OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

单片机提高点焊恒流控制精度的探索

根据点焊及单片机的特点探索用双CPU进行点焊恒流控制,解决利用逐点积分法计算点焊焊接电流有效值占用CPU时间多的难题,研制的双CPU控制器,一个8031CPU负责键盘、焊接过程控制、群控和触发角控制等,另一个803lCPU专职负责电流的采集、积分计算、显示,算出电流有效值后,送给上一个CPU与设定值进行比较,调整触发角,实现恒流控制。     

基于半物理仿真的盾构机临境化虚拟训练系统

针对目前盾构机操作人员在实际施工环境下进行操作训练的不切实际性,而大多数虚拟训练系统又仅体现出演示性系统运动,却不能实现基于系统运动学及动力学进行真实训练的现状,提出基于半物理仿真的盾构机虚拟训练系统构架。建立以盾构机动力学模型为核心的虚拟样机模型,将STM32作为系统的控制器,用信号转换器完成信号的转换。采用半物理仿真的方法,用户可以通过在人机界面上进行盾构机的模拟训练,并可以临境化进入盾构机内部,以不同角度查看虚拟训练的效果,最终借助Unity3d实现盾构机的运动系统的展示。     

虚拟实训教学环境设计与研究

虚拟现实技术是现代教育中的前沿技术,是教育发展的新契机。文中概述了虚拟现实技术的内涵,论述了虚拟现实技术用于教学环境需要的关键技术,并依次以图示描述了虚拟教学环境构建流程、体系架构设计、虚拟装配和虚拟实训报告等相关研究内容及成果。并就虚拟现实技术的教学环境创建方式进行了分析与实践对比,意在教学领域中为虚拟现实技术的实践应用提供借鉴与支持。     

Numerical Simulation of Projection Welding Processes for Door Hinge of Automobile Based on Coupled Fields Analysis

Projection welding is a variation of electric resistance welding with the dynamic changes of the flow paths for heat and electrical properties with changing temperature caused by the large plastic deformation collapse of projection. As the joint type between the auto door hinge and the inner plate, projection welding may bring welding distortions and would affect the assembly quality of auto body. A comprehensive electric-thermal-mechanical numerical simulation was performed to quantitatively simulate the processes of projection welding by using a coupled finite element method. The mechanism of projection collapse and the formation process of nugget were discussed and good conclusions have been achieved comparing with the test results.     

Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

基于导航网格的室内火灾逃生路径动态规划

为了解决现有虚拟现实（virtual reality，VR）场景中室内火灾逃生路径规划静态、低效的问题，基于VR场景中的导航网格，提出了室内火灾真实感表达方法，构建了室内火灾VR场景；其次根据VR场景创建了初始导航网格，设计了导航网格动态生成算法，建立了室内火灾逃生路径动态规划方法；最后构建了原型系统，并选择某产业园展厅作为案例开展了实验分析. 实验结果表明:融合静态地理场景与动态火灾场景，能构建室内火灾VR场景；导航网格每次更新时间在10 ms内，逃生路径规划的每次更新时间平均为50 ms左右，可支持室内火灾逃生路径的动态规划.      

基于改进蚁群算法的应急救援路径规划

应急救援路径规划不同于普通的路径规划,其目标为用最短的时间对待救援目标实施救援,因此无须考虑返回时间。同时,不同于以往路径规划单个目标点的情况,待救援目标可以有一个或多个。提出一种基于改进蚁群算法的应急救援路径规划方法,设置夸张系数Qa,并定义“虚拟边”,解决当前点的邻接待访问点中有多个目标点的问题。为提高收敛性,对信息素蒸发系数进行改进。该方法能快速找到一条从待救援点到多个目标点的优化路径,实验结果表明算法的有效性。     

公路主枢纽站场总体布局新方法

本文综述公路主枢纽站场布局常规方法不足的基础上，提出了将基础设施分为站场、通道及出入口，且视这些设施整体为一个大联动机，研究系统整体的协调关系，充分考虑系统与城市总体规划布局、道路网规划、对外交通规划和公共交通规划相符合的基本思想；并利用系统工程学的基本理论，给出了公路主枢纽站场总体最优布局的数学模型及其算法。     

基于OBB算法和前向预防的快速碰撞检测

为提高虚拟装配系统碰撞检测的实时性和真实感,提出了一种基于前向预防的虚拟装配中的防穿透方法,应用方向包围盒(OBB)算法和分层检测机制进行快速碰撞检测,较精确地实现了虚拟装配中虚拟手的抓取释放和防止穿透,克服了虚拟抓取操作中的失真问题.借助数据手套和六自由度跟踪仪,在半沉浸式虚拟装配系统中,针对场景规模较大的电机壳体模具,应用快速碰撞检测算法进行了装配仿真.结果表明,该虚拟装配系统的碰撞响应时间达到毫秒级,没有穿透现象产生,具有较理想的操作真实感.     

