并联机器人智能控制研究现状

近年来并联机器人已成为机器人领域研究的热点之一,由于其具有不确定性、高度非线性、控制复杂等特点,理论研究还处在发展阶段,控制精度和实时性都有待提高.而智能控制是一个新兴的学科,是控制领域发展的高级阶段.将智能控制引入并联机器人有助于提高并联机器人的控制性能.总结了智能控制中的模糊控制、神经网络控制以及集成智能控制在并联机器人领域的应用现状,并指出了未来发展方向.     

焊接机器人技术发展的回顾与展望

简要介绍了焊接机器人技术发展的历程及我国焊接机器人技术研究的现状。论述了焊接机器人技术发展的趋势及研究的热点问题,即随着智能机器人技术和人工智能理论的进一步发展,多智能体焊接系统、焊接机器人中基于PC的控制器和模糊逻辑与神经网络的融合技术将成为研究的热点问题。     

人工智能进步与教育学的发展——交互关系的视角

随着人工智能的快速发展,哲学、伦理学、法学、社会学等学科均介入这一研究领域。相较而言,教育学研究中人们多关注人工智能对教育变革的影响,而对"人工智能与教育学"的关系缺乏探究。实际上,"人工智能与教育学"的关系是教育学研究的新领域。这种关系具有双向性:一方面,人工智能通过推动教育实践变革促进教育学理论更新,也直接作用于教育学的当代重建,如对教育与人的关系、教育与社会的关系等教育学研究的基本问题形成冲击,并将激发出教育(学)与技术的关系等新的教育学基本问题,促进教育学的理论体系从分裂走向整合;另一方面,教育学也成为人工智能开发与应用的重要标准和尺度、成为人工智能开发和运用者的价值坐标,并为人工智能技术体系中人的启蒙提供参照。     

当代学子与人工智能

智能机器人一直是科幻电影和小说中的重要元素,其中描绘的机器人主宰人类的可怕未来往往引起人们对人工智能的无限遐想,但其实并没有超人类的机器人,人工智能技术在现实中确实对我们的日常生活产生了广泛和深远的影响,不过基本上都是在服务人类、改善健康、提升生产力等好的方面,如自动驾驶、医疗机器人、教育机器人等有益的人工智能应用已经在各行各业开始加速增长。本文将通过介绍人工智能的定义、战略规划、行业应用,以及人工智能专业的建设等,使当代学子更清晰地了解人工智能专业及其发展趋势。     

DSP在机器人控制系统中的应用

数字信号处理器 (ＤｉｇｉｔａｌＳｉｇｎａｌＰｒｏｃｅｓｓｏｒ,简称ＤＳＰ)因其接口简单、编程容易、稳定性好、精度高、可重复性好、集成方便等特点 ,在通信、语音、图象、雷达、生物医学、工业控制、仪器仪表、消费电子等许多领域得到越来越多的应用。随着数字信号处理新技术及超大规模集成电路的飞速发展 ,其应用范围还在迅速扩大。但是ＤＳＰ在机器人控制系统中的应用却比较晚。目前 ,由于人工智能、计算机科学、传感器技术及其它相关学科的长足进步 ,使得机器人的研究在高水平上进行 ,同时也对机器人控制系统的性能提出了更高的要求…     

“智能机器人”重点专项启动

<正>"智能机器人"重点专项近日正式启动,科技部8月1日在官方网站公开发布了2017年度项目申报指南。此前,该领域的顶层设计《新一代人工智能发展规划》也已正式发布。机器人领域发布的这些政策,将给相关产业发展带来利好。目前我国机器人产业,特别是工业机器人仍然以中低端为主,六轴及以上的多关节机器人占有率较低,关键零部件的核心技术主要掌握在少数海外企业手中,进口替代空间大。同时,世界范围内信息技术和人工智能技术的飞快发     

机器人及其控制技术简述

作为人工智能领域的关键挑战——机器人在生产生活各个方面的地位都愈加重要。文章介绍了机器人的多种定义,对机器人的分类进行了梳理。在此基础上,简述了机器人控制系统,并重点介绍了机器人视觉定位导航的实现方法。同时,结合我国机器人领域发展现状,文章对机器人今后发展方向进行了分析和展望。     

缓蚀剂缓蚀作用的研究方法

缓蚀剂防护技术在石油、化工、冶金等领域得到了广泛的应用。腐蚀研究方法对于指导缓蚀剂的合成、优化及应用具有十分重要的间谍。对电化学、光谱学等腐蚀研究的传统方法和近代分析测试技术进行综述,并简要介绍了其现状与应用情况。     

仿人机器人的步行控制方法综述及展望

步行控制是仿人机器人最重要的技术之一,是仿人机器人实现最基本的类人动作的关键.从步态规划和步态控制两方面综述了仿人机器人步行控制的研究现状,对已有的典型步态规划和步态控制方法进行了分析与比较,并展望了仿人机器人步行控制的研究方向.     

