智能住宅小区的建设与管理

阐述了住宅小区智能化的内涵及其功能特征 ,分析了智能小区的发展趋势 ,提出了我国智能小区发展中存在的一些问题     

Designing Synergistic Walking of a Whole-Body Humanoid Driven by Pneumatic Artificial Muscles: An Empirical Study

Our body consists of many body parts that are compliantly connected with each other by muscles and ligaments, and their behavior emerges out of the synergy of the whole-body dynamics. Such synergistic behavior generation is supposed to contribute to human adaptive movement such as walking. This paper describes designing synergistic walking of a whole-body humanoid robot whose joints are driven by artificial pneumatic muscles antagonistically. We propose to take an incremental design approach to deal with the complicated dynamics of the system. As a result, we can determine control parameters that govern whole-body behavior. We experimentally demonstrate that the humanoid walks stably with a simple limit-cycle controller.     

Towards grasping in unstructured environments: grasper compliance and configuration optimization

This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied in order to maximize successful grasp range and minimize contact forces for a wide range of target object size. Joint rest angles around 25–45 degrees produced near-optimal results if the stiffness of the base joint was much smaller than the intermediate joint, as confirmed experimentally.     

Improved design methodology for an existing automated transportation system with automated guided vehicles in a seaport container terminal

In this paper, we propose an improved design methodology to meet the changing demands of an existing automated container transportation system in which automated guided vehicles (AGVs) are used. This system is called an AGV transportation system. To achieve an improved design, it is essential to detect and correct any occurring bottlenecks. For this purpose, we exhaustively enumerate design proposals by constructing a logic tree. As a case study to verify the proposed methodology, we apply the methodology to an existing AGV transportation system. From the enumerated design proposals, we suggest design policies by considering the actual constraints of the transportation system. Finally, we redesign the transportation system as rapidly as possible. On the other hand, we keep system balancing into account; then, we derive a suitable demand and input number of AGVs under given specifications for a transportation system.     

Optimal feeder design in sand casting process by growth method

Abstract

The computer aided optimal feeder design in the sand casting process is considered. The design problem is formulated as an additive evolutionary topology optimisation problem. The initial design of the presented method is a casting part which is placed in a suitable environmental mould box. The method is composed of three stages: determination of the feeder neck connection point, construction of the feeder neck and the feeder growth. During the growth stage, the feeder topology is improved gradually until satisfying some predefined criteria. The technological constraints and user contribution can be easily incorporated in the presented method. The success of the proposed method is supported by illustrative examples.     

Wave propagation in fibre reinforced composite plate with circular hole under impact loading

Abstract

In this paper, experimental and numerical methods have been applied to the study of composite dynamics. Dynamic orthotropic photoelasticity is employed in the experimental work and the time domain boundary element method for anisotropic media is adopted for the numerical analysis. A fibre reinforced birefringent composite plate is used to model the semi-infinite orthotropic domain with a circular hole. A rifle bullet was used to exert the impact loading with the loading direction parallel and perpendicular to the fibre direction. In the experiments, the propagation, reflection, and diffraction of the stress wave around the hole were recorded and the results were analysed. The time histories of the stress components were obtained from the same experiments and compared with the results from the corresponding computations carried out using the time domain boundary element method. Some valuable data regarding composite dynamics and associated engineering implications were obtained. The comparative study also demonstrates the applicability and accuracy of the two methods for wave propagation problems in orthotropic media.     

Modelling of Charpy V test rejection probability

Abstract

The purpose of this study was to develop a product design model for estimating the impact toughness of low alloy steel plates. The rejection probability in a Charpy V test is predicted with process variables and chemical composition. Joint modelling of the mean and deviation was used in order to improve the results. The proposed method is suitable for the whole production line, including all grades of steel in production and it is not restricted to a few test temperatures. Using the proposed model the product design group could have recognised most of the rejections before production. Next, the developed model will be implemented into a graphical simulation tool that is in daily use in the product planning department and already contains some other mechanical property models. The model will guide designers in predicting the related risk of rejection and in producing desired properties in the product at lower cost.     

Development of a novel crawler mechanism with polymorphic locomotion

The design of a novel crawler mechanism with polymorphic locomotion is presented in this paper. The proposed mechanism, which is equipped with a planetary gear reducer, provides two kinds of outputs in different form only using one actuator. By determining the reduction ratio of two outputs in a suitable proportion, the crawler mechanism is capable of switching between two locomotion modes autonomously according to terrain. Using this property, robots equipped with the crawler mechanism can perform more efficient and adaptable locomotion or posture in irregular environments. Experimental tests showed that the developed crawler-driven module equipped with the proposed crawler mechanism cannot only move on moderately rugged terrain, but also perform a particular locomotion mode to negotiate high obstacles or adapt to different terrains without any sensors for distinguishing obstacles or any extra actuators or mechanisms for assistance.     

Melting and solidification of TiNi alloys by cold crucible levitation method and evaluation of their characteristics

Abstract

The addition of Re, Fe and Cr into Ti–50 mol.-%Ni has been carried out to improve the oxidation and mechanical properties. The mono phase consisting of TiNi with the B2 type structure was identified in micro-alloyed materials proposed on the basis of the d-electrons concept. Experimentally, TiNi alloys were melted and solidified by the cold crucible levitation melting (CCLM) method. The TiNi–(Cr, Fe, Re) alloys with high purity and without contamination from a crucible were prepared, and the homogeneous microstructure was achieved by the diffusion mixing effect of CCLM even in the as-cast alloys which contained Re and Cr with higher melting temperatures and different specific gravities. The transformation from austenite to martensite phases occurred in all alloys below or above room temperature. Some alloys had the ability of shape memory even at room temperature. Ternary alloys showed a higher flow stress level compared with the binary TiNi alloy. On the other hand, the oxidation at 1273 K was promoted by the formation of titanium oxides (TiO₂) on the alloy surfaces. The oxidation resistance was improved by the formation of the continuous Cr₂O₃ film in TiNi–Cr alloys. The alloying effects by ternary elements (Re, Fe, Cr) in the intermetallic TiNi as well as metallic materials were explained well using two parameters used in the d-electrons concept.