日常动态货物列车开行方案优化研究

为使铁路行车组织符合日常货流动态变化，本文提出编制日常动态货物列车开行方案，以确定货物列车开行的始发终到站、开行数量、编组内容和开行时段.基于编组计划、运行图等基本运输计划构建列车时空网络，以车流走行费用，列车运营费用，车流延误费用之和最小为目标；考虑车流径路唯一，节点流量平衡，列车开行数量，车流中转时间等约束，构建整数规划模型.为提升算法的求解效率，增加解的个体数目实现算法的并行性，引入多邻域移动准则，设计改进的模拟退火算法进行求解.以蒙华铁路实际数据进行案例分析，结果证明了本文模型和算法的有效性.     

日常动态货物列车开行方案优化研究

为使铁路行车组织符合日常货流动态变化,本文提出编制日常动态货物列车开行方案,以确定货物列车开行的始发终到站、开行数量、编组内容和开行时段.基于编组计划、运行图等基本运输计划构建列车时空网络,以车流走行费用,列车运营费用,车流延误费用之和最小为目标;考虑车流径路唯一,节点流量平衡,列车开行数量,车流中转时间等约束,构建整数规划模型.为提升算法的求解效率,增加解的个体数目实现算法的并行性,引入多邻域移动准则,设计改进的模拟退火算法进行求解.以蒙华铁路实际数据进行案例分析,结果证明了本文模型和算法的有效性.     

A Stable Switch Method Based on Fusion in Uncalibrated Visual Servoing

Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.     

随机交通分配中有效路径的确定方法

对用于随机交通分配的三种不同路径进行了比较和分析,研究了无环简单路径的寻求方法和无环简单路径集上的随机交通分配问题。重新定义了有效路径,提出通过利用求解确定性用户均衡分配问题的迭代过程来产生有效路径的启发式方法,算例表明该方法是有效性的.     

城际公共交通系统最短路算法

在借鉴城市公共交通最短路算法的基础上,针对城际网络的特点,研究了城际交通换乘路径的选择问题。以最小换乘次数为首要目标,并以此为基础,综合考虑时间、票价等因素,获取城际交通系统最短路。首先提出一种基于Flord算法的最小换乘矩阵及多条最短路的获取方法,然后利用最小换乘路径进行站线搜索与广义费用计算,获取城际交通的最短路,最后通过算例证明了本算法的可行性。     

Analytical Solution for Model-Based Dynamic Power Factor Measurement in AC Resistance Spot Welding

On the basis of welding transformer circuit model, a new measuring method was proposed. This method measures the peak angle of the welding current, and then calculates the dynamic power factor in each half-wave. An artificial neural network is trained and used to generate simulation data for the analytical solution, i.e. a high-order binary polynomial, which can be easily adopted to calculate the power factor online. The tailored sensing and computing system ensures that the method possesses a real-time computational capacity and satisfying accuracy. A DSP-based resistance spot welding monitoring system was developed to perform ANN computation. The experimental results suggest that this measuring method is feasible.     

Multiple welding seam video transmission and monitoring of welding robot in local area network

A method of transmission and monitoring in local area network (LAN) for the welding seam video information of binocular vision welding robot is proposed. This paper uses MPEG-4 video CODEC functions of DivX, video for Windows (VFW) video capture technology, multi-threaded network communication idea and WinSock Socket in Visual C++ 6.0. In the end, client/server (C/S) communication model based on TCP/IP protocol has been developed. Experimental results show that the method can achieve the multiple welding seam video??s real-time transmission in LAN. Moreover, the Canny operator is used to realize the edge feature extraction of the seam image which is captured by the client, so that the edge of the seam extracted is continuous and clear.     

虚拟环境教学在高职教学中的应用

虚拟环境教学作为一种独特的教学手段,在各种层次的教育领域都表现出广阔的前景。本文介绍虚拟环境教学的内涵,结合高职教育的特点,分析虚拟环境教学对高职教学的帮助,以及如何更好地建设、完善和推广虚拟环境教学,使其服务于高职教育。     

上海市快速轨道交通规划研究

上海市轨道交通快速发展,支撑了城市空间扩展、优化了用地布局;然而在其快速发展过程中也暴露了一些问题。首先评估了近10年上海市轨道交通规划、建设、实施情况,总结存在的主要问题,如功能层次单一、服务水平不高等;指出当前其面临的一个重大问题是,单一功能层次的轨道交通造成长距离出行时耗长,缺乏与小汽车的竞争优势,从而影响、制约郊区新城的发展。然后借鉴东京、巴黎等国际大城市快速轨道交通的建设、实施和运营组织经验,根据上海实际,分析其发展快速轨道交通的必要性。最后通过分析上海市轨道交通的客流特征,提出其快速轨道交通规划必须＂连心＂,并给出了服务标准、规划方案和预计达到的实施效果。     

HTN规划中面向多计划生成的顺序任务分解算法

顺序任务分解算法（OTD）是层次任务网规划（HTN）中的一种高效求解算法．由于算法中的计划生成采用一次性回溯机制,每次求解过程只能产生一个可行计划．文中提出了一种能够快速生成多个可行计划的回溯算法．该算法采用分段回溯的计划生成机制,充分利用了求解过程中生成的局部解序列,从而能够一次性地快速生成多个可行计划,为寻求优化的计划和进行计划的评估提供更为有效、灵活的支持．