尿素合成塔高效塔板改造中支架的焊接工艺

介绍了尿素合成塔高效塔板技改安装过程中支架与衬里、衬里本身的缺陷返修这2种焊接的焊接工艺。该焊接工艺对母材和焊丝化学成分进行了对比分析．同时认真选择焊接设备、焊接方法和包括氩气的流速和使用方法、钨极直径、尖端高度、焊缝形式、电源极性、电流大小及焊速等在内的各种焊接工艺参数，并对焊前清理、焊接过程作出严格详细的规定，又进行了晶间腐蚀倾向试验(休氏试验)和选择性检查及金相检查的焊接试验。休氏试验测得的腐蚀速率CR值为0.55115mm/a。     

Effect mechanism of multiple obstacles on non-Newtonian flow in ceramics 3D printing (linear elements)

Direct ink writing (DIW) provides a new way to mould ceramic parts. When a single screw extruder is used to extrude SiC slurry, the deposits caused by low viscosity and the agglomerations resulting from the nonuniform mixing, form the obstacles in the channel, which affect the normal flow of the slurry, theoretical outlet velocity, and interaction with other printing parameters. Therefore, it is necessary to study the mechanism responsible for the effects of the obstacles on the flow. The obstacles are always irregular, which makes it difficult to directly analyse them. Irregular geometries are always composed of linear and/or arcuate elements; therefore, the obstacles can be simplified into regular geometries. In the present work, linear elements are analysed first. Then, an improved MRT LBM (multiple relaxation time lattice Boltzmann method) with a pseudo external force is proposed for the flow analysis. The improved MRT LBM is combined with rheological test data to investigate cases with two obstacles, and the results are applied to reveal the general mechanism in cases with multiple obstacles. The results show that the angles, sizes, and positions of the obstacles are three important factors influencing the flow. To obtain a stable and controllable slurry flow, it is recommended that the first angle θ₁ be an acute angle. In addition, the number of obstacles should be minimized, and the position of the last obstacle should be far away from the outlet.     

曲线最佳点测设法

介绍了曲线最佳点测设法简化计算的原理、施测方法及困难地区圆曲线测设中障碍测设技巧．     

非完整移动机器人鲁棒控制方法研究

针对基于单目视觉的双轮差速移动机器人检测环境目标信息的误差大、波动频繁、有限视角约束且受非完整性约束特点,研究了避障与轨迹跟踪控制器的设计问题。首先基于李亚普诺夫稳定理论,设计了双轮差速移动机器人的圆弧轨迹控制器,并证明了控制器的稳定性。引入动态变化的参考角度以调节控制器因子,解决了系统受视觉传感器有限的视野范围约束及机器人运动轨迹优化问题。通过跟踪圆心沿多边形边界连续移动的圆弧轨迹,实现机器人避开多边形障碍物。仿真和实际机器人实验证明了所提出方法的有效性。     

一种移动机器人的路径规划算法

本文提出一种移动机器人路径规划最短切线路径算法。依据此算法，机器人能顺利地避开障碍物到达目标位置，其原理简单，计算快捷，容易实现。仿真结果验证了它的有效性和实用性。     

Lyapunov function-based obstacle avoidance scheme for a two-wheeled mobile robot

An obstacle avoidance scheme of a two-wheeled mobile robot is shown by selecting an appropriate Lya- punov function. When considering the obstacle, the Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima with a plane surface. The effectiveness of the proposed method is verified by numerical simulations.     

基于可操作度的虚拟人手部避障运动控制算法

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.     

Assessment of a simple obstacle detection device for the visually impaired

A simple obstacle detection device, based upon an automobile parking sensor, was assessed as a mobility aid for the visually impaired. A questionnaire survey for mobility needs was performed at the start of this study. After the detector was developed, five blindfolded sighted and 15 visually impaired participants were invited to conduct travel experiments under three test conditions: (1) using a white cane only, (2) using the obstacle detector only and (3) using both devices. A post-experiment interview regarding the usefulness of the obstacle detector for the visually impaired participants was performed. The results showed that the obstacle detector could augment mobility performance with the white cane. The obstacle detection device should be used in conjunction with the white cane to achieve the best mobility speed and body protection.     

Fair webs

Fair webs are energy-minimizing curve networks. Obtained via an extension of cubic splines or splines in tension to networks of curves, they are efficiently computable and possess a variety of interesting applications. We present properties of fair webs and their discrete counterparts, i.e., fair polygon networks. Applications of fair curve and polygon networks include fair surface design and approximation under constraints such as obstacle avoidance or guaranteed error bounds, aesthetic remeshing, parameterization and texture mapping, and surface restoration in geometric models.     

A sonar approach to obstacle detection for a vision-based autonomous wheelchair

An advanced prototype Computer Controlled Power Wheelchair Navigation System or CCPWNS has been developed to provide autonomy for highly disabled users, whose mix of disabilities makes it difficult or impossible to control their own power chairs in their homes. The working paradigm is “teach and repeat” a mode of control for typical industrial holonomic robots. Ultrasound sensors, which during subsequent autonomous tracking will be used to detect obstacles, also are active during teaching. Based upon post-processed data collected during this teaching event, elaborate trajectories–which may involve multiple direction changes, pivoting and so on, depending upon the requirements of the typically restricted spaces within which the chair must operate–will later be called upon by the disabled rider. An off-line postprocessor assigns an ultrasound profile to the sequence of poses of any taught trajectory. Use of this profile during tracking obviates most of the inherent problems of using ultrasound to avoid obstacles while retaining the ability to near solid objects, such as when passing through a narrow doorway, where required by the environment and trajectory objectives. The work in this article describes a procedure to obtain consistent maps of sonar boundaries during the teaching process, and a preliminary approach to use this information during the tracking phase. The approach is illustrated by results obtained by using the CCPWNS prototype.