面向排爆机器人的虚拟仿真训练系统设计与实现

针对排爆机器人使用和训练的需求,设计并实现了一套排爆机器人虚拟仿真训练系统.首先分析了排爆机器人的常见结构,针对一种通用结构设计的排爆机器人设计了仿真训练系统的结构,并对仿真系统的几何建模、运动模型和碰撞检测进行了分析,最后实现了排爆机器人虚拟仿真训练系统.该系统使操作手能够熟悉并掌握排爆机器人的操作.     

履带式侦查排爆机器人的总体设计

为排除危险爆炸物和对危险有害环境的监测,防止人员遭受伤害,设计了一种可代替人工作业的履带式排爆机器人,该机器人利用两个夜视摄像头识别路径,并由手持控制终端通过无线传输控制车体行进和机械臂作业,实现对全地形的侦查排爆。此履带式侦查排爆机器人涉及供电、时钟、复位、电机驱动、舵机转向控制、速度检测、上位机等电路和相关控制软件设计,并具有成本低、体积小、功耗低和可移植性等特点。     

一种排爆机械臂控制系统设计

针对具有危险的特种环境,设计一种可以代替人工作业的排爆机械臂。该机械臂采用嵌入式控制系统,以DSP为中央处理核心,用5个步进电机配合铝制合金搭建机械臂硬件结构,利用DSP增强型PWM模块驱动步进电机,上位机采用PC机进行控制,矩阵式键盘作为输入输出模块,控制机械臂,仿生模仿人手的各类运动。实验结果表明:该机械臂有强的承重能力,调节快,实验过程无震荡,达到了设计要求。     

Commercial Systems for the Direct Detection of Explosives for Explosive Ordnance Disposal Tasks

There are a number of Explosive Ordnance Disposal (EOD) tasks in which it is necessary to discriminate and identify UneXploded Ordnance (UXO) already detected by other means. What we seek is the capacity to characterize in a non-destructive way the munition's content, usually either explosive or inert (e.g., practice munition), if possible using a fairly mobile system and without direct contact. A number of existing technologies for the direct detection of explosives, applicable in EOD scenarios, are therefore characterized, and corresponding commercially available systems or advanced prototypes identified whenever possible. Some of the techniques are also useful for the detection of buried UXO or landmines, to which we refer whenever appropriate. We first concentrate on bulk explosive detection, in particular on neutron based systems exploiting gamma spectroscopy, which have the potential of detecting the explosive's nitrogen content and/or its other constituents (carbon, oxygen and hydrogen). Candidate systems exist, although most of them have as primary aim the discrimination of chemical munition. We then describe the application of trace explosive detection techniques, which seems to be less mature also due to the large number of parameters influencing the variables of interest (explosive vapor and particle concentration). Sampling is in this case of primary importance.     

ELECTROCHEMICAL TREATMENT OF TUMORS (ECT): ELECTROOSMOTIC DEWATERING (EOD) AS THE PRIMARY MECHANISM

ABSTRACT

A recent series of experimental papers on the electrochemical treatment (ECT) of tumors provide empirical data and observations amenable to a theoretical analysis of this phenomenon from an electrochemical point of view. An attempt is made here to develop the idea that ECT is a case of electroosmotic dewatering (EOD) of the tumor tissue with the consequent changes in pH, with the concomitant role of reactions at the electrodes. Some speculative suggestions are made to enhance the efficacy of the ECT process; in particular, a multi-electrode system is proposed to achieve complete necrosis of a large tumor     

Effect of Electro-Osmotic Dewatering on the Quality of Tofu Sheet

As a new dewatering technology with high efficiency and energy saving, electro-osmotic dewatering can be applied to food processing. The objective of this work was to study the effect of combined field dewatering (CFD) involving electro-osmosis and mechanical pressure on the quality of tofu sheet. Combined field dewatering was performed on the dewatering process of tofu sheet for 10 to 30 min at a voltage ranging from 30 to 50 V under various pulse-time ratio (t₊ = 120 s, t_- = 5 s) electric field and 0.047 MPa pressure field. The texture and structure of tofu sheet after treatments were examined by a rheometer and scanning electron microscope (SEM). The result showed that the three quality indexes, i.e., hardness, tensile strength, and ductility of tofu sheet near the anode were 45%, 30%, and 12% higher respectively than those dewatered by common mechanical pressure method. However, those near the cathode were 15%, 25%, and 10% lower respectively. When the electric field was applied for 10 min at 30 V, these indexes reached their maximum values. Meanwhile, the tofu sheet structure near the anode was more compact and homogeneous than that near the cathode. The result indicated that CFD could enhance the quality of tofu sheet.     

基于项目策划理论的总部基地前期研究

该文基于项目策划的指导思想和国内外总部基地的发展情况,从总部基地选址和项目开发方向中的规划要点及产品形态几个方面做了几点项目前期研究,通过这样的尝试加深对项目策划理论的理解。也希望能给国内正在兴起的总部基地的建设提供一定参考价值。     

海淀温泉生态办公区场地规划和景观设计

以“生态优先”为原则,通过生态化设计,优化场地规划,构建植物群落,改善热环境、光环境、声环境、风环境,使场地内环境品质全面提升,使人们获得健康舒适的建筑内外环境。     

冗余度排爆机械臂作业空间的研究

针对在公交车体内部作业的7自由度排爆机械臂进行研究,利用三维建模软件对冗余自由度排爆机械手进行建模,使用D-H法对机械手臂建立坐标系,对机械手的位姿进行正运动学分析并建立手臂末端位姿矩阵。利用蒙特卡洛法对手臂末端作业空间进行研究,使用MATLAB软件进行仿真绘制出手臂末端在车体内部的点阵图,分析手臂末端作业空间和盲区,研究目标空间与作业空间的关系,为避免在盲区中作业提出手臂使用的优化方案。     

Comparison of end-of-drive and restrike signal matching analysis for a real case using continuum numerical modelling

The main objective of this paper is introducing a so-called continuum numerical model to overcome some of the limitations of the mass–spring–dashpot systems. Two continuum numerical schemes including a finite difference method (FDM) and a finite element method (FEM) are utilized. Unlike the previous continuum numerical models, the adopted models follow a signal matching procedure similar to lumped models. A real driven pile that has been carefully monitored is considered for model verification and validation, for which the dynamic and static test results, soil profile and soil characteristics are available. Among the major advantages of the model are considerations of soil inertia and/or radiation damping effects. A signal matching procedure is followed by changing the strength and deformation parameters of the soil and interface between pile–soil, both at the “End-Of-Drive” (EOD) and “Beginning of Restrike” (BOR). The results indicate a substantial increase in the soil strength parameters of the pile–shaft interface and the soil modulus below the pile tip at restrike. It is found that the effect of radiation damping significantly changes the pile–soil stiffness during pile hammering. The comparisons between FDM and FEM predictions show very good agreements. Two sets of parameters involved in signal matching are introduced for EOD and BOR signal matching analyses, to compare the variations during the soil setup process. The parameters are also compared against the in situ soil parameters acquired from soil investigation data.