折叠翼弹跳机器人机构设计及运动性能分析

为提高弹跳机器人的弹跳性能,解决弹跳机器人姿态调节和弹跳距离的问题,设计一种折叠翼弹跳机器人.通过调节多链弹跳机构的空间开链机构姿态实现对机器人弹跳朝向和起跳角的控制,研究折叠翼的滑翔下落特性增加机器人的弹跳距离.进行了姿态调整仿真和运动轨迹仿真,并在研制的折叠翼弹跳机器人样机上进行了弹跳运动实验.结果该样机显示出较高的弹跳性能.当起跳角度为80?时,弹跳高度约为0.98 m.当起跳角度为60?时,弹跳距离约为3 m,弹跳距离约为对比试验中无折叠翼弹跳机器人的1.7倍,但弹跳高度略低于无折叠翼弹跳机器人.折叠翼弹跳机器人具有良好的弹跳性能,能够完成地面上任何姿态的弹跳运动.     

可折叠轮式弹跳机器人FoldJumper的运动性能研究

可折叠轮式弹跳机器人FoldJumper采用滚动和弹跳两种运动方式,分别用于通过平坦路面以及越过障碍物.该机器人设计有2条可折叠的腿,其末端安装1根拉伸弹簧.弹跳模式下,电机-齿轮-凸轮系统驱动两条腿展开,弹簧拉开存储弹性势能;弹簧释放后,两腿迅速折叠,弹簧弹性势能转化为机器人动能,实现弹跳运动;轮式模式下,两腿处于伸展状态,通过安装于足端的轮子实现前行.进行了运动学和动力学建模,通过数值仿真分析了机器人的运动性能.并制作了机器人实验样机,质量约215g,折叠后长度小于7cm.实验结果表明,FoldJumper可以实现高度约为20cm、水平距离约为10cm的弹跳运动和速度为6.5cm/s的轮式运动.     

面向侦察机器人的气动弹跳机构建模与分析

为提高侦察机器人的运动和生存能力,本文将弹跳运动与轮式运动相结合,建立了一种新型侦察机器 人．本文以一种新颖的气动弹跳机构实现了机器人的弹跳运动,介绍了气动弹跳机构的特性,推导了气动弹跳过程 中各耦合参量之间的关系,分析了弹跳高度的影响因素,并进一步提出调整换向气阀开关时间从而控制机器人弹跳 高度的控制方案．最后,对所设计的气动弹跳机器人进行了越障分析和实验验证．结果表明了该侦察机器人气动弹 跳机构的合理性和实用性．     

基于光电成像技术的运动员垂直弹跳高度测试

针对运动员弹跳过程持续时间短,弹跳位置相对不固定,弹跳高度测试操作复杂的问题,提出一种基于线阵光电成像技术的运动员垂直弹跳高度测试方法;首先构建大视场垂直弹跳高度测试系统,线阵CCD相机进行实时获取,得到目标弹跳轨迹图像;然后对目标弹跳轨迹图像进行图像分析和处理,高精度提取弹跳特征点,从而获得运动员垂直弹跳的运动时间;最后依据运动学公式,实现运动员垂直弹跳高度的准确测试;进行多组实验并分析实验数据,结果表明在1500mm的弹跳测试范围内,实验相对误差范围在3%以内,证明了该方法的可行性。     

星面探测仿生弹跳机器人设计、仿真及实验

基于袋鼠的跳跃运动机理和齿轮—五杆组合机构,设计了一种用于星面探测的小型间歇式弹跳机器 人．提出了仿袋鼠结构、运动形态及产生非线性弹跳动力的闭链机构的弹跳模型．采用D-H 法建立了机器人运动方 程,并对其跳跃运动步态、仿生运动特性和弹跳效率进行了分析,给出了该机器人设计的整体结构．运用ADAMS 软件对机器人进行动力学建模与全过程运动仿真,验证了该闭链仿生弹跳机构及其运动的有效性,较大幅度提高了 弹跳机构对能量的利用率,其效率可达70%,避免了弹跳机器人提前起跳．最后设计制作了弹跳机器人原理样机, 并进行跳跃试验．试验结果表明：样机试验与仿真结果基本是一致的;1.4 kg 的弹跳机器人跳远度为813 mm,跳高 度为471 mm,从而解决了利用微小电机驱动机器人实现弹跳运动的问题．     

