一种五自由度机电测控系统的设计与实现

文章提出了一种基于五自由度机电系统的测控系统设计方法,并从机械系统构成、测控系统结构及软硬件设计方面论述了系统实现技术。针对系统特定的功能要求,文章详细介绍了位姿组合测量和各位姿自由度控制的测控方法,并应用模块化设计和数据流分析方法进行软硬件设计。通过实验进行系统特性分析,得到运行参数指标。实验证明这种设计方法和实现技术合理可行。

微操作机器人系统及其关键技术研究

微制作机器人技术是MEMS技术的一个重要分支，也是当前机器人研究领域的一个热点。本文分析了微操作机器人集成系统的特点，并针对微制作机器人系统研制中涉及的一些关键技术，如驱动、定位、检测和控制等技术进行了论述。

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。

一种基于 PSD 的机器人动态轨迹测量系统的研制

本文介绍了一个基于 PSD 的机器人动态位置测量系统,描述了系统的构成,并对该系统中的标定方法,数据处理方法和为提高系统的性能所采取的硬件措施进行探讨,本系统通过长期考机和初步应用,表明了它具有良好的可靠性和有效性.

一个用于自治智能移动式机器人导航和监控的实验系统

文中重点讨论了系统实现过程中,任务分解与行走命令下达,时序分配与同步,路标定位与行走误差修正.动态障碍感知,测定与响应和特别情况紧急处理等难题的解决策略及遇到的问题.

一种测速多卜勒声纳的实现方法

本文介绍了多卜勒测速原理和测高原理并着重介绍了一种多卜勒测速声纳的实现方法及8098单片机在多卜勒测速声纳的应用。

金属粉末激光成形过程中的检测与闭环控制研究

金属粉末激光成形技术是基于快速原型(Rapid Prototyping，RP)技术基础上发展起来的一项新型金属零件加工技术。该技术利用高能量激光束直接作用在金属粉末上，可以直接成形高熔点、形状复杂或异质材料功能梯度零件，其成形过程是按照零件几何形状，利用金属粉末逐层逐道累积成形零件的。其独特的金属零件加工特点使其得到了迅速发展，在航空、军事、医学和汽车等众多领域得到了成功应用，并发挥了重要作用。作为一项新兴技术，金属粉末激光成形技术不可避免的存在一些问题，由于激光成形过程是一个多参数影响的过程，成形过程中各参数存在较强的耦合作用，参数的不稳定往往导致成形效果难以保证，例如成形零件外形尺寸精度低、内部组织性能不佳等。这一问题，引起了国内外许多学者的关注，对加工过程中的一些重要参数与成形效果之间的关系展开研究，通过对成形过程中的一些中间过程输出参数进行实时检测，并实现闭环反馈控制，从而达到改善成形产品质量的目的。本文正是在这种背景下进行研究的，本文对熔池场几何尺寸、熔池温度场、熔覆高度与熔覆宽度实时检测进行了深入研究并实现了切实可行的检测方法，在实践中取得了较好的效果，并进行了熔覆成形过程动态辨识，研究了成形过程控制方法，提出了具有较强自适应能力的模糊PID控制方法，取得了较好的仿真效果。本课题主要研究工作有以下几个方面。 1. 激光成形过程中的熔池场包含大量的过程信息，对熔池进行实时检测，并提取熔池特征信息，为熔池场的闭环控制提供依据。为此建立了熔池场实时检测视觉传感系统，实现了图像采集、图像处理和信息提取等功能，课题成功的进行了硬件系统构建和软件系统开发。 2. 实现了红外图像比色测温法在金属粉末激光成形过程中熔池温度场检测中的应用。研究了测温原理，完成了硬件双波长图像采集系统的构建，对滤光片波长进行了选择并对选择结果进行了仿真。阐述了软件测温实现过程。 3. 激光加工过程中，对熔覆高度进行实时检测，从而实现熔覆高度闭环控制是成形高质量零件的保证。加工过程是一个多参数耦合的非线性过程，在分析激光参数对熔覆高度影响的基础上，建立利用激光工艺参数预测熔覆高度的BP神经网络模型，为实现激光加工过程熔覆高度实时预测与闭环控制打下了基础。 4. 熔覆宽度是激光成形过程中与成形效果密切相关的中间过程输出参数，该参数的实时检测为调整扫描间距，确定合理搭接率，提高熔覆表面平整度具有重要作用。提出了一种基于卡尔曼滤波技术的激光熔覆宽度检测方法。利用视觉传感系统获取激光加工过程中的熔池图像，经过图像处理求熔池宽度作为参量建立系统状态方程和测量方程，应用卡尔曼滤波原理对图像上的熔宽和熔宽变化进行状态估计，得到最小均方差条件下的熔覆宽度最佳预测值，从而减小过程噪声和测量噪声引起的熔覆宽度测量偏差，实现加工过程熔覆宽度的精确检测。 5. 成形过程动态辨识，利用阶跃响应法进行了激光参数与熔覆高度、熔覆宽度的辨识实验，建立了激光功率、扫描速度、送粉速率与熔覆高度、熔覆宽度之间的数学模型，对成形过程有了基本了解，为控制器设计与动态过程调节规范确立打下良好基础。 6. 设计了PID熔覆高度控制系统，并利用遗传算法进行了PID参数寻优，寻优获得的参数可以实现较好的控制效果，但不适于实时控制过程。为此设计了模糊PID控制系统，利用模糊逻辑算法对PID参数实现在线自动调整，控制系统具有较强的适应能力和实时处理能力，对于金属粉末激光成形过程具有较好的控制效果。