基于OpenGL的多机器人仿真实验平台研究及实现

多机器人协同工作广泛应用于现代化工业生产现场,协同控制是实现多机器人协同工作的技术保障。针对多机器人协同控制研究中的轨迹规划、轨迹优化和碰撞检测等算法研究需要,以及多机器人工作站离线编程、虚拟示教等研究实现需要,提出基于OpenGL和MFC建立具有完全开放性、自主性的多机器人协同工作算法研究仿真实验平台,嵌入机器人正、逆运动学、轨迹规划、碰撞检测等算法,实现多机器人三维虚拟仿真、离线编程和虚拟示教,并进行单个实体机器人实验验证。实验结果表明:基于OpenGL和MFC建立的多机器人协同控制仿真平台,可以进行多机器人协同控制相关算法研究,另外离线编程与虚拟示教转换生成程序指令可以按照要求控制机器人运动。用户无需进行三维图形仿真编程、界面编程和辅助算法研究及实现,只需侧重其算法研究,即可基于该软件实验平台快速进行机器人、多机器人算法仿真验证及效率分析,减少工作量。     

Effects of Post-weld Heat Treatment on Microstructure,Mechanical Properties and the Role of Weld Reinforcement in 2219 Aluminum Alloy TIG-Welded Joints

In as-welded state, each region of 2219 aluminum alloy TIG-welded joint shows diff erent microstructure and microhardness due to the diff erent welding heat cycles and the resulting evolution of second phases. After the post-weld heat treatment, both the amount and the size of the eutectic structure or θ phases decreased. Correspondingly, both the Cu content in α-Al matrix and the microhardness increased to a similar level in each region of the joint, and the tensile strength of the entire joint was greatly improved. Post-weld heat treatment played the role of solid solution strengthening and aging strengthening. After the post-weld heat treatment, the weld performance became similar to other regions, but weld reinforcements lost their reinforcing eff ect on the weld and their existence was more of an adverse eff ect. The joint without weld reinforcements after the post-weld heat treatment had the optimal tensile properties, and the specimens randomly crack in the weld zone.     

The First Phase of the SRIF Industrialized Base in ＂West Area＂ Has Been Put into Operation

After nearly two years＇ tense construction, the first phase of industrialized base of Shenyang Research Institute of Foundry （SRIF）, located at the Tiexi Casting and Forging Industrial Park in the west of Tiexi District, has now been completed and formally put into operation.     

Effect of Rare Earth Doping on Impedance,Modulus and Conductivity Properties of Multiferroic Composites:0.5(BiLa_xFe_(1-x)O_3)–0.5(PbTiO_3)

The Lanthanum-doped bismuth ferrite–lead titanate compositions of 0.5(Bi LaxFe1-xO3)–0.5(Pb Ti O3)(x = 0.05,0.10,0.15,0.20)(BLxF1-x-PT) were prepared by mixed oxide method.Structural characterization was performed by X-ray diffraction and shows a tetragonal structure at room temperature.The lattice parameter c/a ratio decreases with increasing of La(x = 0.05–0.20) concentration of the composites.The effect of charge carrier/ion hopping mechanism,conductivity,relaxation process and impedance parameters was studied using an impedance analyzer in a wide frequency range(102–106Hz) at different temperatures.The nature of Nyquist plot confirms the presence of bulk effects only,and non-Debye type of relaxation processes occurs in the composites.The electrical modulus exhibits an important role of the hopping mechanism in the electrical transport process of the materials.The ac conductivity and dc conductivity of the materials were studied,and the activation energy found to be 0.81,0.77,0.76 and 0.74 e V for all compositions of x = 0.05–0.20 at different temperatures(200–300 °C).     

