海洋缆体系统凝集参数法在水下管道维修干式舱设计中的应用

本文采用凝集参数法模拟缆-体结构系统,用时域法对海洋缆体系统的三维动态性能进行了分析,并给出了计算机程序。将此程序应用在水下管道干式压力维修作业舱系统的初步设计中,对其脐带缆在定常流干扰下的动力响应进行分析,计算结果为设计方案的拟定提供了可靠依据。     

正视网络运维问题实现可持续发展

介绍了目前铁通网络运行与维护工作中存在的矛盾和问题，对可持续发展目标进行思考，提出优化网络、加快网管中心建设、大力培养人才等合理化建议。     

基于道路车辆功能安全标准ISO26262的7DCT电控系统设计

为实现DCT电控系统的功能安全,按照道路车辆功能安全标准ISO 26262制定其开发流程。根据整车对DCT的安全目标及功能安全需求,结合3层监控概念对该系统架构进行分层设计,并对安全子系统进行详细设计,在此基础上开发电控系统硬件和软件安全设计规范,最后对所设计系统及规范进行检验。结果表明,所设计系统符合ISO 26262要求,能实现整车的安全目标。     

高速机车牵引齿轮强度的试验研究

对美国和国产要车牵引齿轮进行了强度试验分析，认为只要适当优选材料和工艺，国产机车牵引齿轮要以取代美国的牵引齿轮。     

新能源汽车推广补贴政策效果分析

为加快新能源汽车产业发展,推进节能减排,促进大气污染治理,我国自2009年开展节能与新能源汽车示范推广工作,与之对应的财税补贴政策不断更新出台。为评估新能源汽车推广政策的实施效果,支持相关政策制定,文中根据2013年发布的《关于继续开展新能源汽车推广应用工作的通知》,对符合该政策补助条件的各类车型的推广实施情况进行了细致分析。分析结果表明,我国新能源汽车有了长足的发展,未来仍具备较大的发展潜力。     

Traffic signal timing problems with environmental and equity considerations

Traffic signal timings in a road network can not only affect total user travel time and total amount of traffic emissions in the network but also create an inequity problem in terms of the change in travel costs of users traveling between different locations. This paper proposes a multi‐objective bi‐level programming model for design of sustainable and equitable traffic signal timings for a congested signal‐controlled road network. The upper level of the proposed model is a multi‐objective programming problem with an equity constraint that maximizes the reserve capacity of the network and minimizes the total amount of traffic emissions. The lower level is a deterministic network user equilibrium problem that considers the vehicle delays at signalized intersections of the network. To solve the proposed model, an approach for normalizing incommensurable objective functions is presented, and a heuristic solution algorithm that combines a penalty function approach and a simulated annealing method is developed. Two numerical examples are presented to show the effects of reserve capacity improvement and green time proportion on network flow distribution and transportation system performance and the importance of incorporating environmental and equity objectives in the traffic signal timing problems. Copyright © 2013 John Wiley & Sons, Ltd.     

控制设备CAN总线传输的可靠性研究

CAN通讯在船用电力推进系统变频控制设备中广泛应用,由于工作环境比较恶劣和复杂,系统内部和外部的各种电气干扰都会对CAN通讯数据的传输可靠性造成影响。本文分析了影响CAN通讯可靠性的主要原因,提出了针对性的措施,并在实验中进行了验证。     

一种电力推进变频器控制器的硬件设计

文章提出了一种电力推进变频器的控制器的数字化解决方案,介绍了控制对象对接口设计的要求,详细阐述了控制器的结构组成方案、模块化的板卡设计、独特的电源输入电路和多级硬件故障保护电路设计,该方案提高了控制器运行的维修性、安全性和可靠性。     

Central pattern generator based gait control for planar quadruped robots

In this paper, a gait control scheme is presented for planar quadruped robots based on a biologic concept, namely central pattern generator （CPG）. A CPG is modeled as a group of the coupled nonlinear oscillators with an interaction weighting matrix which determines the gait patterns. The CPG model, mapping functions and a proportional-differential （PD） joint controller compose the basic gait generator. By using the duty factor of gait patterns as a tonic signal, the activity of the CPG model can be modulated, and as a result, a smooth transition between different gait patterns is achieved. Moreover, by tuning the parameters of the CPG model and mapping functions, the proposed basic gait generator can realize adaptive workspace trajectories for the robot to suit different terrains. Simulation results illustrate and validate the effectiveness of the proposed gait controllers.     

Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane＇s dynamic model and central pattern generator （CPG）. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.