可重构斜拉索磁性无损检测机器人技术研究

针对斜拉索的特征,提出一种在役斜拉索检测机器人技术方案.采用模块化可重构磁性检测技术,利用磁性检测系统励磁场产生的磁场力作为机器人沿斜拉索爬升所需的附着力,使单元模块同时具有检测及爬升功能.根据不同的拉索直径,选用不同数量的模块进行重构形成对应的自主爬升检测机器人.理论分析及试验研究表明,该可重构斜拉索磁性检测机器人可对不同直径、任意倾斜角的斜拉索进行无损检测,具有体积小、重量轻、安全可靠等特点,有良好的应用前景.     

A real-time collision-free path planning of a rust removal robot using an improved neural network

In this paper, a real-time collision-free path planning of the rust removal robot in a ship environment is proposed, which is based on an improved biologically inspired neural network algorithm. This improved algorithm is based on the biologically inspired neural network and modified with obstacle detection sensors and kinematic state templates, and is implemented in a ship rust removal robot planning system for dynamic trajectory generation. The real-time optimal trajectory is generated by the biologically inspired neural network, and the moving obstacle detection process of a ship robot working on the wall is simulated with the obstacle detection sensors models. The local real-time trajectory can be re-planned by the updated local map information, where the obstacle detection sensors are used to inspect partial environment information and update the robot nearby information in real time in the original neural network algorithm. At the same time, the method of the kinematic state templates matching and searching is used to solve the pipes’ influence of the rust removal robot climbing on the wall, which can not only provide a smooth path, but also can judge the motion direction and turning angle of the robot. Comparison of the proposed approach with the simulation shows that the improved algorithm is capable of planning a real-time collision-free path with achieving the local environmental information and judging the rust removal robot’s motion direction and turning angle. This proposed algorithm can be good used in the ship rust removal robot.     

磁浮轴承系统的数学模型与控制分析

磁浮轴是一种依赖电磁力支承转子的新型无接触轴承,与传统油润滑轴承相比,具有许多优越性。介绍了磁浮轴承的基本原理和结构,在建立磁浮轴承一对径向定位电磁铁单自由度数学模型的基础上,对该不稳定系统进行了ＰＩＤ补偿控制,研究了控制器参数对系统稳定性的影响。     

THE INVERSE PROBLEM IN DESIGN OF A MAGNETIC BRUSH BY INTEGRAL EQUATION METHOD

1IntroductionThecalculationofthemagneticfielddistri-butionattheperipheryofamagneticbrushusedinmostcopiersandprinters,asshowninFig.1,wasdiscussedbyapplyingtheintegralequationmethod[1J.ThenormalcomponentcurveofthefieldintensitymaybeobtainedasshowninFig-2.Theimportantpartsofthecurvearethoseneareachmaximumorminimum,forexampleffrompointatopointb,theBP'sofwhicharee-qualtohalfofP,maximum,etc.Thedesigningtaskofthiskindofbrushistodeterminethesizesandlocationsofthepermanentmagneticbarsinthebrush,when…     

磁场饱和与畸变对发电机电感参数计算的影响

为了提高发电机故障检测的灵敏性,需要准确计算发电机电感参数.考虑发电机负载运行时磁路的饱和与位置的畸变,分别应用磁路法和磁场法计算了不同饱和程度与畸变程度下的电感参数,讨论了磁路饱和与磁场畸变对电感参数的影响,指出磁路法计算电感参数的局限性.对一台一对极隐极式发电机样机进行的不同工况下转子匝间短路实验表明：磁场法可以充分考虑物理情况,参数计算结果更加准确.在要求准确计算电感参数的场合使用磁场法更合适.     

STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

In the last few years,based on the wide rangeof application domains,multirobot coordination be-came one of the focuses of robotics.M.B.Dias andA.Stentz[1]described a market-based architecturefor coordinating a group of robots to achieve a givenobjective.Terry Huntsberger,Paolo Pirjanian,Pir-janian,Ashitey Trebi-Ollennu,etc,have developedan enabling distributed control architecture calledcontrol architecture for multirobot planetary out-posts(CAMPOUT)[2].CAMPOUT includes thenecessary …     

