Design and path planning for a remote-brained service robot

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.

全方位装配型AGV的工程应用

自动导引车(Automated Guided Vehicle)通常称AGV,自动导引车系统 (Automated Guided Vehicle System)通常称AGVS。AGV是一种无人驾驶搬运车,它可以按照监控系统下达的指令,根据预先设计的程序,依照车载传感器确定的位置信息,沿着规定的行驶路线和停靠位置自动行驶。AGVS由中央监控系统,AGV,通信系统,地面导引系统,装载、卸载站及其移载装置,充电站等组成。自动导引车系统广泛应用在仓库,工厂, 码头,机场中的自动化仓储系统,柔性加工,柔性装配系统,以

车载机械手系统的重心控制

就移动机构上安装机械手的机械手/车辆系统提出了一种用分解运动的方法,通过控制系统的重心,防止机械手/车辆系统倾倒的控制方案。给出了系统的控制原理框图,并通过一个自由度车辆上安装两个自由度机械手系统的实验对方案的可行性进行了验证。

估计从UUV航行参数的混合坐标系下的EKF算法

在主从式UUV 协作系统中，由于定位和导航的需要，要求尽快估计出从UUV 的航行参数，但通常所用的递推最小二乘（RLS）算法，其初始方位测量对滤波结果影响大且存在收敛速度慢、计算精度低的缺点，难以满足应用需求，而推广卡尔曼滤波（EKF）算法能较好地克服上述问题。在直角坐标系下（CEKF），方位信息与距离信息相互耦合导致初始振荡剧烈，改为混合坐标系（MEKF）后问题得到了极大的改善。最后，通过仿真及现场试验验证了此改进方法的有效性。

基于局域网的多水下机器人仿真系统设计与实现

多水下机器人仿真系统是一个能够对多水下机器人系统的体系结构、协调控制、路径规划、学习算法等进行演示验证的分布式实时数字仿真系统,是开展多水下机器人技术研究的基础和有效手段.讨论了应用基于局域网的分布式仿真技术来解决多水下机器人系统仿真的问题,并详细说明了仿真系统的硬件组成和软件总体设计.

基于数字化生产模型的在线故障诊断技术研究

提出了一种基于数字化的生产模型,使用控制图、故障树分析和专家知识,能够进行制造过程实时监控的诊断,该模型提高了故障诊断系统的可靠性,并提供了可实际操作的可视化建模工具。所开发的在线统计过程控制系统能够根据生产事件的监测,动态响应制造过程变化。该系统运用可视化建模工具,根据专家经验进行故障树建模,通过故障树自动生成专家系统诊断规则库,实现诊断知识的自动获取。将该系统应用于汽车变速箱装配过程的检测与故障诊断,验证了方法的有效性。

地震力对高架桥梁上轨道车辆的动态分析与安全性研究

The stability and derailment behavior analysis of railway vehicle system has been discussed by many papers in the past. In stability, give first place to consider hunting behavior of vehicle, therefore most of papers was only consider lateral and yaw motion, but vertical motion is the important factor in derailment behavior, and it will be quite effect in stability. We will probe the running stability and derailment behavior of railway vehicle moving on the viaduct in this paper. In this paper, we use Nadal’s formula to get the derailment quotient. In this paper, the railway vehicle is considered to be three subsystems, carbody, bogie and wheelset. There are secondary suspension systems between carbody and bogies, and primary suspension systems connecting bogies and wheelsets. A vehicle with vertical, lateral, roll, and yaw directions motion is considered to derive the mathematical equations. A vehicle with three-dimensional model has 16 degrees of freedom is used to develop the equations of train motion. In this study, results show that the track shift force and derailment factor increase with an increase of ground acceleration. But for the track shift force and derailment factor, the effects of track irregularities and train speed are very small. Key words: earthquake, railway vehicle, viaduct, derailment factor.

