锥壳零件自动铺丝变角度轨迹规划算法

基于自动铺丝设备具有可灵活操作的铺放头及铺放所采用的预浸纤维丝宽度窄等特点,提出一种新型的铺层成型算法——变角度丝束铺放,其具有无间隙和无重叠的特点.以锥壳零件为例,首先建立此类零件几何特征的数学模型,推导出锥壳零件上任意轨迹的数学方程;然后提出变角度铺层的成型原理及方法,建立变角度轨迹规划算法的数学模型并推导出锥壳零件上任意变角度铺放路径及路径曲率的数学方程,再结合自动铺丝设备及预浸丝束自身特点对变角度铺层的可铺性进行分析.最后通过仿真实验对文中算法进行了验证.     

复合材料管状结构自动铺丝路径算法

以母线为基础分段拟合生成铺丝路径.首先根据管状构件特点构造关键控制母线,通过插值生成所有母线作为铺丝参考路径,再采用与母线固定角度铺丝方法生成所有路径;然后讨论了对路径交叉和间隔情况的处理,并给出了铺丝精度控制策略;最后利用CATIA V5R14及其二次开发环境实现了铺丝算法,并通过飞机S型进气道的应用,验证了该算法的正确性与有效性.     

两类非可展曲面零件自动纤维铺放变角度轨迹规划算法

为了避免非可展回转外壳类零件及非可展曲面变截面接头类零件在自动纤维铺放过程中出现除端面以外的剪切和重送现象,简化纤维铺放过程的复杂程度,提出一种针对这2类非可展曲面零件自动纤维铺放变角度轨迹规划算法.首先获取零件外形的数据信息,然后计算不同位置处的纤维铺放角,得到初始轨线上的点,最终获取所有轨迹线;此外,还针对不同零件给出了初始点的获取方法;并针对非可展回转外壳类零件及非可展曲面变截面接头类零件,以CATIA CAA与VC6.0为开发平台,给出了该算法的具体实现步骤.通过计算相邻两丝束之间的间隙或重叠,对文中算法的可行性进行了理论验证.     

基于简化三维线性倒立摆模型的模糊控制射门算法

针对双足机器人传统射门算法存在仅适用于固定射门角度和射门姿态的问题,提出了一种基于简化三维线性倒立摆模型的模糊控制射门算法,用于实现多角度、多姿态的射门。首先利用简化三维线性倒立摆模型规划出零力矩点(ZMP)轨迹和质心轨迹;其次在双腿支撑相对双足机器人进行射门角度和姿态的调整,同时利用贝塞尔曲线规划出游动腿的轨迹;最后利用模糊控制算法精确地规划出双足机器人的射门轨迹。实验部分利用NAO机器人仿真平台验证了本文提出射门算法的性能,并与其它射门算法进行了比较。最后将实物NAO机器人用于全过程与多角度的实际射门实验,验证了本文提出射门的算法可行性与准确性。     

网格曲面参数化映射的变形补偿及其在曲面加工中的应用

针对基于网格曲面参数化的轨迹规划中存在映射变形进而影响轨迹规划精度的问题,在分析网格曲面参数化映射变形场的基础上,提出了引入映射变形补偿的计算方法,包括补偿角度变形的方向映射、补偿拉伸变形的长度映射、针对不同三角片具有不同映射变形量的大跨度映射变形处理策略.在实例分析中,对参数化结果的映射变形进行了量化评估,并生成了复杂网格曲面上的等距线环形轨迹与实际的摆线抛光轨迹,验证了所提方法能够有效地补偿映射变形,保证轨迹规划的精确性,从而能够充分发挥网格曲面参数化的降维优势.     

基于改进蚁群算法的滚筒截割轨迹规划

针对采煤机滚筒容易截割到岩石等情况,造成采煤机部件损坏、增加煤中矸石含量等问题,提出了一种基于改进蚁群算法的滚筒截割轨迹规划方法.通过分析普氏系数与电流、牵引速度等参数之间的数学关系模型,根据其参数对工作面信息进行描述,采用栅格建模法构建栅格工作面模型;对蚁群算法的信息素更新机制进行了改进,利用改进后的算法在虚拟栅格工作面中对滚筒截割轨迹进行规划,并采用三次B样条对其规划得出的最优或次优截割轨迹离散点进行拟合,从而得到一条平滑的滚筒截割轨迹.仿真结果表明,在复杂地质条件下,改进算法能较好地对截割轨迹进行规划,有效避免滚筒从任意起点截割到岩石等情况,三次B样条能很好地进行曲线拟合,拟合后的截割轨迹更加平滑,有利于引导采煤机滚筒自动截割.     