磁性液体密封结构中漏磁的研究

为了研究磁性液体密封结构几何参数的变化对漏磁场的影响规律,选取不同的密封间隙、极齿宽度、齿槽宽度、齿槽深度及密封级数建立物理模型,用有限元方法计算各模型的漏磁场.结果表明在密封结构的轴向和径向距离上存在某一临界值,在临界值的两侧,漏磁场磁感应强度随密封结构几种几何参数的变化趋势不同：在轴向距离大于临界值时,轴向漏磁场磁感应强度随间隙的增大而增大,随级数的增加而减小,随齿宽的增大而减小,随槽宽和槽深的增大而增大;在径向距离小于临界值时,径向漏磁场磁感应强度随间隙的增大而减小,随级数的增加而增大,随齿宽的增大而增大,随槽宽的增大而增大,随槽深的增大而减小;径向距离大于临界值时的情况与小于临界值时的情况刚好相反.     

磁力涡旋压缩机永磁随变机构的力学特性

为减少涡旋压缩机运行时的机械接触,针对无油涡旋压缩机的结构特点提出一种永磁随变机构,并分析其力学特性. 首先,分析永磁随变机构的工作原理,采用虚位移法建立磁力模型,运用理论公式、有限元仿真和实验分析永磁随变机构工作气隙处的磁感应强度;其次,通过理论公式和有限元仿真,分析永磁随变机构结构参数与力学特性的关系;最后,通过磁力涡旋压缩机的性能参数和磁力测试实验对永磁随变机构的力学性能进行验证. 结果表明:永磁随变机构的径向磁力在一定范围内随着径向位移的增加而增加,随着轴向位移的增大而减小;在永磁随变机构工作中,径向位移与永磁随变机构刚度系数近似呈线性关系;在工作距离内永磁随变机构单组磁环的最小轴向磁力为8.73 N,在工作轨迹上的径向力为4.8 N,满足磁力涡旋压缩机的工作需求.      

Research on Oil/Gas In-pipe Inspection Robot

IntroductionRecently pipe is used widely on the industry,agriculture and daily life. Natural gas and oil sup-ply become one of the fundamental public servicesand its impact on the urban infrastructure is get-ting larger. The urban oil/gas pipelines, as theyare buried under the ground, are prone to externalcorrosion usually derived by moisture and chemicalagent in soil, which causes material losses of thepipe wall. Also, cracks in the welded region andthe damages from third parties such as cons…     

基于柔性神经网络自适应PID的磁轴承径向力控制

针对电机磁轴承径向力控制的严重非线性,提出了利用神经网络自适应整定PID参数,从而直接调节磁轴承径向悬浮绕组电流实现转子径向稳定悬浮的控制方案.在利用BP神经网络结合PID控制实现转子径向稳定悬浮的基础上,为改善径向位移跟踪的动静态性能,提出了基于柔性神经网络的径向力控制,给出了详细的控制算法,并仿真比较了柔性神经网络控制与BP神经网络控制下转子在空载和突加负载时径向悬浮情况,仿真结果表明柔性神经网络控制具有更好的动静态性能,为智能控制的进一步应用研究提供了基础.     

THE EDDY LOSSES OF A MAGNETIC THRUST BEARING

Accurate calculations of losses associated with the operation of magnetic bearings are particularly important for high speed applications where the rotor losses are expected to be large and for some particular applications where even low power losses will be critical. Power losses in the magnetic thrust bearing is often neglected, but if there is misaligned in the rotor and bearing, the magnetic field in the thrust bearing is no longer axisymmetric one, or the dynamic control current in the winding is time dependent one, eddy currents are caused to flow inside the conducting material, then the power losses are very important for magnetic bearing design. This paper presents an analytical model of a thrust magnetic bearing, and the magnetic fields, forces and losses of thrust magnetic bearing are calculated. In the calculations the frequency of dynamic control current is up to 1 000 Hz, rotating speed is from 60 rpm to 1 200 rpm, and the non-linearity of material is also taken into consideration. The results shows that if the magnetic field is not saturation, the eddy losses is proportional to dynamic control current frequency and a square function of dynamic control current, and also 5/2 power function of shafts speed.     