基于MAX197的电量测控系统

利用单片机技术设计多路电量测控系统,实现对电量的精确测量、控制,同时输出人工智能或位式开关控制信号。系统以单片机为核心,利用模数转换器MAX197构成多路测量电路,利用放大器构成输出电路,实现多路一一对应的闭环测量控制。系统软件采用PID控制器。实践表明:可根据需要增减系统信号采样通道的数目,采用软件抗干扰措施,采样数据可靠性高。采用参数密码保护和自检系统,有效防止由于错误控制而引起的不可预知的甚至危险的后果。输入输出硬件结构简单,系统低成本高速度,具有较好的测量控制精度。

多路温度测控系统的设计

目的利用单片机技术设计多路温度测控系统,实现多路温度的测量和控制.方法系统以单片机AT89C52为核心,利用多路转换器和新型数字器件MAX6675构成8路K型热电偶温度测量电路,利用D/A转换器AD7528和驱动电路构成输出电路,实现8路一一对应的闭环温度测量控制.系统软件采用PID控制器.结果实践证明,可根据需要增减系统温度信号采样通道的数目,使用软件抗干扰措施,提高了采样数据的可靠性.简化了输入输出硬件结构,使系统具有低成本高速度和较好的测量控制精度.结论多路温度测控系统作为整机适用于现场测量控制应用,也可作为多路温度控制模块应用在体积小、温度测量精度要求较高的大型系统中.

