Sensorimotor self-learning model based on operant conditioning for two-wheeled robot

Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. The model consists of seven elements: the discrete learning time set, the sensory state set, the motion set, the sensorimotor mapping, the state orientation unit, the learning mechanism and the model’s entropy. The learning mechanism for SMM TWR is designed based on the theory of operant conditioning (OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing, and it can learn the skills to keep itself balance through interacting with the environment.     

Approximate method for reliability assessment of complex phased mission systems

Phased-mission systems (PMSs) have wide applications in engineering practices, such as manmade satellites. Certain critical parts in the system, such as cold standby, hot standby and functional standby, are designed in redundancy architecture to achieve high reliability performance. State-space models such as Markov process have been used extensively in previous studies for reliability evaluation of PMSs with dynamic behaviors. The most popular way to deal with the dynamic behaviors is Markov process, but it is well known that Markov process is limited to exponential distribution. In practice, however, the lifetime of most machinery products can follow non-exponential distributions like the Weibull distribution which cannot be handled by the Markov process. In order to solve this kind of problem, we present a semi-Markov model combined with an approximation algorithm to analyze PMS reliability subjected to non-exponential failures. Furthermore, the accuracy of the approximation algorithm is investigated by comparing to an accurate solution, and a typical PMS (attitude and orbit control system) is analyzed to demonstrate the implementation of the method.     

Design of car battery protection device based on torsion spring

In recent years, electric vehicles are developing rapidly in automotive industry. When involved in accidents, if the batteries of electric cars break, it is likely to cause a short circuit and start a fire. Aimed at this issue, a car battery protection device based on torsion spring has been designed. The car battery protection device can deform in a particular pattern in a collision accident. Impact energy of the accident is absorbed by the deformation, which can significantly reduce impact force on the batteries. Meanwhile, based on the principle of maximum energy absorption, some crucial parameters of the device can be determined. Furthermore, an impact simulation conducted on ANSYS software shows that maximum safety factors can be obtained when the material of car battery protection device is carbon steel. The analysis of “safe space” in the car battery protection device shows that the device can prevent battery damage effectively in general circumstances, which means the reliability of the device has been verified. Therefore, when applied to electric vehicles, the car battery protection device, which can prevent secondary accidents, significantly improves the vehicle security in accidents.     

Gain and noise figure analysis of Er<Superscript>3+</Superscript>-doped YAG transparent ceramic microchip amplifier

The rate equations and the power evolution equations based on excited state absorption (ESA) and cooperative upconversion (CUC) of high concentration erbium-doped yttrium aluminum garnet (YAG) transparent ceramic waveguide amplifier are set up to analyze the effects of the pump power, active ion concentration and waveguide length on the amplifier gain and noise figure (NF). The numerical analysis predicts that with a pump power of 100mW, an active ion concentration of 1.0×10²⁶ ion/m³ and a waveguide length of 3 cm, a small-signal gain of 30 dB and an NF of 5 dB can be achieved in the micro-chip amplifier.     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

Application of large eddy simulation in the performance study of wave blocker

The configuration and aerodynamic performance of the inlet system are important aspects in the process of installing a gas turbine on a naval vessel. Under the requirements, large eddy simulation （LES） is used to simulate the three-dimensional fluid flow in the wave blocker of a marine inlet filter. The Smagorinsky-Lilly sub-grid model was used to model motions of small-scale structures. During numerical simulation, the SIMPLE algorithm was applied. The central-differencing spatial discretization scheme and the second order accuracy finite difference for the temporal discretization were used. Simulation gives satisfactory distribution of the vorticity fields and turbulent kinetic energy. Compared with the k-ε turbulent model, the results of LES are better for the distribution of parameters. The results of experimental study in a small-scale wind tunnel indicate that numerical calculation has higher accuracy. Therefore, the methods used are worthy of reference and introduction for the design of an inlet system.     

Study of the helicopter blade running elevation measurement system

Helicopter blade running elevation measurement is an important measure target in helicopter blade dynamic balance experimentation. The elevation influences the helicopter＇ s security and other performance capabilities. In testing, however, it has been difficult to measure the elevation when the rotor reaches high speeds. To get a simple, fast and highly accurate measurement system, photo electricity technology was applied to measuring the blade running elevation. Discussed is the measurement principle of blade running elevation, tire design of the measurement system and analysis of the measurement precision.     

垂直及斜出水流场的二维及三维TR-PIV试验

本文对钝头回转体垂直及斜出水流场采用TR-(Time-Resolved)PIV技术进行测量,并对斜出水流场进行3D-Stereo PIV(三维体视 PIV)测量.文中介绍了测试技术及测量结果,揭示了出水过程中流动结构及其演变,展示了TR-PIV技术对具有瞬态历程特征的出水流场研究的适应性.     

基于固有应变法的大型圆筒焊接变形预测

本文使用热弹塑性有限元法对圆筒多道焊固有应变规律进行研究,总结纵向固有应变系数规律,并用于计算大型圆筒构件多道焊焊接变形,与实测值相符。     

集贲区域计算机联锁通信设计与实现

本文对首次在铁路应用的区域计算机联锁范围内的通信设计做了简要介绍，并针对区域计算机联锁的特点，阐述了行车指挥系统、铁路数字专用通信系统、列车无线调度电话（以下简称无线列调）在区域范围内的应用。