基于MATLAB的汽车动力性GUI界面开发

以MATLAB软件的GUI为设计工具,建立了汽车动力性数学模型,通过最小二乘法和插值法绘制了发动机外特性曲线、汽车驱动力与行驶阻力平衡图、加速度倒数曲线、爬坡度曲线,以及加速时间曲线、最高车速变化曲线、加速度变化曲线和爬坡度变化曲线,直观、清晰地分析了汽车的动力性和各参数对动力性灵敏度的影响,使设计者清楚地了解汽车的动力性好坏以及各参数的影响,进而对设计作出改进。     

VALUE OF MOTOR EVOKED POTENTIALS BY MAGNETIC STIMULATION IN DIAGNOSIS OF LUMBOSACRAL RADICULOPATHY

ＶＡＬＵＥＯＦＭＯＴＯＲＥＶＯＫＥＤＰＯＴＥＮＴＩＡＬＳＢＹＭＡＧＮＥＴＩＣＳＴＩＭＵＬＡＴＩＯＮＩＮＤＩＡＧＮＯＳＩＳＯＦＬＵＭＢＯＳＡＣＲＡＬＲＡＤＩＣＵＬＯＰＡＴＨＹＹａｎｇＺｈｅ；ＣｈｅｎＪｕｎｃｈａｎｇ；ＺｈａｏＬｏｎｇｚｈｕＷａｎｇＫｕｎ...     

磁性磨粒光整加工中磁性磨粒的特性及型号编制

作为磨具的磁性磨粒是实现磁性磨粒光整加工技术的必要条件和关键因素,但由于多种原因,目前已经成为制约该技术进入实际应用阶段的技术瓶颈．根据磁性磨粒光整加工的定义,通过分析磁性磨粒的构成和要求,按照不同的构成特点及制备工艺等对磁性磨粒进行分类并编制型号,以方便使用和管理,并为磁性磨粒综合性能评价体系的建立、标准的制定以及磁性磨粒的批量化生产和市场化应用奠定基础,加速磁性磨粒光整加工的实用化进程．     

爬模技术在桥梁施工中的应用

以某大桥高墩施工为例,分别针对爬模系统的组成、塔身爬模施工工艺以及爬模系统的特点进行了详细探讨,指出了液压爬模的施工要点,包括液压爬模系统技术参数、液压爬模系统的安装施工、主塔液压爬模施工,可为同类桥梁施工提供借鉴。     

船舶消除磁罗经自差的“人为航向法”

船舶磁罗经是重要的助航仪器,其剩余自差过大时（一般指50以上时）对船舶安全航行的影响应该引起高度重视。船舶磁罗经自差的主要来源是B／λ和C／λH等两个半圆白差力对罗盘磁针的作用,采用“人为航向法”消除磁罗经自差,对于中小型船舶来说是一种既简捷又实用的有效方法。     

机器人装配中轴和孔插装的装配力分析

给出了在机器人装配中轴孔装配的仿真模型,从力学角度对轴、孔装配过程的柔顺机理进行了理论分析,并用FORTRAN语言模拟轴、孔装配过程中装配力的变化,分析间隙、倾角、侧向偏差等各种因素对装配力的影响,用ORINGIN软件绘制出装配力的变化曲线,为基于力信息控制的机器人主动柔顺装配提供理论依据.     

磁浮列车悬浮导向方案研究

本文介绍了磁浮列车的基本原理、优越性及国内外研究状况，在对两种典型的常导悬浮与导向方案进行分析的基础上，着重比较了它们的一些重要性指标，以及实心导轨由于电磁铁运动产生涡流所引起的电磁阻力的分析与计算，最后选定方案。     

竖井井壁竖向附加力的理论计算方法

从弹性力学的空间轴对称问题出发,从理论上推导建立了竖井竖向附加力的应力表达式．分析该应力表达式可知,在竖向附加力作用下,井壁所受的径向、环向压应力值均为零,竖向附加力对井壁的作用主要体现为轴向压应力,且轴向应力在沿井壁厚度方向几乎无变化,因而可以将作用在井壁外侧的竖向附加力等效为作用在井壁横截面上的均布力．利用该应力表达式对某铁矿竖井井壁竖向附加力进行了计算,得到了井壁应力状况．     

脑梗塞的磁共振成像与临床

本文讨论了80例脑梗塞磁共振成像与临床表现,其中20例有CT检查。多数病例磁共振成像显示为多发性脑梗塞(95%)。梗塞灶在T_1加权是低信号改变;T_2加权呈高信号改变,急性和慢性期特点一致。资料结果表明:磁共振成像定位准确(98.75%)。病灶检出T_2比T_1敏感,磁共振成像检出病灶多于CT。在诊断脑梗塞方面,磁共振成像优于CT。