智能水下机器人的建模和控制策略研究(英文)

To provide a suitable model for AUV simulation and control purposes, a general nonlinear dynamic model including a novel thruster hydrodynamics model was derived. Based on the modeling method, the “AUV-XX” simulation platform was established to carry out fundamental tests on its motion characteristics, stability, and controllability. A motion control strategy consisting of both position and speed control in a horizontal plane was designed for different task assignments of underwater vehicles. Combined control of heave and pitch was adopted to compensate for the reduction of vertical tunnel thrusters when the vehicle is moving at a high speed. An improved S-surface controller based on the capacitor plate model was developed with flexible gain selections made possible by different forms of restricting the error and changing the rate of the error. Simulation results show that the derived general mathematical model together with simulation platform can provide a test bed for fundamental tests of motion control. Additionally, the capacitor plate model S-surface control shows a good performance in guiding the vehicle to achieve the desired position and speed with sufficient accuracy.     

论第三者对责任保险人的代位权

在财产中,保险人在赔付被保险人的损失后有权向对被保险人负有责任的第三者行使代位求偿权则是毫无疑义,为了保护第三者的合法权益,当被保险人投保责任保险后所产生的对第三者的赔偿责任,只要是在承保范围内,第三者可以不受合同相对性原则的约束,完全有权向责任保险人行使代位权,要求责任保险人按保险合同的约定,在其承保责任范围内承担赔偿责任。第三者对责任保险人的代位权依我国合同法的规定属于债的保全范畴,依英国法的规定属于债权转让。而油污责任保险中第三者对责任保险人拥有直接的诉权。第三者行使代位权是有限制的,必须符合我国代位权的要件。为保护第三者的合法权利,建议制订相关的第三者代位诉责任保险人法。     

A new plan and coordination strategy for robot system based on state space

This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method. Foundation item: the National Natural Science Foundation of China (No. 60675041) and the Program for New Century Excellent Talents in University (No. NCET-06-0398)     

高填方公路路堤支挡新结构计算机仿真研究

由于山区地形的特殊性,经常遇到高填方的路段。双面互锚直立式挡土墙是高填方公路路堤的一种新型的公路结构支挡形式。借助于Msc.Marc对其进行了计算机仿真研究。通过正交试验的手段研究了影响计算结果的诸因素的显著性,在此基础上对现场试验结构进行了仿真研究,二者的结果彼此印证了可信性。     

CAE技术在汽车侧面帘式气囊模块开发中的应用

建立了汽车侧面帘式气囊的有限元模型,利用MADYMO软件进行了气囊折叠和动态充气的模拟.还叙述了利用CAE方法进行帘式气囊几何形状的静态与动态设计及袋体压力集中情况的分析.     

bcl-2基因蛋白在外阴营养不良及外阴癌的表达

利用细胞凋亡抑制基因ｂｃｌ－２单克隆抗体及免疫组化ＬＳＡＢ法,对正常外阴皮肤、慢性外阴营养不良、不典型增生和外阴癌组织进行标记,发现ｂｃｌ－２蛋白在正常外阴皮肤基底层中有弱阳性表达;在增生型营养不良、不典型增生及外阴癌组织中表达率有不同程度增高,与外阴硬化苔癣型和混合型营养不良有显著差异（Ｐ＜０．０５,Ｐ＜０．０５,Ｐ＜０．０１）;而增生型与不典型增生ｂｃｌ－２基因蛋白表达无明显差异（Ｐ＞０．０５）;外阴癌的表达率最高;该基因蛋白表达与外阴癌细胞分化程度有关,与临床分期无关。     

针对行人保护头部仿真分析中雨刮臂的接触设置研究

利用计算机进行有限元仿真分析,在汽车行人保护性能开发过程中有着广泛的应用。对于行人保护建模来说,风挡玻璃区域应按照实际情况对玻璃进行准确建模,然而对于风挡玻璃与雨刮器采用以往的接触设置,雨刮臂与玻璃产生穿透现象。因此为了解决穿透问题,准确模拟出其实际运动关系,对于雨刮臂与风挡玻璃之间的接触设置研究是非常有必要的。     

铝合金激光焊气孔数值模拟

采用透明玻璃观察激光焊过程的匙孔行为。基于菲涅耳吸收和多重反射方法,引入气泡模型,建立三维数值模型,研究铝合金激光焊中匙孔行为和匙孔型气孔的形成机理。结果表明:匙孔的形成与坍塌机理在数值模拟与试验中是相似的;匙孔前壁处的熔融金属沿前沿方向向下流动,而在匙孔后壁的熔池形成顺时针涡流;匙孔坍塌的主要步骤是匙孔后壁处形成凸起,匙孔后壁上的凸起继续向匙孔前壁处流动并与匙孔前壁接触形成液桥;气孔形成的主要因素是匙孔坍塌形成气泡和气泡被凝固界面捕获。     

Experimental Study on Health Detection of Operating Metro Tunnels with Vehicle-mounted GPR北大核心CSCD

The vehicle-mounted GPR technique, a non-contact and long-distance detection method with air-cou- pled antennas, is a fast nondestructive detecting technique in the field of structural health safety assessment of tunnels and underground engineering, which has changed the traditional measurement method of hand-held GPR antenna closely attached to the tunnel lining. This paper describes the detecting conditions and working principles of this technique used in health assessment of metro tunnels, and evaluates the feasibility of vehicle-mounted GPR to de- tect the metro tunnel in the basis of analyzing the test results. The experimental results show that this technique could detect the metro tunnel at normal operating speed within the vehicle gauge, providing a new method for the maintenance and safety inspection of operating metro tunnels. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

基于有限元法的渔船碰撞仿真

以一起3万吨商船碰撞渔船为例,在充分考虑几何非线性、材料非线性和接触非线性的基础上,对商船满载和压载两种工况下与渔船的碰撞进行了仿真研究,分析了不同速度工况下渔船的损毁情况、应力情况和总能量吸收规律等。结果表明:碰撞主要破坏渔船的局部结构,且发生时间很短;商船速度越快,渔船损毁越严重;渔船破损处的形状与商船的形状非常相似,结合商船航行记录及仿真结果有助于判断商船是否为肇事船舶。