辽东湾隐蔽油气藏地球物理识别技术研究

In China and world, more than half the recent basin discovered reserves involve lithologic hydrocarbon reservoir reserves. The major target for further hydrocarbon basin exploration is the subtle reservoir. The Liaodong Bay prospect is much important in Bohai Sea, which includes Liaoxi low uplift, Liaodong uplift, Liaoxi sag and Liaozhong sag. After dozens years’ exploration in Liaodong Bay, few unexplored big-and-middle-sized favorable structural traps are remained and most of the stock structure targets are bad for fragmentary. Thus seeking for new prospect area and making a breakthrough, have become the unique way to relieve the severe exploration condition in Liaodong Bay. Technique Route Based on the petrophysical property of target area, the seismic forward inference of typical subtle trap model is expanded with analysis of logging, seismic and geologic data. According to petrophysical characteristics and forward inference and research on seismic response of actual seismic data in target area, the optimization of geophysical technique is used in subtle trap identification and the geophysical identification technique system of subtle reservoir is formed. The Key Research ① Petrophysical Model The petrophysical parameter is the basic parameter for seismic wave simulation. The seismic response difference of rocks bearing different fluids is required. With the crossplot of log data, the influence of petrophysical parameters on rock elastic properties of target area is analyzed, such as porosity, shale index, fluid property and saturation. Based on the current research on Biot-Gassmann and Kuster-Toksoz model, the petrophysical parameter calculator program which can be used for fluid substitution is established. ② S-wave evaluation based on conventional log data The shear velocity is needed during forward inference of AVO or other elastic wave field. But most of the recent conventional log data is lack of shear wave. Thus according to the research on petrophysical model, the rock S-wave parameter can be evaluated from conventional log data with probability inverse method. ③ AVO forward modeling based on well data For 6 wells in JZ31-6 block and 9 wells in LD22-1 block, the AVO forward modeling recording is made by log curve. The classification of AVO characteristics in objective interval is made by the lithologic information. ④ The 2D parameter model building and forward modeling of subtle hydrocarbon trap in target area. According to the formation interpretation of ESS03D seismic area, the 2D parameter model building and seismic wave field forward modeling are carried on the given and predicted subtle hydrocarbon trap with log curve. ⑤ The lithology and fluid identification of subtle trap in target area After study the seismic response characteristics of lithology and fluid in given target area, the optimization of geophysical technique is used for lithology identification and fluid forecast. ⑥The geophysical identification technique system of subtle reservoir The Innovative Points of this Paper ① Based on laboratory measurement and petrophysical model theory, the rock S-wave parameter can be evaluated from conventional log data with probability inverse method. Then the fluid substitution method based on B-G and K-T theory is provided. ② The method and workflow for simulating seismic wave field property of subtle hydrocarbon trap are established based on the petrophysical model building and forward modeling of wave equation. ③ The description of subtle trap structural feature is launched. According to the different reflection of frequency wave field structural attribute, the fluid property of subtle trap can be identified by wave field attenuation attribute and absorption analysis. ④ It’s the first time to identify subtle trap by geophysical technique and provide exploration drilling well location. ⑤ The technique system of subtle reservoir geophysical identification is formed to provide available workflow and research ideas for other region of interest.

深基坑土钉支护机理的现场测试及三维数值模拟研究

Soil nailing is a sort of new support system developed in recent year, and it has already been extensive application in the supporting system of deep-foundation pit . Based on the in situ measured data of hairun mansion deep-foundation pit excavation in Beijing, which include steel bar stress and lateral deformation, the following categories are systematically studied: (1) Magnitude of lateral deformation and displacement distribution vary with time at different excavation depth of deep-foundation pit excavation. Magnitude and distribution of soil nailing force vary with time at different excavation depth of deep-foundation pit excavation. By contract with the in situ measured data, we process the three-dimension numerical simulation of deep-foundation pit excavation with soil nailing support by Fast Lagrangian Analysis of Continua 3D(FLAC~(3D)). By above in situ measurement and studying, we found that the mechanism of soil nailing support is: by stress sharing, stress transmission and diffusion, and displacement restriction, composite soil nailing system can improve the strength and rigidity of soil and decrease the deformation and failure state by enhancing the whole stability of slope.

