Optical fiber based slide tactile sensor for underwater robots

In the underwater environment, many visual sensors don’t work, and many sensors which work well for robots working in space or on land can not be used underwater. Therefore, an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers. The principles and structure of the sensor are explained in detail. Its static and dynamic characteristics were analyzed theoretically and then simulated. A dynamic characteristic model was built and the simulation made using the GA based neural network. In order to improve sensor response, the recognition model of the sensor was designed based on the ‘inverse solution’ principle of neural networks, increasing the control precision and the sensitivity of the manipulator.     

半逆作法地下空间钢管混凝土柱的节点设计

针对南京某采用半逆作法的超大型地下空间钢管混凝土柱设计实例,提出了适用于本工程的改进的梁柱节点形式,总结了环梁-环形牛腿梁柱节点的传力机制及设计流程,对本工程中的抗弯最不利节点进行了有限元补充分析,以期为类似设计提供有益的参考。结果表明,该节点能够满足承载力需求,但应在配筋时进行局部加强。     

工业园区压力式污水收集系统设计

尽管传统重力污水管道系统技术成熟且应用广泛,但并不适用于工业园区等排水户间距较大且地质特殊的地区。将压力式污水管道系统应用于苏南某工业园区工业污水的收集,可解决传统重力流管道系统埋深大及其潜在的质量和环境安全等问题。工程实施后运行情况良好,具有较好的经济和社会效益。此外,对压力式污水收集系统的运行管理提出建议,可为推广应用提供参考与借鉴。     

多样本分析在汽车内饰异响仿真中的应用

传统的仿真分析,都是根据名义设计值得到相应的名义结果,仿真结果为一个确切的值。工程实践中,材料生产、部件装配都会产生一些误差,导致实际产品偏离名义设计,从而使得实际产品表现出的性能处于一个区间。因此,传统的仿真分析方法并不能预测实际产品可能出现的全部情况。对于车辆内饰异响分析,涉及的塑料件材料参数以及卡扣连接参数,往往会在较大范围内波动。此外,随着车辆使用时间的增长,塑料和橡胶的老化也会带来材料参数的变化。因此,用名义仿真结果来预测车辆的实际异响性能,是不够稳健的。采用多样本分析方法,考虑相关参数的浮动,可以得到更加稳健的仿真结果,更好的指导异响性能开发。     

Autonomous vehicle self-localization based on abstract map and multi-channel LiDAR in urban area

Accurate vehicle self-localization is significant for autonomous driving. The localization techniques based on Global Navigation Satellite System (GNSS) cannot achieve the required accuracy in urban canyons. On the other hand, simultaneous localization and mapping (SLAM) methods suffer from the error accumulation problem. State-of-the-art localization approaches adopt 3D Light Detection and Ranging (Lidar) to observe the surrounding environment and match the observation with a priori known 3D point cloud map for estimating the position of the vehicle within the map. However, storing the massive point cloud needs immense storage on the vehicle, or it should be stored on servers, which makes the simultaneous downloading of the map by multiple vehicles another challenge. In this study, rather than employing the point cloud directly as the prior map, we focus on the abstract map of buildings, which is easy to extract, and at the same time apparently observable by Lidar. More especially, we proposed vehicle localization methods based on two different abstract map formats representing urban areas. The first format is the multilayer 2D vector map of building footprints, which represents the building boundaries using vectors (lines). The second format is the planar surface map of buildings and ground. These map formats share the same idea that the uncertainty (deviation) of each vector or planar surface is calculated and included in the map. Later in the localization phase, the observed data from Lidar is matched with the abstract map to obtain the precise location of the vehicle. Experiments conducted in a dense urban area of Tokyo show that even though we significantly shrank the map size, we could preserve the mean error of the localization.     

摩托车车架结构模态分析与减振优化

运用有限元分析软件ANSYS计算车架的结构模态参数,在网格划分时单元的选择非常重要,选择不合理会影响到计算结果的准确性。通过对比研究,本文采用的简化方法和实体模型具有较高的相似程度,并可用于后续的各种动力学分析。找到影响车架刚度的薄弱环节后,运用材料力学理论,改变车架局部结构对提高车架的刚度具有较好的作用。     

2014年中国城市轨道交通运营线路统计和分析——中国城市轨道交通“年报快递”之二

对我国内地及港台地区截至2014年底的城市轨道交通运营线路进行了统计。给出了2014年我国内地城市轨道交通运营线路数、运营线路长度排序,对2014年新增运营线路长度及敷设方式构成进行了分析。同时,就2004年至2014年我国城市轨道交通运营线路的发展情况进行了统计,并对这10年间我国内地每年新增运营线路、线路长度及敷设方式构成进行了分析。     

1900/200 t固定式回转起重机回转机构的设计与分析

介绍1 900/200t固定式回转起重机回转机构的工作原理和结构形式,对其结构特点及使用情况进行简要分析。     

城市停车场规划调查方法探讨

为城市停车场规划进行的停车场调查是一项庞大复杂的系统性工作。该文分别从现状停车泊位数、现状停车场内的停车特征和与停车有关的社会经济指标三个方面探讨停车场的调查方法。     

汽车气动噪声数值计算分析

文中阐述了气动噪声数值分析的两个步骤,即采用大涡模拟(LES)计算汽车外部瞬态流场和采用FW-H声学模型预测其噪声特性.最后介绍了该数值仿真方法在汽车设计中的应用以及降低气动噪声的措施.