Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.     

Design for Two-degree-of-freedom PID Regulator Based on Improved Generalized Extremal Optimization Algorithm

A kind of new design method for two-degree-of-freedom(2DOF)PID regulator was presented,in which,a new global search heuristic--improved generalized extremal optimization(GEO)algorithm is applied to the parameter optimization design of 2DOF PID regulator.The simulated results show that very good dynamic response performance of both command tracking and disturbance rejection characteristics can be achieved simultaneously.At the same time,the comparisons of simulation results with the improved GA,the basic GEO and the improved GEO were given.From the comparisons,it is shown that the improved GEO algorithm is competitive in performance with the GA and basic GEO and is an attractive tool to be used in the design of two-degree-of-freedom PID regulator.     

二灰碎石基层中SO3含量控制指标试验研究

火电厂脱硫技术的应用对改善大气环境具有重要意义。粉煤灰中硫的存在对二灰混合料的强度是有贡献的,但过量的SO3对二灰混合料体积安定性将产生重要影响。通过大量试验,对SO3在二灰碎石基层中的作用进行深入研究,对低质粉煤灰的推广应用具有重要参考价值。     

地基处理的电渗法及其进展

介绍用于地基处理的电渗法的加固机理,并对电渗法的发展进行回顾与总结,指出电渗法应用与研究中存在的若干问题,并进行相应的讨论。     

载人潜水器耐压球壳的多目标优化设计

采用基于响应面(RSM)近似模型和遗传算法(GA)对某深海载人潜水器耐压球壳进行多目标优化设计。首先建立深海载人潜水器耐压球壳的结构优化模型,通过试验设计(DOE)获得设计目标的响应特性,拟合得到响应面近似模型,最后采用Pareto遗传算法对响应面模型进行多目标优化求解,得到潜水器耐压球壳的优化设计方案。     

淤泥质海岸外航道淤积计算

利用水流泥沙榆移方程和淤积公式建立了淤泥质海岸上外航道淤积计算公式,通过水槽实验和数值模拟对公式中的参教作了修订,公式计算结果与物模、数模、现场的资料及规范推荐的公式结果一致.     

客车逆变电源并联供电系统及其控制

对客车逆变电源输出并联系统进行了研究,阐述了逆变电源输出并联运行时的相位和幅值差与逆变器输出的有功功率与无功功率的关系,提出一种通过对逆变器各自输出的有功功率和无功功率进行实时检测和计算、调整各逆变器输出电压的幅值和频率以达到多台逆变电源无线并联运行的方案。实验结果表明,该系统运行稳定,设计方案有效。     

基于KENTRACK的铁路沥青混凝土底砟层疲劳特性评价

重复动载疲劳损伤是沥青混凝土底砟层的破坏形式之一。本文建立了沥青混凝土底砟层的三维有限元分析模型,分析其在列车荷载作用下的受力变形特性。采用KENTRACK设计方法分析了沥青混凝土底砟层的疲劳寿命。结果表明:沥青混凝土底砟层等厚度替代基床表层的路基结构形式在列车荷载作用下基床表层的竖向动变形和振动加速度明显减小;沥青混凝土底砟层的层底拉应变在10×10^-6~90×10^-6,处于较低水平;沥青混凝土底砟层具有良好的疲劳耐久性,可用于工程实践。     

申嘉湖高速公路嘉兴段沥青路面结构设计方案

按照2005年7月交通部在南京召开的沥青路面技术研讨会精神,结合浙江北部地区特有的自然地理条件,对沥青混凝土路面结构的7个层面进行详细的技术经济论证,从12种可能的路面结构设计方案中推荐适合申嘉湖高速公路嘉兴段特点的最佳沥青路面结构设计方案。     

交通运输系统运行的评价指数

以上海铁路、公路、水运、航空等各行业一些具有代表性的样本企业在一定时期内运行状况的实绩考评为背景, 在建立了相应评价基准模型的基础上, 根据样本企业各项实绩指标与基准指标值的正负偏离度导出综合偏差系数, 并由综合偏差系数导出各行业的评价指数, 从而起到衡量一个交通行业乃至整个交通运输系统运行状况的“晴雨表”作用。