基于动力学约束的机械臂最优关节轨迹规划

本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法.该方法运用矩阵范数理论简化机械臂的动力学约束方程;在机械臂的关节空间内采用归一化的无因次量运用非线性规划法优化其运动轨迹.将所规划的无因次量轨迹方程作为机械臂产生实际运动轨迹的发生器,通过给定机械臂各运动段的起始和终止关节坐标,由系统的动力学约束方程计算出整个运动段所允许的最短运行时间,即生成所期望的运动轨迹.本文的轨迹规划方法计算效率高,可用于在线轨迹规划,文中通过算例证实了该方法的实用性.

单元重构问题探讨

在 CIMS 环境下,采用虚拟单元技术可以解决使用成组单元的结构中出现的过量跨单元加工和加工负荷不平衡问题.本文对实现虚拟单元的关键技术——单元重构的可行性进行了分析,对单元重构的两个主要过程,即任务的时间分解过程和任务的空间分解过程进行了详细的讨论,并对所涉及到的时间划分、计划调度、工件、机器成组等问题给出了相应的策略和算法.从而证明了在 CIMS 环境下实现虚拟单元的可行性.

强化学习算法中启发式回报函数的设计及其收敛性分析

回报函数设计的好与坏对学习系统性能有着重要作用,按回报值在状态-动作空间中的分布情况,将回报函数的构建分为两种形式:密集函数和稀疏函数,分析了密集函数和稀疏函数的特点.提出启发式回报函数的基本设计思路,利用基于保守势函数差分形式的附加回报函数,给学习系统提供更多的启发式信息,并对算法的最优策略不变性和迭代收敛性进行了证明.启发式回报函数能够引导学习,加快学习进程,从而可以实现强化学习在实际大型复杂系统应用中的实时控制和调度.

工程地质三维建模与可视化技术应用开发

Synthetic Geology Information System (SGIS) is an important constituent part of the theory of Engineering Geomechanics Mate-Synthetic (EGMS), and is the information system more suited for the collection, storage, management, analysis and processing to the information coming from engineering geology,' geological engineering and geotechnical engineering. Its contents involve various works and methods of the investigation, design, and construction in different stages of the geological engineering. Engineering geological and three-dimensional modeling and visualization is the fundamental part of the SGIS, and is a theory, method and technique by which, adopting the computer graphics and image processing techniques, the data derived from engineering geological survey and the calculated results obtained from the geomechanical numerical simulation and analysis are converted to the graphics and images displayed on the computer screen and can be processed interactively. In this paper, the significance and realizing approaches of the three-dimensional modeling and visualization for the complex geological mass in the engineering geology are discussed and the methods of taking advantage of the interpolation and fitting for the scattered and field-surveyed data to simulate the geological layers, such as the topography and earth surface, the groundwater table and the stratum boundary, are researched into. At the mean time, in mind the characteristics of the structure of the basic data for three-dimensional modeling, its visual management can be resolved into the engineering surveyed database management module, plot parameter management module and data output module and the requirement for basic data management can be fulfilled. In the paper, the establishment and development of the three-dimensional geological information system are probed tentatively, and an instance of three-dimensional visual Engineering Distribution Information System (EDIS), theConstruction Management Information System for an airport, in which the functions, such as the real-time browse among the three-dimensional virtual-reality landscapes of the airport construction from start to finish, the information query to the airport facility and the building in the housing district and the recording and playback of the animation sets for the browse and the takeoff and landing of the planes, is developed by applying the component-mode three-dimensional virtual-reality geological information system (GIS) software development kits (SDK), so the three-dimensional visual management platform is provided for the airport construction. Moreover, in the gaper, integrated with the three-dimensional topography visualization and its application in the Sichuan-Tibet Highways, the method of the digital elevation model (DEM) data collection from the topographic maps is described, and the three-dimensional visualization and the roaming about the terrain along the highway are achieved through computer language programming. Understanding to the important role played by the varied and unique topographical condition in the gestation and germination of the highly-dense, frequently-arising and severely-endangered geological hazards can be deepened.

