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.     

非结构动网格方法在内燃机数值模拟中的应用

提出了一种动态层和弹性平滑结合的非结构动网格方法,在网格运动方向进行网格合并和分裂。由于动态层方法可视为网格重构方法的特例,提出了一种内燃机缸内过程处理的二阶精度的插值计算方法。当网格运动达到一定条件时,将多组网格层同时合并或分裂,减少了网格合并和分裂次数,提高了计算效率。对于流场计算部分,采用有限体积法离散流场控制方程,运用SIMPLEC算法求解NS方程,开发了内燃机三维CFD数值模拟程序,计算实例表明计算结果与试验值吻合较好。     

多自由度线性系统在非结构扰动下鲁棒稳定的扰动界

本文讨论多自由度线性系统在非结构扰动下鲁棒稳定的扰动界.分别应用L扭punov 方法和基于矩阵的Kroncker乘积与其它组合矩阵的性质的方法,导出了使扰动系统 保持渐近稳定的、直接由系统的系数矩阵扰动项表示的扰动界。文末给出了用于阐明 所得结果的数值算例。      

非结构化网格浸入边界法的流固耦合数值模拟(英文)

This paper presents an improved unstructured grid immersed boundary method. The advantages of both immersed boundary method and body fitted grids which are generated by unstructured grid technology are used to enhance the computation efficiency of fluid structure interaction in complex domain. The Navier-Stokes equation was discretized spacially with collocated finite volume method and Euler implicit method in time domain. The rigid body motion was simulated by immersed boundary method in which the fluid and rigid body interface interaction was dealt with VOS (volume of solid) method. A new VOS calculation method based on graph was presented in which both immersed boundary points and cross points were collected in arbitrary order to form a graph. The method is verified with flow past oscillating cylinder.     

Mesh motion approach based on spring analogy method for unstructured meshes

Mesh motion strategy is one of the key points in many fluid-structure interaction problems. One popular technique used to solve this problem is known as the spring analogy method. In this paper a new mesh update approach based on the spring analogy method is presented for the effective treatment of mesh moving boundary problems. The proposed mesh update technique is developed to avoid the generation of squashed invalid elements and maintain mesh quality by considering each element shape and grid scale to th...     

网格节点型有限体积法在滑动轴承润滑特性求解中的应用

本文采用网格节点型有限体积法求解二维瞬态雷诺方程,采用矢量化方法离散雷诺方程,从而构建并得到新的数值模型,该模型既有有限体积法守恒性的特点,又能适用于结构复杂的求解域.通过与相关算例的对比验证,证明了该模型可适用于滑动轴承润滑特性的研究,同时精度也可以得到保证;根据计算得到的压力分布特点,采用不同的网格类型和网格数量重新划分求解域,并对计算结果和时间进行了对比,结果表明可以采用不同的稀疏网格来提高计算效率;通过计算圆锥形织构轴承的压力分布,证实了该模型对复杂求解域的良好适用性.     

基于M形深度架构的非结构化道路可行驶区域推荐模型

针对边界模糊、路况多变的非结构化道路，为满足智能汽车在正常、应急等复杂行驶工况下对可行驶区域的视觉检测需求，提出一种在M形深度架构下融合多尺度交互策略和双重注意力机制的可行驶区域推荐模型，能够在复杂驾驶场景中精细分割出非结构化道路的强推荐、弱推荐、不推荐行驶区域。首先，在编码器-解码器的骨架基础上，构建倒金字塔式的多尺度分层输入和分层输出结构，以有效融合非结构化道路的浅层形态学特征与深层语义信息，并平衡模型在不同尺度上的预测偏倚，提升复杂驾驶场景下对多尺度与变尺度目标的分割精度；其次，构建集成通道注意力和空间注意力的跳跃连接结构，使模型在实现编码特征与解码特征高效传递的同时，聚焦于学习与道路可行驶性相关的重要特征，进一步强化模型对非结构化道路的检测性能。通过多种途径构建包含城郊、乡村、园区等真实场景的非结构化道路驾驶数据集。试验结果表明：得益于M形深度架构对多尺度交互策略和双注意力机制的融合，提出的模型在多种真实驾驶场景下均能较好地实现强推荐行驶区域、弱推荐行驶区域、不推荐行驶区域和背景区域的精细分割，平均交并比达到92.46%，平均检测速度达到22.7帧·s^-1；与现有其他主流模型相比，提出的模型兼顾了分割精度和时间效率，在非结构化道路可行驶区域检测任务上有明显优势。     

Application of the VOF method based on unstructured quadrilateral mesh

To simulate two-dimensional free-surface flows with complex boundaries directly and accurately, a novel VOF (Volume-of-fluid) method based on unstructured quadrilateral mesh is presented. Without introducing any complicated boundary treatment or artificial diffusion, this method treated curved boundaries directly by utilizing the inherent merit of unstructured mesh in fitting curves. The PLIC (Piecewise Linear Interface Calculation) method was adopted to obtain a second-order accurate linearized reconstruction approximation and the MLER (Modified Lagrangian-Eulerian Re-map) method was introduced to advect fluid volumes on unstructured mesh. Moreover, an analytical relation for the interface’s line constant vs. the volume clipped by the interface was developed so as to improve the method’s efficiency. To validate this method, a comprehensive series of large straining advection tests were performed. Numerical results provide convincing evidences for the method’s high volume conservative accuracy and second-order shape error convergence rate. Also, a dramatic improvement on computational accuracy over its unstructured triangular mesh counterpart is checked.     

非结构化网格在印尼亚齐电厂温排水模型中的应用研究

印尼亚齐(ACEH)电厂取水口温升是判断工程平面布置方案优劣的关键。应用局部加密的非结构化网格建立了平面二维潮流温排水数学模型。该模型能很好地描述复杂地形,既保证了工程区域水动力计算精度,也减少了计算量。在水动力计算过程中考虑了洋流和季风等长周期动力因素,研究了温排水在这种长周期动力条件下的扩散规律。计算了不同布置方案条件下温排水的影响范围,对不同布置方案进行了评价。     

基于非结构网格的风压分配方法

刚性模型测压风洞试验测试得到的测点风荷载一般无法直接用于结构抗风设计及风致响应计算。以结构表面风压测点作为控制点,通过多项式插值得到非结构网格并将测试得到的测点风荷载匹配至网格的节点和虚面上,以此作为计算分块风荷载、整体风荷载、节点风荷载及风致响应风荷载输入的依据。以某大跨度空间结构为例,说明了该方法的可行性、准确性和通用性。