构造裂缝预测的曲率法改进及效果评价

通过大池干井构造带嘉二构造裂缝预测研究，采用随机模拟的方法拟合构造曲面，再计算各网格节点上的线、面曲率，然后采用归一法原理，提取各方法在同一节点的曲率最大值，以此绘制构造曲率等值线图。实践证明，应用改进的曲率法预测构造裂缝，预测精度大大提高，并可实现软件化，提高预测效率。     

油气集输管线的压隆分析和计算

阐述了油田混输管线中气液多相流动的水力特点及影响因素，介绍了两种混输管线压降的计算方法，并对今后的研究工作提出了看法。     

利用固硫灰渣研发蒸压加气混凝土砌块

通过室内模拟试验,研究了磨细的固硫灰和固硫渣在不同用量比例时对蒸压加气混凝土砌块的干密度和抗压强度的影响;并提出了固硫灰和固硫渣用于蒸压加气混凝土砌块试生产中的材料用量比例.试验结果表明:在固硫灰的用量较大时,掺加适量的固硫渣,不仅可有效地改善蒸压加气混凝土砌块的技术性能,而且有利于提高固硫灰渣的整体利用率.     

高墩大跨连续刚构桥雨季施工危险源辨识与评价

高墩大跨连续刚构桥跨越沟堑河谷,雨季施工的危险源辨识与评价问题突出。针对具体工程项目,编制专项安全检查表,对依托项目的连续刚构桥雨季施工进行危险源的辨识,并且给出相关评价方法。该方法可以快捷查明施工现场的危险和隐患,能有效减少安全事故发生率。     

面板堆石坝应力变形特性有限元分析

为研究面板堆石坝的应力变形特性,采用Mohr-Coulomb强度准则,利用ABAQUS建立有限元模型,分别从坝体位移、坝体应力、面板应力3方面进行分析研究,得出在运行期内相关荷载作用下坝体的应力变形特性,为大坝的实际运行提供理论依据。     

具有谐波减速器的柔性关节参数辨识

为了辨识具有谐波减速器的柔性关节模型的关键参数,设计了一套基于多传感器融合的离线辨识方法,根据电机的位置传感器、电流传感器和关节力矩传感器的实验数据完成柔性关节模型关键参数的辨识.首先,建立采用谐波减速器柔轮输出的柔性关节模型;然后,使用正反转加载力矩的方法辨识出电机的力矩系数;并在空载的情况下,由关节力矩和电机输出力矩分别辨识出关节端和电机端的摩擦力;最后,采用敲击法初步辨识出关节的刚度和阻尼后,在关节位置受限条件下,逐渐增加电机输出力矩,得到柔性关节刚度和关节力矩的非线性关系.多次实验的结果显示,辨识出的参数具有较高的重复性,验证了该方法的有效性.     

影响消毒剂百菌灭有效成分的因素分析

探讨外部环境条件对消毒剂百菌灭产品有效成分的影响因素,测定产品在不同条件下有效成分的含量变化,实验结果表明,加入5滴肥皂水、10%血清、自来水稀释、含20%填料包装瓶,百菌灭样品活性降解率分别为51.7%、93.6%、23.86%、60.47%,而对比组其活性降解率分别为0.66%、0.66%、1.32%、48.58%,分析了阴离子化合物、有机物、水质、塑料瓶包装等因素造成百菌灭活性物含量降低的原因,提出优化生产条件和改进贮藏方法。     

卫星在轨自维护地面平台自主操作

提出了一种应用于卫星在轨自维护平台的视觉自主操作策略,阐述了标定、识别、定位及视觉伺服等关键内容。针对太空中变化强烈的光照环境,采用合作目标的方式对物体进行识别,并对识别算法进行了特别的设计以适用于卫星有限的计算能力。为了提高合作目标三维空间定位的精度,采用了一种合作目标亚像素精度定位的方法,为视觉伺服进行精确的操作奠定了基础。实验结果证明了此视觉自主操作策略的可行性。     

Development of Chinese large-scale space end-effector

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°...     

Optimal measurement configurations for kinematic calibration of six-DOF serial robot

An optimal measurement pose number searching method was designed to improve the pose selection method. Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one. The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated. The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained. Calibration based on those poses selected by this algorithm can get higher end-effector accuracy, meanwhile consumes less time. An optimal pose set including optimal 25 measurement configurations is found during the simulation. Tracking errors after calibration by using these poses are 1.54, 1.61 and 0.86 mm, and better than those before calibration which are 7.79, 7.62 and 8.29 mm, even better than those calibrated by the random method which are 2.22, 2.35 and 1.69 mm in directions X, Y and Z, respectively.