内蒙古黄岗矿集区与锡矿化有关的花岗岩成因研究

Muanggang-Dajing area located in the south end of Dahinggan Mts is the only discovered tin-polymetallic minerzalization belt and the only tectonic magmaism zone with middle-upper grade tin-ore deposites in North China. Tin mineralization in this area is believed tn related to Yanshannian granites which is different from those in South China tin belt. Through geochemical study of these granites on the base of fieldworks , thin section observation, major and trace elements as well as isotopic composision determination, the isochronic sequence and petrogenetic series for the granites have been determined. Hi light ing on the petrogenesis of earlier Yanshannian of MOmarh granites, two groups granites with different Neodymium isotopic features have been distinguished. Both belonging to hi-K calc-alkalinic series, their nature of source rocks and.magma processing were restricted, we argue for that the two groups have get the isotopic differences from their sources-middle and later proterozoic juvenial crustal via mantle underplating. From then on , there is a pre-enrichment of tin in this area. The partial melting from a F rich soruses can dissolve and carry more tin from the same some due to the de-connection of melt, which supply the mineralization fluids after a thoroughly evolement.

滑坡和泥石流致灾条件叠合技术及风险分析-以川藏公路然乌至鲁朗段为例

As one part of national road No. 318, Sichuan-Tibet (Chengdu-Lasha) Highway is one of traffic life lines connecting Tibet municipality to the inland, which is very important to the economic development of Tibet. In addition, it is still an important national defence routeway, with extremely important strategic position on maintaining the stability and solidarity of Tibet municipality and consolidating national defence. Particular geological condition, terrain and landform condition and hydrometeorological condition induce large-scale debris flows and landslides (including landslips) and the like geological hazards frequently occur along the highway. High frequency geological hazards not only result in high casualties and a great property loss, but also block traffic at every turn, obstructing the Sichuan-Tibet highway seriously. On the basis of considerable engineering geological investigation and analysis to the relative studying achievements of predecessors, it is found that one of the dominating reason incurring landslides or debris flows again and again in a place is that abundant loose materials are accumulated in valleys and slopes along the highway. Taking landslides' and debris flows along Ranwu-Lulang section of Sichuan-Tibet highway as studying objects, the sources and cause of formation of loose accumulation materials in the studying area are analyzed in detail, the major hazard-inducing conditions, hazard, dynamic risk, prediction of susceptibility degree of landslides and debris flows, and the relations between landslides and debris flows and various hazard-inducing conditions are systematically researched in this paper. All of these will provide scientific foundation for the future highway renovating and reducing and preventing geological hazards. For the purpose of quantitatively analyzing landslide and debris flow hazards, the conception of entropy and information entropy are extended, the conception of geological hazard entropy is brought forward, and relevant mathematics model is built. Additionally, a new approach for the dynamic risk analysis of landslide and debris flow is put forward based on the dynamic characteristics of the hazard of hazard-inducings and the vulnerability of hazard-bearings. The formation of landslide and debris flow is a non-linear process, which is synthetically affected by various factors, and whose formation mechanics is extremely complex. Aiming at this question, a muli-factors classifying and overlapping technique is brought forward on the basis of engineering geomechanics meta-synthesis (EGMS) thought and approach, and relevant mathematics model is also built to predict the susceptibility degree of landslide or debris flow. The example analysis result proves the validity of this thought and approach. To studying the problem that whether the formation and space distribution of landslides and debris flows are controlled by one or several hazard-inducing conditions, the theme graphics of landslides and debris flows hazard and various hazard-inducing conditions are overlapped to determine the relationship between hazard and hazard-inducing conditions. On this basis, the semi-quantitative engineering zonation of the studying area is carried out. In addition, the overlapping analysis method of the hazard-indue ing conditions of landslides and debris flows based on "digital graphics system" is advanced to orderly organize and effectively manage the spatial and attributive data of hazard and hazard-inducing conditions theme graphics, and to realize the effectively combination of graphics, images and figures.