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.     

守恒力作用的物体在狭义相对论中的运动

推导出守恒力作用的一维运动物体在相对论中的物理量形式，并且与经典力学中恒力作用下一维运动物体的各量形式比较。     

VTS在防治船舶污染海洋环境中的作用

随着现代航运业及现代石油化工业的快速发展,水路运输已经成为物流运输的重要通道,然而由于船舶交通流量急剧增加,通航环境日趋复杂,恶劣天气频发等因素影响,水路运输带来便捷经济的同时,也给水域环境带来了严重的威胁.文章从预防交通事故和控制船舶污染的角度,对VTS在防治船舶污染海洋环境中可以发挥的作用进行探讨.     

失速点上湿压缩对于跨音速压气机转子性能的影响

In order to study the effects of wet compression on a transonic compressor,a full 3-D steady numerical simulation was carried out under varying conditions.Different injected water flow rates and droplet diameters were considered.The effect of wet compression on the shock,separated flow,pressure ratio,and efficiency was investigated.Additionally,the effect of wet compression on the tip clearance when the compressor runs in the near-stall and stall situations was emphasized.Analysis of the results shows that the range of stable operation is extended,and that the pressure ratio and inlet air flow rate are also increased at the near-stall point.In addition,it seems that there is an optimum size of the droplet diameter.     

基于DSP的火炮数字式中心线校正装置设计

校正火炮传动装置中心线是火炮装配与维修工作中一项重要的工作,针对火炮传动装置中心线测量校正过程繁琐、精度低等问题,基于数码传感器和DSP技术,研制了火炮数字式中心线校正装置,可以直接显示被测部件应加减调整垫的厚度,测量过程简单方便,测量精度大大提高,经试用证明明显加快了装配和维修的进度,提高了校正精度。该装置经简单的改装就可应用于其他车辆的装配和维修,通用性强,适用范围广。     

基坑开挖对紧邻建筑物沉降影响的数值分析

该文介绍了采用数值模拟方法对某地道工程基坑对临近建筑物的影响进行的分析。通过有限元模型,分析了南地道开挖过程对紧邻建筑物沉降的影响,并与监测数据对比。结果表明此方法计算值与监测值基本吻合,可以较好地模拟基坑紧邻建筑物的沉降规律。最后用此方法预测了北地道开挖对紧邻基坑北侧建筑物沉降的影响,对北地道工程施工有一定指导意义。     

劳斯莱斯轴带电机的应用及其优越性

本文首先对船舶轴带发电机的定义和类型进行了简述。在此基础上,主要介绍了劳斯莱斯轴带电机(Hybrid Shaft Generator,HSG)的概念、结构特点、工作模式和优越性。最后对该类型轴带电机的适用范围、经济效益等方面的问题进行了探讨和研究。     

波形钢腹板PC组合连续箱梁桥施工监控

以南京市长江第四大桥北接线滁河大桥为背景,结合波形钢腹板PC组合连续箱梁桥的结构特点,通过全桥的施工过程仿真计算,对该类型桥梁的施工控制进行了研究。介绍了该桥挂篮悬臂施工中的主要监控内容、监控计算、监控方法及监控效果。     

公路隧道CFD建模火灾研究与实验验证

以一段实体隧道为背景，建立计算流体动力学模型，模拟了60 L汽油火灾产生的温度场及其变化，并通过实验进行了比较。温度的模拟值和试验值无论是同一高度不同地点，还是同一高度不同时刻，在总体变化趋势上基本是一致的，而且模拟值相对试验值而言，对工程实际是偏于安全的。实验证明所建立的CFD模型是可靠的，可用于下一步大规模火灾的研究。     

勘测设计一体化、智能化的探讨

论述了勘测设计一体化系统开发的目标、软件组成、软件的实施阶段及每个阶段的应该解决的技术关键。