油气运聚动力学的模拟分析——以准噶尔盆地为例

The petroleum migration, happening in the geologic past, is the very important and complex dynamic processes in the petroleum systems. It plays a linking role among all static factors in a system. The accumulation is in fact the result of the petroleum migration. For the petroleum geology, the dynamics research of the petroleum migration refers to the mechanism and process research, as well as the use of the quantitative methods. In this thesis, combining with the qualitative analysis and quantitative modeling, the author manages to discuss theoretically some key problems dealing with migration processes, which have not been solved yet, and to apply the studied results in petroleum system analysis in actual basins. The basin analysis offers the base of the numerical modeling for geological phenomena occurring in sedimentary basins, that consists of the sedimentary facies analysis, the section reconstructing technique, eroded thickness estimating, etc. The methods to construct the geologic model, which is needed in the research of oil and gas migration and accumulation, are discussed. The basin analysis offers also the possibility for the latter modeling works to get and select the parameters, such as stratum's thickness, age, stratigraphy etc. Modeling works were done by using two basin modeling softwares: Basin_Mod and TPC_Mod. The role of compaction during the secondary migration and the heterogeneity of migrating paths within the clastic carrier are modeled. And the conclusions were applied in the migration studies in the Jungaer Basin, lying on the Northwest part of the China. To construct a reliable migration model, the author studied the characteristics of the sedimentation, the pore fluid pressure evolution, as well as the distribution and the evolution of fluid potential, following the tectonic evolution of the Jungaer Basin. The geochemical prospecting results were used to evidence and to calibrate the migration processes: the oil-source correlation, the distribution of the properties of oil, gas and water. Finally, two important petroleum systems, Permian one and Jurassic one were studied and identified, according, principally, to the studies on the petroleum migration within the Jungaer Basin. Since the oil, as well as the gas, moves mainly in separate phase during the secondary migration, their migrating behaviors would be determined by the dynamics conditions of migration, including the driving forces and pathways. Based on such a consideration, the further understandings may be acquired: the roles played by permeable carriers and low-permeable source rock would be very different in compaction, overpressure generation, petroleum migration, and so on. With the numerical method, the effect of the compaction on the secondary migration was analyzed and the results show that the pressure gradient and the flux resulted from compaction are so small that could be neglected by comparing to the buoyancy of oil. The main secondary migration driving forces are therefore buoyancy and capillary within a hydrostatic system. Modeling with the commercial software-Basin_Mod, the migration pathways of petroleum in clastic carriers seem to be inhomogeneous, controlled by heterogeneity of the driving force, which in turn resulted from the topography of seals, the fabrics and the capillary pressure of the clastic carriers. Furthermore, the direct and indirect methods to study fault-sealing properties in the course of migration were systemically summarized. They may be characterized directly by lithological juxtaposition, clay smear and diagenesis, and indirectly the comparing the pressures and fluid properties in the walls at two apartments of a fault. In Jungaer Basin, the abnormal pressures are found in the formations beneath Badaowan or Baijantan Formation. The occurrence of the overpressure seems controlled by the stratigraphy. The rapid sedimentation, tectonic pressuring, clay sealing, chemical diagensis were considered as the principal pressuring mechanisms. The evolution of fluid pressure is influenced differently at different parts of the basin by the tectonic stresses. So the basin appears different pressure evolution cycles from each part to another during the geological history. By coupling the results of thermal evolution, pressure evolution and organic matter maturation, the area and the period of primary migration were acquired and used to determine the secondary migration time and range. The primary migration in Fengcheng Formation happened from latter Triassic to early Jurassic in the main depressions. The main period of lower-Wuerhe Formation was at latter Jurassic in Changji, Shawan and Pen-1-jing-xi Depression, and at the end of early Cretaceous in Mahu Depression. The primary migration in Badaowan and Sangonghe Formation is at the end of early-Cretaceous in Changji Depression. After then, the fluid potential of oil is calculated at the key time determined from area and time of the primary migration. Generally, fluid potential of oil is high in the depressions and low at the uplifts. Synthetically, it is recognized that the petroleum migration in the Jungaer Basin is very complex, that leads us to classify the evolution of petroleum systems in Northwestern China as a primary stage and a reformed one. The remigration of accumulated petroleum, caused by the reformation of the basin, results in the generation of multiple petroleum systems. The faults and unconformities are usually the linkers among the original petroleum systems. The Permian petroleum system in Jungaer Basin is such a multiple petroleum system. However, the Jurassic petroleum system stays still in its primary stage, thought the strong influences of the new tectonic activities.

