基于粒子群优化算法的五自由度机械臂轨迹规划

为了让机械臂的工作时间达到最优,以自主研发的抛光机器人样机为研究对象,针对手表表壳表耳部分的抛光过程,提出PSO算法对五自由度机械臂轨迹规划进行优化,并通过MATLAB软件进行机械臂的仿真与分析。仿真结果表明,基于PSO算法的轨迹规划使机械臂在工作过程中加加速度不会产生突变,运动轨迹精度高,机械臂工作时间达到最优。     

Modeling for the electromagnetic properties and EMI shielding of Cf/mullite composites in the gigahertz range

The electromagnetic properties and EMI shielding effectiveness of C_f/mullite composites via the spark plasma sintering were intensively investigated in the gigahertz range (8.2–12.4 GHz). Experimental results have revealed excellent electromagnetic properties and a high value of EMI shielding effectiveness (nearly 40 dB) for C_f/mullite composites with 1.65 vol% carbon fillers at thickness of 2 mm. We quantitatively characterize the contributions of microstructural features to overall EMI shielding effectiveness using a micromechanics-based homogenization model. The EMI shielding effectiveness enhances with respect to the C_f volume concentration before the threshold. The increasing trend of EMI shielding effectiveness with respect to AC (alternating current) frequency can be attributed to enhanced conductivity at high gigahertz range. It is demonstrated that filler and frequency dependent interface effects are essential to obtain excellent electromagnetic properties of C_f/mullite composite. The present research can provide guidances for the design of ceramic-based composites applied in high-temperature EMI shielding devices.     

碳脱氧在钢包顶渣改质中的应用

 为了进一步降低夹杂物缺陷并提高产品质量,基于碳脱氧进行了钢包顶渣改质的研究。冷轧产品的生产工艺为铁水预处理→转炉→RH精炼→连铸,为减少钢中夹杂物质量分数,需要进行钢包顶渣改质,同时降低钢包顶渣TFe质量分数。采用粒碳部分替代铝渣球的方法进行基于碳脱氧工艺的钢包顶渣改质,试验结果表明,顶渣改质效果良好,在顶渣TFe质量分数、中间包钢水游离氧明显降低的同时铸坯中Al₂O₃夹杂物得到优化;“30 kg粒渣+铝渣球”工艺降低生产成本5.16元/t(钢)。     

压水堆核电厂堆外源量程探测器计数率分析

压水堆核电厂启动过程中，次级中子源为堆外源量程探测器提供本底计数率，避免测量盲区，确保反应堆安全启动。但次级中子源的引入会为核电厂带来较大的经济和环境负担，同时也需承受次级中子源破损等带来的风险。为此，可使用受辐照燃料组件的自发裂变中子源进行替代，即无源启动方式。通过研究堆外源量程探测器计数率的理论计算方法，并基于运行电厂测量数据进行分析验证，为源量程探测器计数率的理论预估提供了较为完善的理论方法流程。本文结果可为无源启动源量程探测器计数率分析提供支持，同时也可用于次级中子源装载量或布置位置的优化分析等。     

适应不同重力环境的仿壁虎机器人运动仿真

针对不同重力环境下仿壁虎机器人的运动稳定性、运动高效协调性等问题,基于四足机器人的步态规划现状和仿壁虎机器人自身特定的机械结构,设计了仿壁虎机器人在g、0、-g 3种环境下的足端轨迹和运动步态。在ADAMS仿真软件中研究了机器人的运动学和动力学特性,得到了仿壁虎机器人稳定爬行与脚掌黏附力、足端轨迹和运动步态的关系。探讨了仿真结果的合理性和局限性,为仿壁虎机器人在实际环境中的稳定运动奠定了理论基础。     

共享交通的时空轨迹检索与群体发现

为解决共享交通下的共乘用户群体发现效率低、准确率不高问题，依据R-树原理建立GeoOD-Tree索引，并在此基础上提出以最大化共乘率为目标的群体发现策略。首先，对原始时空轨迹数据进行特征提取与标定处理，挖掘有效出行起讫点（OD）轨迹；其次，针对用户起讫点轨迹的特征，建立GeoOD-Tree索引进行有效的存储管理；最后，给出以最大化共乘行程为目标的群体发现模型，并运用K最近邻（KNN）查询对搜索空间剪枝压缩，提高群体发现效率。采用西安市近12000辆出租车营运轨迹数据，选取动态时间规整（DTW）等典型算法与所提算法在查询效率与准确率上进行性能对比分析。与DTW算法相比，所提算法的准确率提高了10.12%，查询效率提高了约15倍。实验结果表明提出的群体发现策略能有效提高共乘用户群体发现的准确率和效率，可有效提升共乘出行方式的出行率。     

A Global Maximum Error Controller Based Nonlinearity Aware TPWL Method for Reducing Nonlinear Systems

Abstract

Model order reduction is a common practice to reduce large order systems so that their simulation and control become easy. Nonlinearity aware trajectory piecewise linear is a variation of trajectory piecewise linearization technique of order reduction that is used to reduce nonlinear systems. With this scheme, the reduced approximation of the system is generated by weighted sum of the linearized and reduced sub-models obtained at certain linearization points on the system trajectory. This scheme uses dynamically inspired weight assignment that makes the approximation nonlinearity aware. Just as weight assignment, the process of linearization points selection is also important for generating faithful approximations. This article uses a global maximum error controller based linearization points selection scheme according to which a state is chosen as a linearization point if the error between a current reduced model and the full order nonlinear system reaches a maximum value. A combination that not only selects linearization points based on an error controller but also assigns dynamic inspired weights is shown in this article. The proposed scheme generates approximations with higher accuracies. This is demonstrated by applying the proposed method to some benchmark nonlinear circuits including RC ladder network and inverter chain circuit and comparing the results with the conventional schemes.     

燃煤锅炉除尘专用滤料的开发

介绍机械制造厂燃煤锅炉的烟尘特点,分析滤料失效的原因,提出一套针对该工况的滤料解决方案。介绍针对复杂工况条件所选用的纤维种类以及复合面层原料成分配比的确定,最终选用针刺工艺加工并对该新产品的基本性能进行了测试分析。     

High-resolution ISAR imaging of fast rotating targets based on pattern-coupled Bayesian strategy for multiple measurement vectors

Very high resolution inverse synthetic aperture radar (ISAR) imaging of fast rotating targets is a complicated task. There may be insufficient pulses or may introduce migration through range cells (MTRC) during the coherent processing interval (CPI) when we use the conventional range Doppler (RD) ISAR technique. With compressed sensing (CS) technique, we can achieve the high-resolution ISAR imaging of a target with limited number of pulses. Sparse representation based method can achieve the super resolution ISAR imaging of a target with a short CPI, during which the target rotates only a small angle and the range migration of the scatterers is small. However, traditional CS-based ISAR imaging method generally faced with the problem of basis mismatch, which may degrade the ISAR image. To achieve the high resolution ISAR imaging of fast rotating targets, this paper proposed a pattern-coupled sparse Bayesian learning method for multiple measurement vectors, i.e. the PC-MSBL algorithm. A multi-channel pattern-coupled hierarchical Gaussian prior is proposed to model the pattern dependencies among neighboring range cells and correct the MTRC problem. The expectation-maximization (EM) algorithm is used to infer the maximum a posterior (MAP) estimate of the hyperparameters. Simulation results validate the effectiveness and superiority of the proposed algorithm.