修井机作业空间舒适度综合评价研究

石油修井机作业空间的舒适度直接与作业的可靠性、安全性以及高效性直接关联的。本文针对石油修井机作业空间舒适度的各项指标因素,采用模糊数学法与层次分析法相结合的手段计算各指标因素的权重值与整体舒适度的评价分值。评价体系的建立及量化的评价结果可以客观真实的反映出石油修井机作业空间的舒适度情况,从而有针对性的进行改进。     

Internet-based Teleoperation Platform For Mobile Robot

An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display . Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.     

抛物线过渡的并联机器人线性轨迹规划

针对并联机器人工作空间较小,轨迹规划时易于越出工作空间范围这一不足,提出了应用直线两端加抛物线过渡实现位置和速度连续的轨迹规划方法．并通过实例和图线比较得出该方法更适合于并联机器人这类小工作空间运动规划的结论．最后说明了该方法的可靠性．     

Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast recovery.It requires an accurate and fast positioning of the puncture needle.We propose a teleoperated robotic system for percutaneous puncture to support RFA.We report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning mechanisms.Preliminary positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray images.We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace.The workspace of the proposed robot system complies with clinical require-ments to support RFA.     

水泥混凝土路面下路基工作区深度确定方法的探讨

通过讨论原路基工作区深度确定方法的局限性及应用于水泥混凝土路面时的不合理之处,提出以荷载作用于水泥混凝土面板不同荷位时的路基应力比（板角、板边时的路基应力与板中时的比值）作为水泥混凝土路面下路基工作区深度的控制指标。采用有限元方法,讨论了路基应力扩散特征和工作区深度,给出了路基深度0.8m处的应力比取值范围。结果表明：不同轴型（单轴、双轴和三轴）及不同公路等级的路基工作区深度变化在0.65～1.55m之间,原0.8m的路基工作区深度已不能完全满足现在路面结构和轴荷条件下的情况。在综合考虑轴荷、路面结构和公路等级基础上,推荐了路基工作区深度值。     

网络遥操作机器人系统视频传输及同步技术

研制了一种新颖的应用于网络遥操作机器人系统的网络视频流传输系统,该系统基于C/S模型并采用MPEG4视频编码器对图像进行编解码,实现了机器人现场视频的实时采集、编码、传输和播放。此外,对网络遥操作机器人系统的视频、音频和力信息的传输同步问题展开了研究。实验证明所研制的系统不仅能保证机器人现场图像传输的实时性,而且能较好地实现多信息的同步。     

基于广义波变换的透明遥操作

基于广义波变换的力反馈遥操作系统的透明性,推导了实现系统透明遥操作的最小波反射准则和严格阻抗匹配准则。理论分析和数字仿真均表明:广义波变换遥操作系统的透明性是一个与输入频率相关的特性;同一组参数在不同的输入频率下,系统的透明性不同;当系统输入频率增高时,透明降低。严格阻抗匹配的波变量遥操作系统在相应的输入频率下,透明度高于最小波反射的波变量遥操作系统;最小波反射准则对输入频率的敏感程度则低于严格阻抗匹配准则。     

路基加固对路基工作区深度的影响研究

采用ANSYS软件计算分析不同公路等级的路基工作区深度,考察路基加固厚度和强度对路基工作区深度的影响。研究结果表明,路面结构厚度对路基工作区深度有显著的影响,路面结构厚度越厚,路基工作区深度越小,高等级公路的路基工作区深度比二级公路小;在加固强度一定的情况下,增大加固厚度可显著降低二级公路的路基工作区深度,而对高等级公路则效果甚微;在加固厚度一定的情况下,提高加固强度能显著降低路基工作区深度;与增大加固厚度相比,提高加固强度是一种更为有效的方法。     

Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manioulator system.     

重载交通下的路基工作区界定问题探讨

通过路面病害调查、有限元路面结构力学计算,分析了重载作用下,路基刚度对我国目前高速与等级路路面结构应力分布的影响与路基应力作用深度。分析表明,重载交通下的路基过大变形是导致高速公路结构疲劳开裂的重要原因之一。等级路的路基甚至地基过大变形是引发路面早期开裂的关键因素之一。在重载作用下,目前的高速与等级路面结构,仍把0~80 cm作为路基工作区深度是不够的。路基工作区深度,高速公路应为1.5 m,并被现场测试的路基轮载分布深度验证;等级路应为2 m,同时应考虑天然地基的变形问题。路基上部60 cm石灰土处理起到路基与半刚性底基层之间刚性过渡的作用,也是应对重载、确保路基对路面结构支撑稳定性的有效措施。