黄土高原全新世风成沉积的岩石磁学性质

Chinese eolian deposits are especially suitable for the studies of paleoclimatic changes, environmental magnetism and remanence acquisition mechanisms. In the past two decades, many studies have documented their magnetic properties. However, some important problems, such as the origin of magnetic minerals, the mechanisms for enhancing magnetic susceptibility and the lock-in effect, remain debatable. Therefore, it is essential to detail the rock-magnetic properties of the eolian deposits. This study shows thermomagnetic analyses, petrographic measurements and soil chemistry methods can be combined to obtain a better understanding of the sequence of magnetic mineral alterations during thermal treatment and of the pedogenic mechanism responsible for the susceptibility enhancement. This helps to further develop the interpretation of paleoclimate records in the Holocene eolian deposits along a NW-SE transect of the loess plateau. A partial heating/cooling method and X-ray diffraction (XRD) analysis were performed on representative samples of the present-day loess, in order to investigate mineralogical changes during thermal treatment. The temperature-dependent susceptibility (TDS) and XRD results show complex alteration of magnetic phases during heating and cooling. The 300 ℃ susceptibility hump in heating curves might be due to the production of maghemite from less magnetic lepidocrocite during heating. Goethite is transformed into hematite when heating to above 300 ℃. The susceptibility decrease from 300 ℃ to 450 ℃ can be interpreted as the conversion of maghemite to hematite. This thermal instability makes it possible to quantatively estimate the maghemite contribution to the pedogenically-enhanced susceptibility in loess or paleosols. Minor occurrence of thermally-stable maghemite in the present-day loess is possible; nevertheless, the TDS measurements show that the degree of the thermally-induced alteration is closely related to pedogenesis. The TDS measurement and XRD analysis results demonstrate that although magnetite and hematite both exist in the Holocene loess eolian deposits and their modern source area, magnetite is the predominant contributor to magnetic susceptibility. Both magnetite and hematite are the primary carriers of the remanent magnetization. Fine-grained maghemite, mainly produced by pedogenesis, is significantly responsible for enhancement of the magnetic susceptibility in the Chinese loess and paleosols. Since the degree of oxidation of magnetite grains depends on climate, the presence of maghemite has paleoclimatic significance, and variations in climate could be reflected as variations in the amount of low-temperature oxidation. If that is the case, the TDS curves can be used to compare the effects of climate at different sampling sites. The TDS results along the studied NW-SE transect suggest that stronger pedogenesis results in higher content of maghemite and greater susceptibility decrease during thermal treatment. This behavior seems to indicate that the final product of pedogenic magnetite in Chinese loess and paleosols is maghemite, which makes significant contributions to the enhanced magnetic susceptibility of Chinese eolian deposits. It is interesting to note that the 510 ℃ Hopkinson/alteration peak is larger in the present-day loess than in the black loam for each section. Obiviously, the Hopkinson/alteration peak of the Holocene eolian deposits is closely related to the degree of pedogenesis, which is a function of climate, and thus the peak itself could be a useful climate indicator. There are three effects that may be important in producing this trend. First, low-temperature oxidation preferentially affects the finer single-domain magnetites responsible for the Hopkinson peak, which is therefore suppressed in the more oxidized loams. Second, the possible production of uniaxial magnetite with shape anisotropy can also lead to a relatively muted Hopkinson peak. There is, additionally, a third alternative, and the one preferred here, that the natural alteration processes involved in pedogenic susceptibility enhancement have probably depleted the supply of iron-bearing precursor phases, so that less new magnetite is formed on heating. In summary, the TDS method is very reliable and highly sensitive in detecting magnetic phase changes in eolian deposits during thermal treatment, which are closely related to pedogenic processes. Thus, the studied NW-SE transect clearly exhibits paleoclimatically-induced mineral- and rock-magnetic variations. It is suggested that TDS can be used as a new method for the analysis of pedogenesis and climatic change.

工作幸福感的结构、测量及作用机制

With the emergence and development of positive psychology, happiness has been the focus of academia and business. However, there is no uniform measure of happiness, because of many different theories of happiness, which are not compatible with others. It bounds the further development of happiness theory. It is also the same with the research of work well-being, which refers to the emotional experience and quality of psychological functioning of employee in the workplace. Subjective well-being (SWB) and psychological well-being (PWB) are two major theories of happiness. Prior research has demonstrated the integration of these two theories theoretically, but still needs more empirical support. Besides, in line with the development of positive psychology, a body of knowledge about positive leadership is advocated. Transformational leadership is treated as one kind of positive leadership, since it emphasizes the leader’s motivational and elevating effect on followers. But the extent to which the transformational leadership can enhance work well-being, and what the mechanism is, these are the questions need to be explored. Based on the integration of SWB and PWB, this research tried to investigate the structure, measurement and mechanism of work well-being, and combining with the theory of transformational leadership, this study also tried to investigate the relationship between transformational leadership and work well-being. The structure and measurement of work well-being, the relationships between work well-being and job characteristics (including job resources and job demands), the relationships among transformational leadership, job resources, work well-being and corresponding outcomes, the relationships among transformational leadership, job demands, work well-being and corresponding outcomes, and the relationships among transformational leadership, group job characteristics, group work well-being and corresponding group outcomes were explored by using content analysis, Subject Matter Experts (SMEs) discussion, and structural questionnaire surveys. More than 7000 subjects were surveyed, and Explore Factor Analysis (EFA), Confirm Factor Analysis (CFA), Structural Equation Modeling (SEM), Hierarchical Linear Modeling (HLM) and other statistics methods were used. The following is the major conclusions. Firstly, work well-being is a two high-order factors structure, which includes affective well-being (AWB) and cognitive well-being (CWB). AWB is similar to SWB, and CWB is similar to PWB. Besides, the construct of AWB includes sub-dimensions of positive emotional experience and negative emotional experience. And the construct of CWB consists of work autonomy, personal growth, work competent, and work significance. Secondly, the relationships between job characteristics and AWB and CWB are different. On one hand job demands are directly related to AWB, and are indirectly related to CWB through the full mediation of AWB, on the other job resources are directly related to CWB, and are indirectly related to AWB through the full mediation of CWB, which means AWB and CWB reciprocally influences each other in the model of job demands-resources. These results were concluded as the process model of work well-being. Thirdly, AWB and CWB are positively related to many workplace outcomes, including job satisfaction, group satisfaction, organizational commitment, turnover intention, job performance, organizational citizenship behavior (OCB), and general psychological health and general physiological health. Fourthly, transformational leadership is indirectly related to CWB through the full mediation of job resources, and is related to AWB through the partial mediation of job demands. Meanwhile, transformational leadership is related to many workplace outcomes through the mediation of job characteristics and work well-being. These results implied that transformational leadership is indeed one kind of positive leadership. Fifthly, in the group level, transformational leadership is indirectly related to group CWB through the full mediation of group job resources, and is related to group AWB through the full mediation of group job demands. Group AWB has positive influence on group CWB, but not vice versa. Group job characteristics and group work well-being fully mediate the relationships between transformational leadership and intragroup cooperation and group performance.

