空间机器人遥控、自主与协同操作的软件基础

空间机器人控制语言是实现空间机器人三种控制方式:遥控操作,自主操作和协同操作的软件基础,本文描述了该语言的基本结构,对于自主方式,给出了编程示例;对于遥控方式,运用程序辅助的方法,解决了操作员单独进行主/从操作时难以解决的问题.     

微型无阀泵参数化结构设计及测试

 从理论计算和试验两方面研究了用于微流控化学分析芯片的微型无阀泵流动特性，初步建立了微型无阀泵流道结构的数学模型，重点讨论了结构参数的选取原则及相应的流动阻尼系数的计算方法． 通过试验验证了数值计算的可靠性，为微型无阀泵参数化设计及优化提供了理论依据及经验曲线．     

Efficient mixed Timoshenko–Mindlin shell elements

The precise representation of rigid body motions in the displacement patterns of curved Timoshenko–Mindlin (TM) shell elements is considered. This consideration requires the development of the strain–displacement relationships of the TM shell theory with regard to their consistency with the rigid body motions. For this purpose a refined TM theory of multilayered anisotropic shells is elaborated. The effects of transverse shear deformation and bending‐extension coupling are included. The fundamental unknowns consist of five displacements and eight strains of the face surfaces of the shell, and eight stress resultants. On the basis of this theory the simple and efficient mixed models are developed. The elemental arrays are derived using the Hu–Washizu mixed variational principle. Numerical results are presented to demonstrate the high accuracy and effectiveness of the developed 4‐node shell elements and to compare their performance with other finite elements reported in the literature. Copyright © 2002 John Wiley & Sons, Ltd.     

遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

A continuum-based modeling of MEMS devices for estimating their resonant frequencies

A continuum-based modeling of coupled electrostatics-structure interactions is presented for the frequency computations of MEMS devices. The present general formulation of electrostatics accounting for free space is validated first by specializing it to one-dimensional uniform motion of conducting surfaces and comparing the resulting electrostatics to conventional lumped models. The general coupled electrostatics-structure interactions are then applied for the prediction of resonant frequencies of MEMS devices due to bias-voltage changes and temperature variations. Comparisons of predicted resonant frequencies obtained by the present coupled electrostatics-structure interaction models with experimental results available in the literature demonstrate that the proposed continuum-based interaction modeling yields high-confidence predictions of resonant frequencies of MEMS devices.     

松辽盆地南部岩性圈闭识别技术及效果

寻找隐蔽油气藏一直是油气勘探中的难题,我国东部吉林油田的中浅层已进入高成熟勘探阶段,油气勘探已由早期的构造圈闭勘探转变为现今的以隐蔽圈闭勘探为主的阶段。本文针对松辽盆地南部的西部前缘带三维连片工区及伊通地堑岔路河断陷,综合应用构造精细解释、声波曲线重构波阻抗反演、层序地层学、地震相及沉积(微)相分析、模型正演、地震属性分析、频谱分解及三维可视化等技术手段,所提供的多口探井获得工业油气流或有良好的油气显示,取得了较好的解释效果。     

Investigation of Centreline Segregation and Centreline Porosity in CC ‐ Slabs

Improvements of solidification processing in conventional or near net shape casting depend on sophisticated methods of macroscopic examination of central unsoundness and inhomogeneity of the cast material. As long as remarkable deviations referring to the quality features exist between the slab centre and the bulk material such methods should be looked after. Two semi‐macroscopic methods of segregation analysis are discussed in this paper: firstly, the potential of the emission spectral analysis combined with sectioning of a sample and secondly, the computer aided micro‐probe analysis. Both methods are restricted to small local areas. The proneness of elements and steel grades with respect to micro‐ and macrosegregation as well as distribution‐ and segregation coefficients are determined. The effect of a diffusion anneal on homogenisation of segregation is studied. Last not least the precipitation of sulphides, phosphides or carbonitrides is estimated. Ultrasonic detection of the central unsoundness of conventional slabs or thin slabs is a new approach towards a quantitative macroscopic examination. The sample size is 400 mm x 300 mm x 30 mm. To achieve a low ultrasonic noise using a 5 MHz‐transducer the samples are heat treated for grain refinement. “Dog bone porosity”, macroscopic topographical misfit between the upper and lower solidifying shells, periodical corner cracks or systematic transverse centre cracks are detected. Obviously, segregations do not reflect the ultrasonic beam. However, it can be presumed that an interrelation exists between porosity and segregation, although these might be locally apart from each other. This new ultrasonic test of the central unsoundness of continuous cast (c.c.) slabs gives valuable arguments to machine builders and maintenance people to decide on the right concepts for strand guidance, support rollers and secondary cooling. Soft reduction can be optimized and variations in casting speed counteracted by dynamic means. R&D service of this kind can help steelmakers when decisions are impending to build new casting machines or revamp old ones.     

Grouped Approach for the Design of H.264/AVC Motion Estimation Architectures

This letter presents a novel approach for organizing computational resources into groups within H.264/AVC motion estimation architectures, leading to reductions of up to 75% in the equivalent gate count with respect to state‐of‐the‐art designs.     

Experience, Context, and the Visual Perception of Human Movement.

Why are human observers particularly sensitive to human movement? Seven experiments examined the roles of visual experience and motor processes in human movement perception by comparing visual sensitivities to point-light displays of familiar, unusual, and impossible gaits across gait-speed and identity discrimination tasks. In both tasks, visual sensitivity to physically possible gaits was superior to visual sensitivity to physically impossible gaits, supporting perception-action coupling theories of human movement perception. Visual experience influenced walker-identity perception but not gait-speed discrimination. Thus, both motor experience and visual experience define visual sensitivity to human movement. An ecological perspective can be used to define the conditions necessary for experience-dependent sensitivity to human movement. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

一种基于bit位的运动补偿方法

本文讨论了等离子体显示屏所特有的在显示运动画面时出现的伪轮廓线现象，对产生的原因进行了分析并给出了软件模拟的结果。在此基础上，提出了一种基于bit位的运动补偿方法来改善运动图像的画面质量，同时根据人眼的视觉特征对补偿方法做了进一步的优化。最后对基于bit位的运动补偿方法进行了比较和验证，结果表明基于bit位的运动补偿方法可以基本消除运动画面的伪轮廓线现象。