双足爬壁机器人壁面凹过渡步态规划研究

针对腿足式爬壁机器人在壁面过渡时的步态规划问题,以一种真空吸附式双足爬壁机器人为研究对象,在步态分析的基础上,基于有限状态机建立了机器人的步态模型,进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法,为提高机器人壁面过渡的自主控制能力奠定了基础.仿真分析和实验结果表明,该步态规划算法对于实际的机器人系统是有效的和可行的.

蠕动爬行攻泥机构转向工作特性的有限元分析

针对用于沉船打捞的水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理 ,建立了适当的有限元计算模型 ,进而通过弹塑性有限元计算 ,模拟了攻泥机构处于土中不同深度的工作情况 ,建立了攻泥机构前进位移V和转向角θ之间关系的通用公式。通过它可以实现对攻泥机构前进路线的规划与自动控制

大型过程工业自动化全过程体系结构

本文首先论述了体系结构对大型自动化系统开发的重要意义，接着从生命周期的观点、递阶控制的观点、自控系统组成三要素的观点对体系结构进行了竖向、纵向、横向的分析。并讨论了各类参考模型对支持平台的要求，最后提出了大型过程工业自动化全过程体系结构，该体系结构对“八·五”攻关课题“大型过程工业综合自动化总体技术”具有指导作用。

自动生产线和柔性制造系统的建模、分析与控制

自动生产线和柔性制造系统是典型的离散事件动态系统,近几年在控制理论界受到极大重视。本文首先对自动生产线的建模与分析的研究概况做了综述,重点放在排队网络模型。然后介绍了柔性制造系统的管理与控制问题。

金属粉末激光成形系统的研究

为了实现功能零件金属粉末激光快速成形的制备,研究开发了一套金属粉末激光成形系统。系统基于模块化设计思想,主要包括5个组成部分。每个模块既具备各自的特定功能,又相互协调来统一完成功能零件快速成形制备,而且系统具备高度柔性和自动控制的特点,使得操作与运转简单易行。

An ambient proof and wide tuning range LC VCO with automatic amplitude control for tuner applications

This paper represents a LC VCO with AAC (Auto Amplitude Control), in which PMOS FETs are used as active components, and the varactors are directly connected to ground to widen Kvco linear range. The AAC circuitry adds little noise to the VCO and provides it with robust performance over a wide temperature and carrier frequency range. The VCO is fabricated in 50-GHz 0.35-mu m SiGe BiCMOS process. The measurement results show that it has -127.27-dBc/Hz phase noise at 1-MHz offset and a linear gain of 32.4-MHz/V between 990-MHz and 1.14-GHz. The whole circuit draws 6.6-mA current from 5.0-V supply.

A 1.1GHz LC VCO with Automatic Amplitude Control for Tuner Applications

This paper presents an LC VCO with auto-amplitude control （AAC）, in which pMOS FETs are used,and the varactors are directly connected to ground to widen the linear range of Kvco. The AAC circuitry adds little noise to the VCO but provides it with robust performance over a wide temperature and carrier frequency range.The VCO is fabricated in a chartered 50GHz 0.35μm SiGe BiCMOS process. The measurements show that it has - 127. 27dBc/Hz phase noise at 1MHz offset and a linear gain of 32.4MHz/V between 990MHz and 1.14GHz.The whole circuit draws 6. 6mA current from 5V supply.

Photoperiodic long-day control of sporophyll and hair formation in the brown alga Undaria pinnatifida

Two photoperiodic responses, the development of sporophylls and hairs, have been quantified in sporophytes of the brown alga Undaria pinnatifida. In a final experiment, the algae were cultivated in outdoor, 2000-L seawater tanks in a greenhouse for up to 12 weeks, and daylength was regulated by automatic blinds mounted on top of the tanks. Vegetative young sporophytes were treated under short-day (SD; 8 h light per day) or long-day conditions (LD; 16 h light per day), at 12 h light per day or in a night-break regime (NB; 8 h light per day, 7.5 h dark, 1 h light, 7.5 h dark). The earliest sporophyll development was observed 6, 7 or 9 weeks under LD, NB or SD conditions, respectively. After 12 weeks the sporophylls were significantly longer and wider under LD or NB conditions than in the SD regime, and only half of the experimental algae had formed sporophylls under SD conditions, but all algae under LD or NB conditions. In a foregoing 7-week culture experiment performed in 300-L indoor tanks, enhanced sporophyll formation had also been observed under LD and not under SD conditions (NB omitted). In both experiments, blade elongation rates remained high until the end of the experiments in SD, but declined during sporophyll initiation in LD, NB or at 12 h light per day. Another difference caused by photoperiod was observed in regard to the development of surface hair spots which occurred in both experiments on the blades in LD, NB or at 12 h light per day with identical densities, but were completely lacking under SD conditions. It is concluded that U. pinnatifida is a facultatative long-day plant in regard to reproduction forming vigorously sporophylls in long days, and an obligate long-day plant in regard to hair formation.