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.     

强夯法在下卧深层软基处治中的应用

结合工程实例，分析强夯法处理软弱路基机理，总结强夯法形成硬壳层在处理下卧深层软基的新思路，对类似公路的建设具有借鉴作用。     

强夯法在我国的发展及应用

强夯法地基加固技术因具有众多优点而在国内外获得了广泛的应用.通过对强夯法在我国应用发展的回顾,分析了强夯法的应用和研究现状,然后根据其目前存在的问题,提出未来的研究重点.     

Dynamic model for ride comfort evaluations of the rubber-tired light rail vehicle

The dynamic model was developed to evaluate vibration accelerations and ride comforts during the running of the Korean-standardised rubber-tired light rail vehicle. Ride comfort indexes were analysed and tested in accordance with UIC 513R by using the dynamic model and the actual vehicle in the test track. Based on the comparisons between analysis results and test results, the validity of the developed dynamic model was evaluated. It was verified whether or not the developed Korean-standardised rubber-tired light rail vehicle met the specified target specification on ride comfort. In addition, the influence of the wearing of guide wheels on ride comfort was estimated.     

车用发动机扭转振动的分析与控制

基于扭转振动的基本原理,对发动机两种类型的扭转振动减振器的设计计算做深入的陈述.结合两款有针对性的发动机,对所要计算的基本参数及该参数所要限定的范围作了具体说明.最后用本公司自主开发的发动机扭振分析软件对一款发动机进行模拟计算,并与试验测量结果进行对比分析,并证明计算的结果是准确可靠的.     

Investigation of the effects of sleeper-passing impacts on the high-speed train

The sleeper-passing impact has always been considered negligible in normal conditions, while the experimental data obtained from a High-speed train in a cold weather expressed significant sleeper-passing impacts on the axle box, bogie frame and car body. Therefore, in this study, a vertical coupled vehicle/track dynamic model was developed to investigate the sleeper-passing impacts and its effects on the dynamic performance of the high-speed train. In the model, the dynamic model of vehicle is established with 10 degrees of freedom. The track model is formulated with two rails supported on the discrete supports through the finite element method. The contact forces between the wheel and rail are estimated using the non-linear Hertz contact theory. The parametric studies are conducted to analyse effects of both the vehicle speeds and the discrete support stiffness on the sleeper-passing impacts. The results show that the sleeper-passing impacts become extremely significant with the increased support stiffness of track, especially when the frequencies of sleeper-passing impacts approach to the resonance frequencies of wheel/track system. The damping of primary suspension can effectively lower the magnitude of impacts in the resonance speed ranges, but has little effect on other speed ranges. Finally, a more comprehensively coupled vehicle/track dynamic model integrating with a flexible wheel set is developed to discuss the sleeper-passing-induced flexible vibration of wheel set.     

基于复杂网络的机场群航线网络动态特征分析

随着航空运输和区域经济一体化的快速发展,我国已形成京津冀、长三角和珠三角三大典型机场群。文章以三大典型机场群为研究对象,构建基于滑动时间窗的航线网络拓扑结构,运用复杂网络理论分析机场群航线网络动态特征和同构性。研究结果表明,机场群航线网络具有无标度和小世界网络特征,并表现出显著的波峰和波谷动态性,并且长三角机场群的航班集中度分布明显高于其他两大机场群。文章首次从航线网络视角,运用Dice相似系数衡量了机场群内部各机场之间航线网络同构性程度。     

铁道车辆轴箱弹簧断裂故障对动力学性能的影响

车辆运行过程中,当轴箱弹簧突发断裂故障,会造成动力学状态和性能突变,一系悬挂刚度突然减小,暂时失去承载能力,会威胁车辆行车安全。结合整车的动力学仿真,建立了轴箱弹簧断裂过程的力学模型,对整个断裂过程进行仿真,模拟了轴箱弹簧突然断裂工况下车辆动力学性能变化,分析了轴箱弹簧断裂条件下车辆直线行车安全性以及曲线通过安全性。计算分析结果表明:轴箱弹簧突然断裂导致一系悬挂刚度剧变,引起轮轨垂向力先减小后增大,轮重减载率、脱轨系数等参数增大直至超限,但对轮轨横向力影响不大。     

混合下单模式下在线餐饮订单配送优化模型

针对在线餐饮订单量激增及订单到达非均匀分布导致的调度不合理与资源浪费等问题，提出顾客提前下单与动态实时下单相结合的下单模式，研究此模式下订单配送优化. 考虑在线餐饮订单配送优化具有的动态VRP和多回程VRP属性，以最小化配送成本为目标，建立带有软时间窗的整数规划模型. 设计基于插入算法和2-opt 邻域搜索的混合启发式算法求解模型. 通过算例，分析提前下单顾客比例、提前下单时长等因素的影响. 结果表明，单个因素的增加会降低配送成本，当两者同时增加，因系统达到饱和使配送成本不升反降，因此要调整措施使顾客下单情况与系统配送能力相适应.     

Influence of uneven rail irregularities on the dynamic response of the railway track using a three-dimensional model of the vehicle–track system

A mathematical model of the vehicle–track interaction is developed to investigate the coupled behaviour of vehicle–track system, in the presence of uneven irregularities at left/right rails. The railway vehicle is simplified as a 3D multi-rigid-body model, and the track is treated as the two parallel beams on a layered discrete support system. Besides the car-body, the bogies and the wheel sets, the sleepers are assumed to have roll degree of freedom, in order to simulate the in-plane rotation of the components. The wheel–rail interface is treated using a nonlinear Hertzian contact model, coupling the mathematical equations of the vehicle–track systems. The dynamic interaction of the entire system is numerically studied in time domain, employing Newmark's integration method. The track irregularity spectra of both the left/right rails are taken into account, as the inputs of dynamic excitations. The dynamic responses of the track system induced by such irregularities are obtained, particularly in terms of the vertical (bounce) and roll displacements. The numerical model of the present research is validated using several benchmark models reported in the literature, for both the smooth and unsmooth track conditions. Four sample profiles of the measured rail irregularities are considered as the case studies of excitation sources, examining their influences on the dynamic behaviour of the coupled system. The results of numerical simulations demonstrate that the motion of track system is significantly influenced by the presence of uneven irregularities in left/right rails. Dynamic response of the sleepers in the roll direction becomes more sensitive to the rail irregularities, as the unevenness severity of the parallel profiles (quantitative difference between left and right rail spectra) is increased. The severe geometric deformation of the track in the bounce–pitch–roll directions is mainly related to such profile unevenness (cross-level) in left/right rails.