轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

多运营商高铁隧道移动网络覆盖方案

高铁移动网络覆盖是国内三大通信运营商的一个重点,而高铁隧道内移动网络覆盖更是运营商的一大难点痛点。文章根据我国中部省份某高铁线路覆盖规划实例,采用“设备+POI+泄漏电缆”模式,即三家运营商信号源设备通过同一POI(point of interface,多系统接入平台)接入,信号输出到泄漏电缆进行隧道覆盖,隧道口场坪站安装宽频切换天线对隧道外进行延伸覆盖,通过链路预算合理布置各运营商主设备信号源,从而实现隧道到室外的无缝覆盖。最后,根据已有成熟网络覆盖解决方案,对未来5G高铁隧道移动网络覆盖方案进行了探讨。     

伊朗德黑兰地铁轨道施工方法

依托伊朗德黑兰地铁一、二号线工程 ,针对地铁单洞单线采用的轨道施工轨排法存在的不足 ,根据单洞双线隧道的特点 ,提出了利用组装好的轨排直接铺设在隧道结构底板上作为轨道平板车临时轨道的施工新方法     

液晶显示驱动电路中Fibonacci型电荷泵单元

本文中所设计的电荷泵将用于手机液晶显示驱动模块中.通过对Fibonacci型电荷泵上升时间的估算,对减小上升时间和动态功耗进行折中考虑,本文提出优化开关频率的方法.用1.2μm CMOS双阱工艺参数对所设计的电荷泵进行模拟,结果表明这个电荷泵具有较快的上升速度和较高的效率.通过提高V_GS电平和保证开关管的衬底始终接在最高电位上,文中提出了一种新型Fibonacci电荷泵,它可以正常工作在从1.2V到5V变化的多种电源电压下.     

可持续发展战略指导下的轨道交通规划与评价

提出了轨道交通规划与评价在实施可持续发展战略过程中需要研究的问题，研究重点是轨道交通规划与评价方法体系和环境对策，研究了轨道交通规划目标的变化、轨道交通规划优化决策理论与方法、轨道交通规划中的环境影响评价、城市轨道交通网络的合理规划、城际轨道交通——客运专线/高速铁路线路基本走向的规划、轨道交通规划可持续发展的评价指标体系概念框架、轨道交通系统可持续发展的能力建设问题等，并通过实例验证了所建立的理论方法体系和模型体系；不仅进行了有关理论和方法的探讨，而且以面向实际应用为目标，开发了相应的软件系统，为轨道交     

粗轧机前推床同步拉杆断裂的分析与改进

通过对机前推床同步拉杆的受力分析及强度计算，查找出了造成拉杆断裂的原因，并提出了解决拉杆断裂的具体措施。     

铁路桥梁横向振动模拟及适应快速行车结构型式的研究

针对铁路提速后出现的上承式简支钢板梁桥跨中横向振幅过大的问题,以羊楼司桥(L=32m单跨上承式简支钢板梁桥)为例进行实桥检测和数值模拟,建立车辆、线路、桥梁三者的联合模型,考虑轮轨接触力,应用MSC/DYTRAN大型结构分析程序进行车线桥动力相互作用的仿真分析。研究揭示我国用量最多的C62型货车以70∽80km/h的速度空载通过时,该跨度的钢板梁桥发生横向谐振的机理。此外,用该方法对32m跨长的组合梁结构进行桥梁动力特性及列车走行性分析,表明该结构满足提速货车和高速电动旅客列车走行的要求。研究结果对我国高速铁路桥梁建设和既有桥梁的改造具有积极意义。     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Application of Code Approach for Emergency Evacuation in a Rail Station

This paper presents an emergency evacuation analysis during a mid-platform train fire in an underground rail station. A time-based evacuation scenario is developed taking into account the stairway inaccessibility due to smoke blockage. The calculation approach in NFPA 130 is then applied to a parametric study of this time-based scenario and its reliability is examined using a micro-simulation model. Both methods give consistent predictions of the exiting times. The results demonstrate that with the division of the station into two zones, the exiting time could not meet the code requirements, whereas it does meet the required exiting time without the division. Such division is due to smoke blockage and creates an uneven ratio of the occupant load to the available exiting capacity. This shows that appropriate consideration of the fire and smoke effects is important for station egress evaluation. Other issues such as the fire growth rate and the pre-evacuation time are also discussed.