OPTIMIZATION OF THE BIPED ROBOT GAIT USING GENETIC ALGORITHM

IntroductionThe control of biped walking machines re-mains a challenge due to the high degree of com-plexity,organization,and efficiency required tomaintain balance[1,2 ] .Recently,realizing the dy-namic walking of the biped is of interest to manyresearchers and engineers.One method is to designa kind of gait,then use it as a reference trajectoryfor control. According to the deviation betweenthe Zero Moment Point(ZMP) and the center ofshape ofthe supporting area,a kind of optimal gaithas be…     

大型汽车滚装船参数横摇研究

对于航行在纵向波浪中的船舶,参数横摇是横稳性中典型的不利情形。文章对参数横摇作了介绍,并对某大型汽车滚装船进行了实例分析。首先,对船舶在纵向波浪中的稳性变化进行了计算;然后,根据衡准进行验证;最后,采用数值仿真方法,研究了稳性变化、横摇阻尼、航速、航向等参数对参数横摇的影响。     

4WD概念车驱动桥的设计与分析

基于三维数字化CAD/CAE应用平台,运用NX 6.0、Pro/E 5.0和Ansys 11.0软件,通过对主减速器、Torsen差速器等总成的参数化建模和虚拟装配、运动仿真,探讨了4WD概念车驱动桥的设计方法。     

高速转向架轮对参数化设计与验证

为提高转向架轮对的设计效率,基于参数化设计理论,提出了一种面向性能的参数化设计方法.通过轮对结构参数与动力学、强度性能参数的关联分析,提取轮对的关键设计参数,并以此实现三维参数化自动建模,进而进行模型的动力学及强度评价,通过修改关联设计参数,以实现快速优化设计.基于此开发了高速转向架轮对参数化设计系统,并验证了所确定的设计参数的合理性及设计方法的准确性.     

斜交梁桥空间模型支座反力参数化研究

基于忻州市某高速公路预应力混凝土现浇连续斜箱梁工程实例,桥梁跨径布置为(22+2×30+22)m,采用大型通用有限元分析软件ANSYS对该斜交桥建立实体空间有限元模型,分析支座布置间距d及斜交角θ在恒载以及恒载+车道偏载两种工况下对斜交桥梁支座反力的影响规律。研究结果表明:在恒载工况下,支座间距越大,边墩、次边墩支座反力分布越不均匀;同样,斜交角θ越大,边支墩支座反力分布越不均匀。在恒载+车道偏载工况下,边墩、次边墩支座反力变化规律基本同恒载工况,但中支墩支座反力的参数化分析规律略有不同。     

船舶结构有限元模型局部修正方法研究

为了实现船舶结构有限元模型中开孔和趾端的快速建模,针对有限元网格的局部区域细化方法,基于Patran平台设计开发参数化建模程序。实测证明,该程序能够快速准确地创建开孔和趾端,在一定程度上减轻审图验船人员的繁琐重复劳动,提高审图效率。     

基于Morabito方法的滑行艇喷雾详细研究的计算机程序开发(英文)

Recently, Morabito(2010) has studied the water spray phenomena in planing hulls and presented new analytical equations. However, these equations have not been used for detailed parametric studies of water spray around planing hulls. In this paper, a straight forward analysis is conducted to apply these analytical equations for finding the spray geometry profile by developing a computer program based on presented computational process. The obtained results of the developed computer program are compared against existing data in the literature and favorable accuracy is achieved. Parametric studies have been conducted for different physical parameters. Positions of spray apex are computed and three dimensional profiles of spray are examined. It is concluded that spray height increases by an increase in the speed coefficient or the deadrise angle. Ultimately, a computational process is added to Savitsky's method and variations of spray apex are computed for different velocities. It is shown that vertical, lateral, and longitudinal positions of spray increase as the craft speed increases. On the other hand, two new angles are defined in top view and it is concluded that they have direct relation with the trim angle. However, they show inverse relation with the deadrise angle.     

Examination of factors affecting freeway incident clearance times: a comparison of the generalized F model and several alternative nested models

Traffic incidents are a principal cause of congestion on urban freeways, reducing capacity and creating risks for both involved motorists and incident response personnel. As incident durations increase, the risk of secondary incidents or crashes also becomes problematic. In response to these issues, many road agencies in metropolitan areas have initiated incident management programs aimed at detecting, responding to, and clearing incidents to restore freeways to full capacity as quickly and safely as possible. This study examined those factors that impact the time required by the Michigan Department of Transportation Freeway Courtesy Patrol to clear incidents that occurred on the southeastern Michigan freeway network. These models were developed using traffic flow data, roadway geometry information, and an extensive incident inventory database. A series of parametric hazard duration models were developed, each assuming a different underlying probability distribution for the hazard function. Although each modeling framework provided results that were similar in terms of the direction of factor effects, there was significant variability in terms of the estimated magnitude of these impacts. The generalized F distribution was shown to provide the best fit to the incident clearance time data, and the use of poorer fitting distributions was shown to result in severe over‐estimation or under‐estimation of factor effects. Those factors that were found to impact incident clearance times included the time of day and month when the incident occurred, the geometric and traffic characteristics of the freeway segment, and the characteristics of each incident. Copyright © 2012 John Wiley & Sons, Ltd.     

基于Pro/E的车体导航式参数化设计系统开发

首先对轨道车辆的车体结构做了简要描述,介绍了车体模块化划分及参数化控制的方法和内容,研究导航式参数化设计系统开发的技术路线并展示了系统运行界面,最后提出系统实施过程中的几点体会,对在企业推广应用该系统具有很好的参考意义.     

基于变换函数的船体曲面参数化修改技术研究

为实现基于CFD的船型自动优化,需要一种参数化的船体型线生成方法.文中改进了一种基于变换函数的船型参数化方法,以使变换船型更丰富、合理,该方法可以通过改变几个参数即可实现船体型线的自动生成.研究表明,只要选择合适的变换函数,参数的取值范围合理,则可以保证变化后的船型仍然满足光顺性等特征.以1 300 TEU集装箱船和戴维泰勒水池DTMB5415标模为例,阐述了基于变换函数的船体型线变换过程,结果表明,基于变换函数的船型变换方法可以应用于船型精细优化中.