通过对心理学期刊的几项统计分析看我国十年来儿童发展教育心理学研究状况与动向

In this study, bibliometric method was usded in the investigation of 2274 papers concerning child developmental and educational psychology, which were published during the ten years of 1979-1988, in 14 psychological journals and 97 other scientific journals. According to the quantitative and qualitative analyses, the results are as follows: 1979-1988 saw the rapid development and prosperous period in China's child developmental and educational psychology, During which more papers were published and more fields couched than in the psvious thirty years. The number of literature publications increased and went to the peak in 1983 and 1984, and came down since 1985. The trend was found to result from the decrease in popular science introductions of psychology, which reflected that a heat of psychology had appeared in 1983 and started to cool in 1985. At the mean time, the number of research reports had been holding a steady increase by 1987 and decreased obviously in 1988, especially in the fields of cognitive and social development. There could be several possible explanations of this phenonemon: Piagetian studies are becoming fewer and the eakening of Piaget's influence might predict a period of standstill in the field of developmental psychology in China; As researches become more and more difficult, researchers have turned to be more cautious in lay out their reports; the cutdown of fees and staff could also be one of reasons for less publication in 1988. As the factors mentioned above still exist and their influences last, the number of papers are not expected to increase in the near future. The field of thinking and menory is closely connected with that of artificial intelligence. The downhill situations in these two fileds should be taken seriously. 2. The types of research work are divided on the bases of their problem raising. The trends show that the deepening studies, which represent a comaratively higher level of exploration, are waving fewer, while repeated studies and creative studies are becoming more as the years go along. This fact is worth being further analysed. Big progress could be seen from research methods. The methods currently used are mainly experiment, psychological measurement and assessment, and theoretical reasoning. There is a rapid increase of research by using scales. Wechsler Intelligence Scale for Children, Binet Scale and Baley Scale have been revised andstandardized. Chinese researchers have also developed several good scales of their own, some of which are valuable and need to be standardized. In the papers investigated, the amount of citation is significantly lower than the world average level as well as the average citation number of whole China's scientific literature. Among the papers cited, most are of Chinese and English languages, and only a small rate were published in resently five years. The renewal of literature cited seems to stay at a low level in the ten years. Tremendous work could be reflected by the number of subjects used the research work in those ten years: 362665. A lot of studies piled on the period of 4-16 year olds. Compared with the previous thirty years, the age range was much enlarged and there were quite a few studies about preschool, school and adolescent periods. The study of newborn of 0-3 has been a weak point so far and it is a field to which chinese developmental psychologists should pay more attention. The progress in using statistics is one of the most obvious part in the development in the research work of child developmental and educational psychology. The one tendency that should be awared and avoid is to put the cart before the horse: seeking for more sophisticated statistic method while neglecting the meanings of research problems. 3. Citation analysis was used in selecting scholars who had great influence in the field of child developmental and educational psychology. Among the often cited and famous scholars, 31 are Chinese researchers and 12 are Western psychologists. The authoritative journal for child developmental psychology and educational psychology is Acta Psychologica Sinica.