面向助力膝关节外骨骼的弹性驱动器研制及实验研究

为满足下肢助力外骨骼不同行走模式下有效驱动的需求,提出了一种弹性驱动器,通过电机带动丝杠螺母串联弹簧,结合相应的刹车片,实现弹性驱动器对不同行走模式下的助力膝关节外骨骼的驱动.对弹性驱动器进行工作模式分析及刹车装置的动力学研究.为优选出合适的刹车片材料及弹簧,进行了弹性驱动器的刹车力及弹跳冲击实验.在建立的Solid Works、ADAMS虚拟样机联合仿真平台上对弹性驱动器驱动的膝关节外骨骼进行运动仿真,考察弹簧刚度及等效质量对弹性驱动器工作性能的影响,为下肢助力机器人弹性驱动器的设计提供理论依据.     

轮腿式机器人越障动力学建模与影响因素分析

研究了一种具有多种驱动模式的轮腿式机器人的越障动力学问题．首先描述了机器人爬越垂直障碍的 过程,进而构建了越障过程的动力学模型．该模型可以体现各电机输出转矩之间的关系以及运动状态、重心分布等 影响因素．通过对整个过程的分析,确定了驱动系统中两种电机输出力矩的极限状态,并分析各因素对其最大输出 力矩的影响,最后给出了机器人最大越障高度的计算方法．上述结果可为提高机器人的复杂环境适应能力提供理论 依据．     

基于柔性铰链支承的热驱动硅微机械手的力学模型及性能分析

微机械手是一种典型的微型执行器,是微型机电系统(MEMS)的重要研究内容之一.以基于柔性铰链的电热驱动硅微机械手为研究对象,建立了微夹钳的二次超静定力学模型,导出了钳口处输出位移的解析式,并在此基础上对硅微机械手的性能进行了分析.分析表明,微夹钳的输出位移与柔性铰链切割半径成正比,切割半径越大,输出位移越大;对各加载电压下的微夹钳输出位移,其试验和理论结果的变化趋势一致,即微夹钳输出位移随输入电压的增加基本呈线性增加.     

功率管高频驱动回路参数优化研究

高频、大功率一直是功率电路的发展方向。提高工作频率的主要方法,一是通过功率管的更新迭代,减小输入电容及增强其耐压、耐应力能力;二是适度增强驱动电路的驱动性能。通过分析功率管有源等效驱动回路,对驱动回路参数进行理想化建模、分析和仿真。在此基础上,提出在不改变功率管及驱动电压的情况下,通过优化驱动回路参数和提升驱动电路性能,提升驱动电路输出电流,减小驱动电路延时和完善驱动电路电磁兼容(EMC)设计的方法。该设计可有效提高功率管工作频率及其可靠性。选取Infineon的FS75R12KT3模块有源等效模型参数为例,进行PLECS仿真对比试验。试验结果表明,在保证驱动电路输出电流足够的前提下,相比传统驱动回路参数,优化的驱动回路参数可有效提高绝缘栅双极型晶体管(IGBT)的工作频率,且在大功率工作条件下可靠性较高。该研究进一步拓宽了驱动电路的普适性。     

跳跑式微型弹跳机器人的设计与实现

微型弹跳机器人在不规则环境中作业如地震救灾中有着特殊重要作用.设计了一种新颖的跳跑式微型弹跳机器人,提出了一种实用有效的储能-驱动机构.储能-驱动机构以舵机为驱动器,带动不完全齿轮,齿轮拉动钢丝绳作用于弹簧钢片来实现机器人的储能-弹跳.机器人通过电机驱动小车轮实现快速跑动.详细介绍了整个机器人的机械结构设计以及弹跳运动和跑动运动的实现.经测试,该机器人的弹跳运动灵活,与轮式快速跑动结合,提高了适应环境的能力和运动效率.该机器人结构简单、易于控制、稳定可靠,具有良好的应用前景.     

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。     

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.     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

The Distributed Time-Triggered Simulation Scheme: Core Principles and Supporting Execution Engine

Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs.     

Software-Konfigurationsmanagement in großen Softwareprojekten

Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel.