移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。     

微制造平台微振动的最优控制

采用混合隔振技术建立了微制造平台隔振系统。该系统以空气弹簧和橡胶层作为被动隔振元件、超磁致伸缩致动器作为主动隔振元件，并采用最优控制理论设计其主动控制器。研究了在不同的性能指标加权阵的情况下，该主动振动控制系统对基础干扰和由微制造设备产生的直接干扰所引起的微制造平台振动的控制效果。研究表明性能指标加权阵对振动控制效果影响非常大。通过大量的仿真实验确定了一组性能指标加权阵，使所设计的主动控制系统能在较宽的频率范围对基础干扰和直接干扰所引起的微制造平台振动进行有效的控制。     

一种有效的优化的多载波通信系统的功率分配算法

本文提出一种关于DMT系统传输纯数据流业务的最佳的功率分配算法，该算法使用了一种有效的表格查手工艺工和拉格朗日乘法器对分搜索办法，能够较快的收敛到最佳的功率点。同时，易于用硬件和软件实现。     

中国工程勘察设计咨询业产业整合的路径选择

产业是由具有相互联系、相互制约的若干组成部分结合在一起并且有特定动能的有机体,产业分工越合理,资金、人力资源和各种自然资源与物质资料在产业内发挥的功能越大;中国工程勘察设计业的产业结构“中间大,两头小”,产业内部资源分布极不合理;结构调整的最佳选择是以工程项目总承包和分包为分工协作的垂直一体化:分化重组中间的工程咨询单位,组建顶端的EPC工程公司,发展低端的专业咨询公司、事务所。     

多信道光纤环形网络结构分析

本文对多信道光纤环形网络结构进行了详细分析，推导出环网内平均路经长度和最大直径计算公式，并分析了最佳多信道光纤环网结构。     

一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

Practical method for generation expansion planning based on dynamic programming

This paper presents an efficient method which provides the optimal generation mix and the optimal generation construction process. The approximation method in which the dynamic programming technique and gradient method are combined is applied to determine the optimal generation mix with hydropower generation technologies. The successive approximations dynamic programming (SADP) technique, which is very suitable for high-dimensional multistage decision process problems, is used for obtaining the optimal generation construction process. The effectiveness and feasibility of the developed technique are demonstrated on a practical power system model which has five types of generation technologies including a hydropower generation technology.     

Laser scanning path generation considering photopolymer solidification in micro-stereolithography

It is essential to automate the scanning path generation process to effectively implement the micro-stereolithography. However, a scanning path that is generated based only on a 3D CAD model introduces dimensional inaccuracies. In micro-stereolithography, the photopolymer solidification is affected by fabrication conditions, such as the optical properties (laser power, laser scanning speed, laser scanning pitch focusing condition, etc.) and material properties of the photopolymer. Thus, the photopolymer solidification phenomena must be considered when generating a laser scanning path. In this paper, a scanning path generation algorithm that uses 3D CAD data and considers the photopolymer solidification phenomena is proposed to improve the dimensional accuracy in micro-stereolithography. Multi-line photopolymer solidification experiments were performed for various laser scanning conditions to examine the photopolymer solidification phenomena. From these experiments, linear relations between the solidification length (width) and scanning length (width) were acquired and stored in a database. Subsequently, these data were utilized to compensate the scanning path of the laser beam. In addition, experiments for determining the layer thickness in the z-direction were performed and these results were also used in the scanning path generation algorithm.This research was supported by the Highly Advanced National Project (http://www.most.go.kr), which performs some of the National R&D Program, and sponsored by the Korean Ministry of Science and Technology under the contract project code M10214000116-02B1500-02010.     

基坑支护工程的优化设计研究

通过基坑工程实例,对深基坑支护结构的优化设计进行了探讨,结果表明,在基坑支护设计中综合利用各方面因素,因地制宜,将具有良好的社会效益和经济效益。     

Fisher最优分割法在星星哨水库汛期分期划分中的应用

Fisher最优分割法是对有序样本进行最优化分段的一种数学方法。本文利用该方法对星星哨水库汛期进行相应的划分,结果表明该方法是可行的。因此,可利用该结果对分期实施不同的汛限水位,使水库的防洪和兴利效益达到最大。