触觉传感器及感知技术研究现状与发展趋势

触觉感知技术可用于对物体的探索和操作,对环境的交互作用具有重要意义。本文从介绍触觉传感器应满足的机械手操作任务要求出发,全面综述了不同类型触觉传感器的结构和工作原理,并分析了它们的优缺点。分析讨论触觉传感器在人工皮肤和生物医学领域的应用现状,最后总结了先进的机器学习算法和信号处理技术在触觉传感系统中的应用。     

核电站取水口海生物驱赶消杀技术研究

近年来,国内多座滨海核电站海生物频繁入侵,可能引发冷源取水口堵塞、核电站跳堆事故,严重影响核电站的安全可靠运行。本文对国内外核电站冷源防护技术进行了广泛调研,介绍了多种海生物驱赶消杀技术,分析了各种技术的作用原理,论述了各种技术的优缺点,给出了工程指导建议。结合核电站取水口立体纵深防护原则,提出了一种海生物驱赶消杀综合系统模型,为核电站改造以及新建核电站规划设计提供了参考。     

Investigation into untripped rollover of light vehicles in the modified fishhook and the sine maneuvers. Part I: Vehicle modelling, roll and yaw instability

Vehicle rollovers may occur under steering-only maneuvers because of roll or yaw instability. In this paper, the modified fishhook and the sine maneuvers are used to investigate a vehicle's rollover resistance capability through simulation. A 9-degrees of freedom (DOF) vehicle model is first developed for the investigation. The vehicle model includes the roll, yaw, pitch, and bounce modes and passive independent suspensions. It is verified with the existing 3-DOF roll-yaw model. A rollover critical factor (RCF) quantifying a vehicle's rollover resistance capability is then constructed based on the static stability factor (SSF) and taking into account the influence of other key dynamic factors.

Simulation results show that the vehicle with certain parameters will rollover during the fishhook maneuver because of roll instability; however, the vehicle with increased suspension stiffness, which does not rollover during the fishhook maneuver, may exceed its rollover resistance limit because of yaw instability during the sine maneuver. Typically, rollover in the sine maneuver happens after several cycles.

It has been found that the proposed RCF well quantifies the rollover resistance capability of a vehicle for the two specified maneuvers. In general, the larger the RCF, the more kinetically stable is a vehicle. A vehicle becomes unstable when its RCF is less than zero. Detailed discussion on the effects of key vehicle system parameters and drive conditions on the RCF in the fishhook and the sine maneuver is presented in Part II of this study.     

Hierarchical distributed coordination strategy of connected and automated vehicles at multiple intersections

In this paper, we present a hierarchical distributed coordination strategy for connected and automated vehicles (CAVs) that are travelling through multiple unsignalized intersections. The control strategy focuses on the improvement of vehicle fuel efficiency and system mobility. In presence of wireless communication among the involved CAVs and the intersection controllers, our coordination strategy focuses on leading the CAVs travel through a road network without conventional traffic light control and ensuring collision avoidance at the intersection areas. We propose a three-layered coordination strategy in this paper. First, we evaluate the road desired average velocity considering both upstream and downstream traffic to speed up the traffic density balance. Second, the intersection controllers optimally assign reference velocity to each vehicle based on the minimization of velocity deviation from its current velocity and collision avoidance at the intersections. Finally, fast model predictive control (F-MPC) is applied for each vehicle to track their reference velocity in a computationally efficient manner. Two simulation scenarios with different difficulty levels have been implemented on a two-interconnected intersection network. Simulation results indicate the feasibility and scalability of the proposed method, as well as vehicle fuel efficiency and system mobility improvement.     

非线性缆索单元及其在缆索承重桥中的应用

柔性缆索本身所具有的高度几何非线性给缆索计算带来困难,而缆索线形的确定是缆索承重桥能否实现的关键.文中建立了Lagrange坐标系下缆索曲线方程,推导出2节点非线性缆索单元的切线刚度矩阵,并给出了应用该单元求解缆索线形的迭代格式.用该方法计算某大桥方案主缆线形和无应力长度,并将结果与解析法结果对比分析,二者相对误差不大于0.06%,从而证明该方法的可靠性.     

海口市城市桥梁管理系统研究

该文根据海口市城市桥梁的运营现状和管理上的需求,提出了基于intemet和GIS平台的海口城市桥梁管理信息系统研究与开发的总体思路。该系统具有桥梁档案管理、技术评价、维修对策确定、重车过桥咨询等功能;系统设计以构件为基础,考虑桥梁的不同结构形式和受力特点,具有自动分析功能。     

自升式钻井平台桩腿齿条窄间隙机器人自动立焊工艺研究

随着先进制造技术的发展,机器人焊接逐步取代手工焊已成为工程装备行业发展的必然趋势。本文采用一种新型窄间隙机器人自动立焊系统代替传统手工电弧焊,研究一种178mm超厚桩腿齿条板双面同时立焊对接工艺。试验结果分析表明,选用合理的焊接工艺,机器人自动立焊系统在实现良好的齿条板自动化对接的同时,焊缝成形美观,综合力学性能良好。与传统手工电弧焊对接工艺相比,生产效率得到了极大的提高。     

基于Pro/E的圆锥滚子弧面分度凸轮参数化设计与单侧面加工研究

本文对水下作业机械手中的关键部件,弧面分度凸轮机构进行研究,介绍了基于Pro/E圆锥滚子弧面凸轮参数化建模方法,对应用Pro/Program进行参数化的方法进行了深入分析,以Microsoft Visual Basic 6.0为开发工具建立了参数驱动界面,实现Pro/E的二次开发,有效地提高了产品的设计效率。用ADAMS软件进行运动仿真,验证了参数化设计的正确性。并以圆锥滚子弧面分度凸轮机构为研究对象,介绍了圆锥滚子弧面分度凸轮的加工难点及解决方法,给出了刀位控制的数学模型,用Matlab仿真计算验证其可行性。     

牵引负荷增广正序网潮流与负序计算

本文提出了在电牵引负荷等位阵杭条件下,由所定义的边界网络,建立迭加综合导纳拒阵的增广正序网,从而得出电牵引负荷潮流与负序计算的简便方法。      

三轴转台控制系统校正与仿真设计

做为一种用于特定研究目的的试验和测量系统,三轴转台存在着内部和外部各种各样的误差因素。文章针对主要误差源之一的三轴转台控制系统进行校正,并对校正后的系统做计算机仿真,有效提高了系统精度,满足了模拟试验需求。