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.     

Train rescheduling model with train delay and passenger impatience time in urban subway network

This paper considers the train rescheduling problem with train delay in urban subway network. With the objective of minimizing the negative effect of train delay to passengers, which is quantified with a weighted combination of travel time cost and the cost of giving up the planned trips, train rescheduling model is proposed to jointly synchronize both train delay operation constraints and passenger behavior choices. Space–time network is proposed to describe passenger schedule‐based path choices and obtain the shortest travel times. Impatience time is defined to describe the intolerance of passengers to train delay. By comparing the increased travel time due to train delay with the passenger impatience time, a binary variable is defined to represent whether the passenger will give up their planned trips or not. The proposed train rescheduling model is implemented using genetic algorithm, and the model effectiveness is further examined through numerical experiments of real‐world urban subway train timetabling test. Duration effects of the train delay to the optimization results are analyzed. Copyright © 2017 John Wiley & Sons, Ltd.     

新疆地区桥梁病害类型与养护措施探讨

对新疆地区的桥梁常见病害进行阐述,并提出可行的养护措施,以期减少同类病害的发生,为今后的养护工作提供借鉴。     

铁道车辆轴箱弹簧断裂故障对动力学性能的影响

车辆运行过程中,当轴箱弹簧突发断裂故障,会造成动力学状态和性能突变,一系悬挂刚度突然减小,暂时失去承载能力,会威胁车辆行车安全。结合整车的动力学仿真,建立了轴箱弹簧断裂过程的力学模型,对整个断裂过程进行仿真,模拟了轴箱弹簧突然断裂工况下车辆动力学性能变化,分析了轴箱弹簧断裂条件下车辆直线行车安全性以及曲线通过安全性。计算分析结果表明:轴箱弹簧突然断裂导致一系悬挂刚度剧变,引起轮轨垂向力先减小后增大,轮重减载率、脱轨系数等参数增大直至超限,但对轮轨横向力影响不大。     

PARNASSOS与肥大型船的尾部水动力优化

以某肥大型船为研究对象，系列变化其尾部线型，然后利用荷兰MARIN水池开发的粘流计算软件PARNASSOS计算尾部流场，分析粘性阻力和伴流场随线型的变化规律，总结了肥大型船尾部优化时要注意的问题。     

弯道激情

正保时捷在Gayman上用一台水平对置四缸机,替代了原来的水平对置六缸机,不知它还能否在比利牛斯山的山路上证明自己——它不比任何一位前辈逊色机舱内传来了机长广播的声音,"乘务员请注意,我们将在10分钟后降落"。紧接着Bing的一声,头顶上面的安全带指示灯亮起,我前面一位坐在过道旁边的先生刚好望向机尾的卫生间,脸色瞬间变得紧张起来,不知是应该起身前往还是等待降落,to pee or not to pee,纠结如此,想必他一定是一个英国人。     

免烘干密封胶在汽车涂装线的应用

文章详细阐述了一种免烘干的硅烷改性聚合物密封胶的产品特性、技术条件,并结合某汽车生产线应用实例,总结了该密封胶的施工条件、注胶设备及与高温密封胶的比较等。     

施工风险管理的探讨

通过对施工风险及管理的阐述,提出施工风险管理中应注意的问题,并说明将风险管理理论和方法引入工程施工中的可行性.     

港口融资中的港航博弈

通过介绍目前跨国航运企业在我国港口的投资现状，分析政府政策在吸引航运企业投资中的重要作用，建立优惠政策与企业投入相关的博弈模型。通过对博弈模型的分析，得出相关结论，并应用于上海洋山港投资与建设的分析。     

山海关站站场改造设计与施工过渡方案

秦沈客运专线山海关站站场改造工程根据其所处的地理位置 ,决定在施工和施工过渡方案的安排上要充分考虑如何减少对运输的影响。文章重点介绍施工过渡方案的编制。