Effects of Baffle Design on Fluid Flow and Heat Transfer in Ammonothermal Growth System of Nitrides

Efforts have been made in growing bulk single crystals of GaN front supercritical fluids using the ammonothermal method, which utilizes ammonia as fluid rather than water as in the hydrothermal process. Different mineralizers such as amide or azide and temperatures in the range of 200-600degreesC have been used to increase the solubility. The pressure is from 1 to 4 kbar. Modeling of the ammonothermal growth process has been used to identify factors which may affect the temperature distribution, fluid flow and nutrient transport. The GaN charge is considered as a porous media bed and the flow in the charge is simulated using the Darcy-Brinkman-Forchheimer model. The resulting governing equations are solved using the finite volume method. The effects of baffle design and opening on flow pattern and temperature distribution in an autoclave are analyzed. Two cases are considered with baffle openings of 15% and 20% in cross-sectional area, respectively.

Physical modeling of untrenched submarine pipeline instability

Wave-induced instability of untrenched pipeline on sandy seabed is a `wave-soil-pipeline' coupling dynamic problem. To explore the mechanism of the pipeline instability, the hydrodynamic loading with U-shaped oscillatory flow tunnel is adopted, which is quite different from the previous experiment system. Based on dimensional analysis, the critical conditions for pipeline instability are investigated by altering pipeline submerged weight, diameter, soil parameters, etc. Based on the experimental results, different linear relationships between Froude number (Fr) and non-dimensional pipeline weight (G) are obtained for two constraint conditions. Moreover, the effects of loading history on the pipeline stability are also studied. Unlike previous experiments, sand scouring during the process of pipe's losing stability is detected in the present experiments. In addition, the experiment results are compared with the previous experiments, based on Wake II model for the calculation of wave-induced forces upon pipeline. It shows that the results of two kinds of experiments are comparable, but the present experiments provide better physical insight of the wave-soil-pipeline coupling effects.

Modeling Ammonothermal Growth of GaN Single Crystals: The Role of Transport

Single crystal gallium nitride (GaN) is an important technological material used primarily for the manufacture of blue light lasers. An important area of contemporary research is developing a viable growth technique. The ammonothermal technique is an important candidate among many others with promise of commercially viable growth rates and material quality. The GaN growth rates are a complicated function of dissolution kinetics, transport by thermal convection and crystallization kinetics. A complete modeling effort for the growth would involve modeling each of these phenomena and also the coupling between these. As a first step, the crystallization and dissolution kinetics were idealized and the growth rates as determined purely by transport were investigated. The growth rates thus obtained were termed ‘transport determined growth rates’ and in principle are the maximum growth rates that can be obtained for a given configuration of the system. Using this concept, a parametric study was conducted primarily on the geometric and the thermal boundary conditions of the system to optimize the ‘transport determined growth rate’ and determine conditions when transport might be a bottleneck.

Observation and modeling for terrestrial processes in alpine meadow

The water-heat transfer process between land and atmosphere in Haibei alpine meadow area has been systematically observed. A multi-layer coupling model for land-atmosphere interaction was presented with special attention paid to the moisture transfer in leaf stomata under unsaturated condition. A profound investigation on the physical process of turbulent transfer inside the vegetation has been performed with a revised formula of water absorption for root system. The present model facilitates the study of vertically distributed physical variables in detail. Numerical simulation was conducted according to the transfer process of Kinesia humility meadow in the area of Haibei Alpine Meadow Ecosystem Station, CAS. The calculated results agree well with observation.

Modeling, numerical methods, and simulation for particle-fluid two-phase flow problems

In this paper, we study the issues of modeling, numerical methods, and simulation with comparison to experimental data for the particle-fluid two-phase flow problem involving a solid-liquid mixed medium. The physical situation being considered is a pulsed liquid fluidized bed. The mathematical model is based on the assumption of one-dimensional flows, incompressible in both particle and fluid phases, equal particle diameters, and the wall friction force on both phases being ignored. The model consists of a set of coupled differential equations describing the conservation of mass and momentum in both phases with coupling and interaction between the two phases. We demonstrate conditions under which the system is either mathematically well posed or ill posed. We consider the general model with additional physical viscosities and/or additional virtual mass forces, both of which stabilize the system. Two numerical methods, one of them is first-order accurate and the other fifth-order accurate, are used to solve the models. A change of variable technique effectively handles the changing domain and boundary conditions. The numerical methods are demonstrated to be stable and convergent through careful numerical experiments. Simulation results for realistic pulsed liquid fluidized bed are provided and compared with experimental data. (C) 2004 Elsevier Ltd. All rights reserved.