Quantitative Analysis of the Crystallographic Orientation Relationship Between the Martensite and Austenite in Quenching–Partitioning–Tempering Steels

The orientation relationships(ORs)between the martensite and the retained austenite in low-and medium-carbon steels after quenching–partitioning–tempering process were studied in this work.The ORs in the studied steels are identified by selected-area electron diffraction(SAED)as either K–S or N–W ORs.Meanwhile,the ORs were also studied based on numerical fitting of electron backscatter diffraction data method suggested by Miyamoto.The simulated K–S and N–W ORs in the low-index directions generally do not well coincide with the experimental pole figure,which may be attributed to both the orientation spread from the ideal variant orientations and high symmetry of the low-index directions.However,the simulated results coincide well with experimental pole figures in the high-index directions{123}_(bcc).A modified method with simplicity based on Miyamoto’s work was proposed.The results indicate that the ORs determined by modified method are similar to those determined by Miyamoto’method,that is,the OR is near K–S OR for the low-carbon Q–P–T steel,and with the increase of carbon content,the OR is closer to N–W OR in medium-carbon Q–P–T steel.     

The Mirror with Patterns of Auspicious Animals and Grapes——Exquisite cast mirror and the technology of surface tin-enrichment by rubbing-in and infiltration of tin-rich powder

<正>Bronze mirrors were used by the Chinese people before the introduction of the glass mirror.Only after it was replaced by the glass mirror did the bronze mirror gradually retreat from people's lives.Different styles of bronze mirrors were made in different historical periods,particularly in the Warring States Period,the Han and Tang Dynasties,which were the three peaks of the development of bronze mirror arts in ancient China.The casting techniques were exquisite.The surface of the bronze mirror was smooth and bright enough to reflect one's image,and there were scarcely any casting defects on the mirror surface.On the back of the bronze mirror,there were rich depictions of Arts and Humanities,and the ornamentations were also     

The 9th China International Diecasting Congress & Exhibition

The 9th China International Diecasting Congress ＆ Exhibition was held on July 22-24, 2014 at Shanghai New International Expc Centre. This exhibition was the most successful over the years, with over 6890 visitors and 155 exhibitors, and the exhibition area increased by 30% from 9,500 square meters in 2012 to 12340 square meters. Die casting enterprises from a total of 24 countries and regions, including China mainland, Chinese Taiwan and Hong Kong, South Korea, Japan, Germany, India, Thailand, Malaysia, the United States, Russia, Australia, Iran, Ukraine, Brazil, Colombia, Singapore, Austria, Canada, Croatia, France, Turkey, United Kingdom, Vietnam, attended the congress and exhibition.     

Introduction of the Fluid Control Engineering Institute of Kunming University of Science and Technology

正The Fluid Control Engineering Institute of Kunming University of Science and Technology was set up in 1996.The researches of institute concentrate on electro-hydraulic(pneumatic)servo/proportional control and hydromechatronics.The Institute is committed to research and development of electro-hydraulic control of high-end technical equipment in ferrous metallurgy refining produc-     

RARE METALS Volume Contents

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Antimony Induced Crystallization of Amorphous Silicon

Antimony induced crystallization of PVD (physics vapor deposition) amorphous silicon can be observed on sapphire substrates. Very large crystalline regions up to several tens of micrometers can be formed. The Si diffraction patterns of the area of crystallization can be observed with TEM (transmission electron microscopy). Only a few and much smaller crystals of the order of 1μm were formed when the antimony layer was deposited by MBE (molecular beam epitaxy) compared with a layer formed by thermal evaporation. The use of high vacuum is essential in order to observe any Sb induced crystallization at all. In addition it is necessary to take measures to limit the evaporation of the antimony.     

A CUMULATIVE FATIGUE DAMAGE RULE UNDER THE ALTERNATIVE OF CORROSION OR CYCLIC LOADING

Fatigue damage increases with the applied loading cycles in a cumulative manner and the material deteriorates with the corrosion time. A cumulative fatigue damage rule under the alternative of corrosion or cyclic loading was proposed. The specimens of aluminum alloy LY12-CZ soaked in corrosive liquid for different times were tested under the constant amplitude cyclic loading to obtain S-N curves. The test was carried out to verify the proposed cumulative fatigue damage rule under the different combinations among corrosion time, loading level, and the cycle numbers. It was shown that the predicted residual fatigue lives showed a good agreement with the experimental results and the proposed rule was simple and can be easily adopted.