一种具有柔顺抓取功能的水下作业机械手

建立了机械手的三维模型,对机械手的工作原理和静力学特性进行研究,分析了运动部件之间的相对关系;机械手采用液压驱动方式,驱动力大、结构简单;机械手有三个手指,采用4个驱动元件实现对机械手11个自由度的驱动,三个手指之间的相对位置可根据抓取目标物的形状而改变,抓取物体时具有形状自适应能力.     

盐邵线扬州段通航分析与仿真研究

盐邵线扬州段航道条件差,运行复杂,易形成航道堵塞。分析造成航道拥堵的主要原因,提出相应对策,同时,构建多节点航运调度仿真模型,引入调度准则和评判标准,模拟研究盐邵线扬州段的船舶航行情况及调度措施效果。结果表明:盐邵线扬州段为多节点航道,盐邵船闸的通过能力为制约全线通过能力的关键;造成盐邵线航道拥堵的主要原因是同向船舶追越、异向节点交会,因此应借助过闸船舶运行调度来减少航道堵塞现象的发生;通过多节点航运调度模型,可进行盐邵线航运调度模拟和优化,尽管优化方案对船舶耗费时间减少效果不明显,但可以有效降低盐邵线的拥堵风险,后者对盐邵线调度更具指导意义。     

高速公路联网监控技术标准化的意义

高速公路标准化管理是实现管理效益最大化的有益探索.鉴于此,立足于高速公路联网监控系统,结合北京市高速公路联网监控系统的工程实践、管理需求,阐述了联网监控技术要求的产生背景、主要定位,并重点探讨了联网监控技术标准化的现实意义,以推进高速公路运营管理向标准化和科学化方向发展.     

Optical fiber based slide tactile sensor for underwater robots

In the underwater environment, many visual sensors don’t work, and many sensors which work well for robots working in space or on land can not be used underwater. Therefore, an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers. The principles and structure of the sensor are explained in detail. Its static and dynamic characteristics were analyzed theoretically and then simulated. A dynamic characteristic model was built and the simulation made using the GA based neural network. In order to improve sensor response, the recognition model of the sensor was designed based on the ‘inverse solution’ principle of neural networks, increasing the control precision and the sensitivity of the manipulator.