrical obstacle diameter. Both the Mach reflection angle and the decoupled angle decrease as the diameter increases. When the location of the cylindrical obstacles is changed, the detonation wave dashes into the obstacles with its different front structures, it is easier to realize the detonation re-initiation when the weak incident shock at the front of a detonation wave strikes the obstacles, and the re-initiation distance decreases by 17.1% when compared with the longest re-initiation distance. The detonation re-initiation distance is shortest under the action of cylindrical obstacles, however the quenched detonation cannot be re-initiated when the inverted triangle and square obstacles are used. The suppression effects of inverted triangle and square obstacles on detonation waves are more evident. 相似文献
2.
Planning collision-free trajectories in time-varying environments: a two-level hierarchy 总被引:1,自引:0,他引:1
We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simulations have been developed for a mobile robot in the plane among stationary and moving obstacles. Essentially, the robot has a global geometric planner that provides a coarse global trajectory (the path and velocity along it), which may be locally modified by the low-level local avoidance module if local sensors detect any obstacles in the vicinity of the robot. This hierarchy makes effective use of the complementary aspects of the global trajectory planning approaches and the local obstacle avoidance approaches. 相似文献
3.
微粉对矾土基超低水泥浇注料性能的影响 总被引:1,自引:3,他引:1
以高铝矾土熟料为主原料 ,加入 2 %的铝酸钙水泥及总量为 6 %的Al2 O3 微粉和SiO2 微粉 ,配制了矾土基超低水泥浇注料 ,研究了微粉对浇注料的烧结性能、力学性能及热震稳定性的影响。结果表明 :(1 )SiO2 微粉对浇注料的促烧结作用优于Al2 O3 微粉。这是因为与Al2 O3 微粉相比 ,由气相沉积生成的SiO2微粉的粒度小 ,比表面积大 ,活性较高。 (2 )随着SiO2微粉加入量的增加 ,在 1 1 0 0℃和 1 4 0 0℃处理后的常温强度以及在 1 30 0℃和 1 4 0 0℃下的高温抗折强度和抗热震性明显提高。这是由于引入的SiO2 微粉在高温下与Al2 O3 反应生成的针状莫来石穿插进入刚玉骨架 ,起着明显的强化和韧化作用 相似文献
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研究复杂作业环境中虚拟人手部避障运动的高精度控制问题,问题的关键是解决虚拟人手的设计.为了灵活操作能在操作的末端临时变换姿态,给控制过程中手臂转动路线,速度,加速度等参数的控制带来较大困难.传统的控制方法通过增加控制自由度来解决这个问题,但是一旦自由度增加,会带来冗余控制影响,弊端较为明显.提出一种采用可操作度矩阵的逆向运动学控制算法,引入可操作度模型进行肢体末端效应器运动路径的生成,与HAL链IK分析求解方法相结合,实现了真实感较强的肢体实时运动控制.通过仿真和动作捕获实验验证了算法的有效性,可应用于人机工程仿真中的避障控制和干涉检查. 相似文献
7.
This paper presents an obstacle contact sensor system that can detect both the contact state and the direction of contact parallel to the movement plane of a mobile system carrying the sensor. This sensor system is based on a regular- or irregular-shaped ring surrounding the mobile system’s perimeter, connected to the mobile system’s body by a set of soft springs and also coupled mechanically to a set of four flex sensors measuring the relative displacement and direction of the ring when contacting an obstacle. The set of flex sensors is connected to a low-cost electronic module that implements a data acquisition block and a fuzzy processing block, delivering a value representing the estimated contact zone of the ring. Some experiments show how this detection system effectively reduces the sensor count needed for full coverage of the mobile system’s perimeter. Despite the kind of output implemented in the experiments, the contact force can also be estimated. 相似文献
8.
This paper considers the problems of formation and obstacle avoidance for multiagent systems.The objective is to design a term of agents that can reach a desired formation while avoiding collision with obstacles.To reduce the amount of information interaction between agents and target,we adopt the leader-follower formation strategy.By using the receding horizon control (RHC),an optimal problem is formulated in terms of cost minimization under constraints.Information on obstacles is incorporated online as sensed in a limited sensing range.The communication requirements between agents are that the followers should obtain the previous optimal control trajectory of the leader to each update time.The stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimal problem.Finally,simulation studies are provided to verify the effectiveness of the proposed approach. 相似文献
9.
This article presents a fast self-localization method based on ZigBee wireless sensor network and laser sensor, an obstacle
avoidance algorithm based on ultrasonic sensors for a mobile robot. The positioning system and positioning theory of ZigBee
which can obtain a rough global localization of the mobile robot are introduced. To realize accurate local positioning, a
laser sensor is used to extract the features from environment, then the environmental features and global reference map can
be matched. From the matched environmental features, the position and orientation of the mobile robot can be obtained. To
enable the mobile robot to avoid obstacle in real-time, a heuristic fuzzy neural network is developed by using heuristic fuzzy
rules and the Kohonen clustering network. The experiment results show the effectiveness of the proposed method. 相似文献
10.
Spacecraft formation reconfiguration with collision avoidance 总被引:1,自引:0,他引:1
In this paper we present a behavioral control solution for reconfiguration of a spacecraft formation using the Null-Space Based (NSB) concept. The solution is task based, and aims to reconfigure and maintain a rigid formation while avoiding collisions between spacecraft. A model of relative translation is derived, together with a passivity-based sliding surface controller which globally stabilizes the equilibrium point of the closed-loop system. The NSB control method is implemented by giving each task different priorities and then calculating desired velocity and a Jacobian matrix for each spacecraft and each task. The velocity vector for each task is then projected into the null-space for higher prioritized tasks to remove conflicting velocity components. Simulation results are presented, showing that each spacecraft moves into the predefined formation without breaking any rules for the higher priority tasks, and all collisions are avoided. 相似文献