Inverse Kinematics Analysis of Weld Inspection Manipulator at Pipe Joint in Nuclear Industry

A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.     

平面交叉口中的交通岛设计方法初探

摘要：论文首先讨论了不同类型交通岛的特点及其适用性，然后从交通岛的形状、大小、鼻端设计等方面，针对平面交叉口中的交通岛设计方法进行了详细的分析研究，提出了交通岛的设计方法。     

Kinetic characteristic for a synchronal rotary compressor

The synchronal rotary compressor is si mple instructure,but it has stronger adaptability for a vari-ety of working medium,so it is a good type as aircompressor,oil pump andrefrigerationsystemcom-pressor.The geometric theory and structure charac-teristics of this mechanis m are introduced[1].Itgives the designing background for the synchronalrotary compressor.The calculational methods of arotary speed of cylinder and relative speed bet weenthe cylinder and bladed rotor are deduced in detail;the…     

MODEL AND SIMULATION FOR A BRUSHLESS AC GENERATOR WITH AROTARY RECTIFIER

Objective For a brushless AC generator with a rotary rectifier, it is necessary and significant to model and simulate at normal and fault operation states. Methods Two new concepts, namely, Simulink signals and PSB (Power System Blockset) variables, are proposed, and the difference between the two concepts is clarified. Based on the new model for synchronous machines, a simulation model for a brushless AC generator with a rotary rectifier is constructed by Matlab/Simulink/PSB. This new model, which has a speed input terminal and an exciting voltage input one, can simulate the real electrical characters and direct mechanical connection between two synchronous machines perfectly. The rotary rectifier is a three-phase full-wave bridge rectifier which consists of six diodes. The model for the diodes is a macro-model which possesses much better accuracy than an ideal one of switches. Results Based on the present model, some simulation results such as exciting current waveform, phase current waveform and phase voltbge waveform are afftained at several operation conditions. Conclusion The simulation for a brushless AC generator with a rotary rectifier is demonstrated at normal and fault operation states, respectively. The results confirm the presented method.     

祥云寺互通式立交方案设计探讨

祥云寺互通式立交是连接京港澳高速公路、郑州西南绕城高速公路、开封至新郑国际机场高速公路的枢纽式互通立体交叉,对互通方案的研究思路、互通功能和互通形式进行分析比较,得出了复杂因素控制下枢纽式互通立体交叉的设计思路,解决了该互通式立交的选型问题.     

城市道路不规则交叉口渠化设计

不规则交叉口是城市交通的瓶颈,合理的渠化设计是提高不规则交叉口通行能力的重要途径,但国内针对不规则交叉口渠化的研究较少,且缺乏系统性。文章分析了不规则交叉口渠化的基本思路,从交通调查、现状问题分析、渠化设计及方案评价等4个方面提出了不规则交叉口渠化的基本步骤．并结合VISSIM仿真软件对渠化方案进行评价,论证方案的合理性。     

信号交叉口影响区确定方法研究

根据车流在不同城市道路单元上的不同运行状态,将路段进一步划分为交叉口影响区和基本路段．提出以相邻交叉口信号相位差循环周期内的周期平均最大排队长度为依据来划分,并建立了相应的排队模型、讨论了相邻交叉口信号相位差循环特性以及交叉口影响区的确定方法,给出了算例分析。其研究思路和结论可服务于路网容量研究和通行能力研究。     

城市道路平面交叉口改进方案评价方法的研究

针对城市道路平面交叉口改进方案评价的复杂性,建立了交叉口改进方案的综合评价指标体系,提出了基于层次分析法(AHP)的评价模型与方法,采用定量与定性相结合的方法确定了各项评价指标及其分级标准。并对北京市交大东路和学院南路平面交叉口的改进优选方案进行了实例分析, 并采用 VISSIM 微观动态仿真软件,对该改进优选方案进行了模拟仿真评价验证。     

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客运交通需求预测是道路交通规划的基础.根据开发区道路交通规划一般为宏观控制性规划，及开发区客运交通需求发展不同于一般城市的交通发展的特点，以土地利用规划为基础，按照“宏观控制，局部调整”的预测思路，对常规的“四阶段”模型预测法进行了改进，提出了在没有现状交通出行调查的情况下进行开发区客运交通需求预测的方法.     

论平交口左转车道几何设计参数的合理取用

针对目前国内关于平交口渠化设计相关标准不完善的现状,通过参考国外发达国家较为成熟的设计理念和标准,总结出平交口渠化设计中左转车道设计参数的合理取值,可为今后进行平交口设计提供理论依据,具有一定的实际意义。