利用ABF++保角参数化的网格曲面刀轨规划

针对基于网格曲面参数化的刀轨规划中存在映射拉伸变形的问题,提出一种引入映射拉伸系数的网格曲面刀轨规划方法.首先采用ABF++保角参数化算法将网格曲面展平到参数域内;然后根据映射变形分析逐三角片地计算映射拉伸系数与梯度,并基于此将三维网格上的轨迹参数转换到参数网格上;最后根据参数域内的轨迹参数分别生成往复式刀轨与环形刀轨.以人脸模型为例进行了仿真与加工实验,验证了该方法的有效性.     

等残留高度曲面加工刀具轨迹生成算法验证

对等残留高度曲面加工刀具轨迹规划方法进行实验,以验证这种算法的有效性.     

利用三次样条改进蚁群算法的无人机航路规划

针对无人机在二维平面自动飞行中转弯角度过大、路径规划困难的问题,研究了蚁群算法在复杂环境下航路规划中的应用,利用链接图简洁的特点建立空间模型,对无人机的飞行环境和航迹代价进行了描述,并结合三次样条插值函数与蚁群算法,提出了改进蚁群算法,对无人机飞行路径进行优化,并给出算法软件流程。利用MATLAB进行了仿真实验,得出了最优的航路,算法具有较好的稳定性和鲁棒性,对轨迹中不可飞的尖角进行了平滑处理,使得航路为曲线轨迹,满足无人机工作的性能要求,减少无人机在飞行中的代价损耗,验证了该优化算法在无人机航路规划中的可行性。     

基于压路机多角度判别的倾轧轨迹面检测算法

为实时监控压路机的填压覆盖情况,提出一种基于压路机多角度判别的倾轧轨迹面自动检测算法.提出BOF-MCF(bag-of-feature-matched correlation filter)特征参数,实现压路机角度的自动检测.针对不同角度下的压路机,提出多角度压路机ROI粗定位及其轮廓二级自动分割算法,结合LSD(line segment detector),自动检测压路机碾轮轴长/架长,将帧间图像的碾轮轴长/架长进行叠加计算,得到压路机倾轧轨迹面.实验对国家电网施工现场的视频数据进行测试,其结果表明,该算法对压路机的角度识别正确率达到90％ 以上,对倾轧轨迹面识别的正确率为83.00％-92.72％.     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

基于QTE的蒙古文显示机制研究与实现

蒙古语言是中国蒙古族使用的通用语言,由于蒙古文区别于其他文字的书写方式和其自身变形机制等特点,在很多通用的文字处理引擎中都不被支持。在嵌入式产品开发与应用领域中Linux加QTE已经成为流行方式。该文给出了一种在QTE环境上实现基于标准Unicode的蒙古文点阵显示和变形算法, 并自定义了支持蒙古文的QTE组件,扩展了QTE功能,为在Linux加QTE方式的嵌入式体系结构中处理蒙古文提供了一种解决方法。     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

基于AD9626的模拟信号采集存储卡设计

自然界的绝大部分信号都是以模拟的形式存在,因此模拟信号的采集转换存储在数字时代十分关键。文章讨论了在雷达信号处理领域基于AD9626的AD采集存储卡的设计原理、硬件结构和程序设计与芯片配置等问题,为今后相关领域的研究提供了可参考的方案。     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

A human-computer interface for non-computer specialists

The COM teleconferencing system was designed to be easy to use for both beginners and people with much computer experience. A number of design choices in organizing the human-computer interface were considered very carefully. These design problems are not unique for teleconferencing applications, but will appear in many other developments of human-computer interfaces for non-computer specialists. This report discusses naming conventions, menu format, user commands, help facility and the treatment of ‘type ahead’ from the users.