基于新型性能指标的冗余度机械臂重复运动规划之方案分析与验证

为解决冗余度机器人手臂在运动过程中出现的关节角偏差问题,探讨与分析了一种基于新型性能指标的二次型优化模型,以使机械臂的关节能实现重复运动.在考虑各种关节物理极限(如关节角度极限和关节速度极限)的情况下,该模型最终被转化为一个标准的二次型优化问题来求解.同时,基于负梯度法的原理分析和基于PUMA560的平面四连杆机械臂的计算机仿真结果表明,该方案具有可行性和有效性.     

海上搜救模拟器中大规模地形场景的实时绘制

大规模地形场景的实时绘制在虚拟现实、地理信息系统、战场仿真等领域有着广泛的应用.为满足海上搜救模拟器直升机单元视景系统的需求,对大规模地形场景的建模与实时绘制技术进行了研究.利用Google Earth 获取地形数据,使用ArcScene构建三维地形,并在Creator中设置多级LOD以保证绘制的实时性,同时利用GetScreen软件获取与地形相对应的纹理数据,并将纹理映射到三维地形上,最终运用OSG软件对地形场景进行实时绘制.试验表明提出的方法可实现大规模地形场景的高效逼真绘制.     

潜艇新型作战系统发展构想

本文分析了潜艇作战系统的现状及发展趋势,并提出了对未来潜艇新型作战系统的功能目标和体系架构的发展设想和研究思路.     

Investigation on transient dynamic behaviors of low-tension undersea cables

This paper presents a numerical analysis of the dynamic transient behaviors of undersea cables. In this numerical study, the governing equations based on Euler-Bernoulli beam theory are adopted, and they can satisfy many applications no matter what the magnitude of the cable tension is. The nonlinear coupled equations are solved by a popular central finite difference method, and the numerical results of transient behaviors are presented when several kinds of surrounding conditions, such as different towing speeds of surface vessel, different currents and waves with various frequencies and amplitudes, are exerted. Then a detailed comparison of the results, including the upper end tension and cable shape in time-domain, is made under the above external excitations, and finally the possible reasons for these are further explained.     

First-principles prediction of ductility in β-type Ti-Mo binary alloys

Recent studies suggest that the ratio of the shear modulus (G) to the bulk modulus (B) and the Poisson’s ratio (ν) are good indicators of ductility. Using the method of supercell and the first-principles pseudopotential plane-wave method, the G/B and ν of the β-type Ti-Mo binary alloys with Mo molar fraction (x _Mo) ranging from 6.25% to 37.5% are calculated. The results show that the ductility of β-type Ti-Mo binary alloys first increases with increasing x _Mo and reaches the maximum when x _Mo is about 25%, and then reduces with more increasing x _Mo. The charge density difference calculations suggest that the x _Mo dependence of the ductility can be ascribed to the change of bonding characteristics between Ti and Mo atoms in the [111] direction.     

Development and application of thermal mathematical model of iron ore pellet bed in grate

Based on the analysis of heat transfer mechanics, physical and chemical change of pellet drying and preheating process in grate, the mathematical model is established and solved by three-diagonal matrix algorithm. With Visual Basic 6.0 a simulation software is developed. The model is verified by measurements at a domestic pellet plant, and the temperature distribution of pellet bed is gained. Meanwhile, the influence of different operation parameters on the pellet thermal process is studied. The results can be taken as a basis of practical production control and the grate optimizing design.     

提高江海货船的营运经济性

通过对江海货船的统计和分析,提出了提高货船营运经济性的一些观念和措施：船、机、桨的良好匹配是货船节能降耗的关键,正确掌控货船的经济航速,螺旋桨要素的优选和经济合理地处理江海货船多用途、跨航区的需要。     

基于DSP+FPGA控制架构的矩阵变换器设计

本文设计了一台5 kW直接型矩阵变换器的原理样机,包括各功能电路组成,双向开关器件选择,驱动电路与辅助电源等;特别是针对矩阵变换器调制与换流策略复杂的问题,搭建了DSP+FPGA的控制系统,充分利用了前者运算速度快与后者资源丰富的优点,并完成了满功率实验。实验结果表明,本文搭建的矩阵变换器原理样机运行可靠稳定。     

Asymptotic field of mode Ⅱ dynamic growing crack in visco-elastic material

A mechanical model of visco-elastic material is established in order to investigate viscous effect in dynamic growing crack-tip field of mode Ⅱ. It is shown that in stable creep growing phase, elastic deformation and viscous deformation are equally dominant in the near-tip field, the stress and strain have the same singularity, namely, (σε) ∝r^-1/(n-1). The asymptotic solutions of separatied variables of stress, stain and displacement in crack-tip field are obtained by asymptotic analysis, and the results of numerical value of stress and strain in crack-tip field are obtained by shooting method. Through numerical calculation, it is shown that the near-tip fields are mainly governed by the creep exponent n and Mach number M. By the asymptotic analysis to the crack-tip field, the fracture criterion of mode Ⅱ dynamic growing crack of visco-elastic materials is put forward from the point of view of strain.     

Shockwave-based queue estimation approach for undersaturated and oversaturated signalized intersections using multi-source detection data

With the progress of information and sensing technologies, estimating vehicular queue length at signalized intersections becomes feasible and has attracted considerable attention. The existing studies provided a solid theoretical foundation for the estimation; however, the studies have some restrictions or limitations more or less. This paper presents a new methodology for estimating vehicular queue length at signalized intersections using multi-source detection data under both undersaturated and oversaturated conditions. The methodology applies the shockwave theory to model queue dynamics. Using data from probe vehicles and point detectors, analytical formulations for calculating the maximum and minimum (residual) queue lengths of each cycle are developed. Ground truth data were collected from numerical experiments conducted at two intersections in Shanghai, China, to verify the proposed methodology. It is found that the methodology has mean absolute percentage errors of 17.09% and 12.28%, respectively, for maximum queue length estimation in two tests, which are reasonably effective. However, the methodology is unsatisfactory in estimating the residual queue length. Other limitations of the proposed models and algorithms are also discussed in the paper.