全地形移动机器人轮-地几何接触角估计

研究全地形移动机器人在不平坦地形中轮-地几何接触角的实时估计问题.本文以带有被动柔顺机构的六轮全地形移动机器人为对象,抛弃轮-地接触点位于车轮支撑臂延长线上这一假设,通过定义轮-地几何接触角δ来反映轮-地接触点在轮缘上位置的变化和地形不平坦给机器人运动带来的影响,将机器人看成是一个串-并联多刚体系统,基于速度闭链理论建立考虑地形不平坦和车轮滑移的机器人运动学模型,并针对轮-地几何接触角δ难以直接测量的问题,提出一种基于模型的卡尔曼滤波实时估计方法.利用卡尔曼滤波对机器人内部传感器的测量值进行噪声处理,基于机器人整体运动学模型对各个轮-地几何接触角进行实时估计,物理实验数据的处理结果验证了本文方法的有效性,从而为机器人运动学的精确计算和高质量的导航控制奠定了基础.

A simulation model of body contact structure in PD SOI analogue circuit

As a solution of accurate simulation of the body effect in PD SOI analogue circuit, a simulation model of distributed body contact resistance and parasitical capacitance is presented. Based on this model, we have designed and simulated a sense amplifier that applied to V a 0.8um PD SOI 64K SRAM.

Numerical Analyses of Discrete Gust Response for an Aircraft

Based on Navier-Stokes equations and structural and flight dynamic equations of motion, dynamic responses in vertical discrete gust flow perturbation are investigated for a supersonic transport model. A tightly coupled method was developed by subiterations between aerodynamic equations and dynamic equations of motion. First, under the assumption of rigid-body and single freedom of motion in the vertical plunging, the results of a direct-coupling method are compared with the results of quasi-steady model method. Then, gust responses for the one-minus-cosine gust profile arc analyzed with two freedoms of motion in plunging and pitching for the airplane configurations with and without the consideration of structural deformation.

基于变形修正的局部刚体化动力模型简化方法

提出一种基于变形修正的动力模型简化方法,以复杂工程结构的有限元模型为基础,根据运动同步性假设将结构分成若干同步性区域,采用适当的位移模式去逼近位移真值,再通过总体应变能最小来优化,从而得到整体位移与局部位移模式间的转换关系,算例结果表明了简化方法的有效性.

基于柔度修正的局部刚体化结构动力模型简化方法

提出一种基于柔度修正的局部刚体化结构动力模型简化方法.以复杂工程结构的有限元模型为基础,根据运动同步性假设将结构分成若干同步性区域,对每个区域引入准刚体模态,实现对结构的简化.同时对简化方法进行误差分析,利用柔度修正的思路实现对简化变化矩阵的修正,得到更精确的简化结果.以海洋平台结构作为算例应用该方法,得到了比较满意的简化结果.

Interaction between human interleukin-16 and CD4 receptor of HIV-1

AIM: To study the interaction between human interleukin-16 (IL-16) and the receptor CD4 (T-lymphocyte differentiation antigen) of human immunodeficiency virus type 1 (HIV-1). METHODS: Two structurally con served regions (SCRs) of human IL-16 were built by the SYBYL/Biopolymer module using the corresponding transmembrane (TM) domain of human interleukin-1 (HIL-4) and HIL-2 as the templates. The coordinates for amino-terminal residue sequence, carboxyl-terminal residue sequences, and cytoplasm loops were generated using Biopolymer's LOOP SEARCH algorithm. RESULTS: HIL-16 first formed a homodimer, then contacted with CD4 dimer further forming a dimeric complex. Subsequently, the dimeric complex constructed the tetrameric complex by two disulfide bridges between the cysteines of HIL-16 (Cys31-Cys31). CONCLUSION: The interaction model is useful to propose the action mechanism of HIL-16 and is beneficial for rational designing of novel anti-HIV drugs.

A DSWN-based specific-purpose neural computing system

The Double Synapse Weighted Neuron (DSWN) is a kind of general-purpose neuron model, which with the ability of configuring Hyper-sausage neuron (HSN). After introducing the design method of hardware DSWN synapse, this paper proposed a DSWN-based specific purpose neural computing device-CASSANN-IIspr. As its application, a rigid body recognition system was developed on CASSANN-IIspr, which achieved better performance than RIBF-SVMs system.

Three-body force rearrangement effect on single particle properties in neutron-rich nuclear matter

We extend the Brueckner-Hartree-Fock (BHF) approach to include the three-body force (TBF) rearrangement contribution in calculating the neutron and proton single particle (s.p.) properties in isospin asymmetric nuclear matter. We investigate the TBF rearrangement effect on the momentum-dependence of neutron and proton s.p. potentials, the isospin splitting and especially its density dependence of the neutron and proton effective masses, and the isospin symmetry potential in neutron-rich nuclear matter by adopting the realistic Argonne V-18 two-body nucleon-nucleon interaction supplemented with a microscopic TBF. We find that at low densities, the TBF rearrangement effect is fairly weak, whereas the TBF induces a significant rearrangement effect on the s.p. properties at high densities and large momenta. The TBF rearrangement contribution to s.p. potential is shown to be repulsive, and it reduces considerably the attraction of the BHF s.p. potential. The repulsion from the TBF rearrangement turns out to be strongly momentum dependent at high densities and high momenta. As a consequence, it enhances remarkably the momentum dependence of the proton and neutron s.p. potentials and reduces the neutron and proton effective masses. At low densities, the TBF rearrangement effect on symmetry potential is almost negligible, while at high densities, it enlarges sizably the symmetry potential. At high enough densities, it may even change the high-momentum behavior of symmetry potential. In both cases, with and without including the TBF rearrangement contribution, the predicted neutron effective mass is larger than the proton one in neutron-rich matter within the BHF framework; i.e., the predicted isospin splitting of the proton and neutron effective masses in neutron-rich matter is such that m(n)(*)>= m(p)(*), in agreement with the recent Dirac-BHF predictions. The TBF rearrangement contribution reduces remarkably the magnitude of the proton-neutron effective mass splitting at high densities. At high enough densities, inclusion of the TBF rearrangement contribution even suppresses almost completely the effective mass splitting.

履带式移动机器人行动规划技术的研究

本文以８６３－５１２型号项目为背景，从运动特性、运动描述、运动控制以及运动规划等几个方面研究履带式移动机器人的行动规划技术；首先从理论上分析了履带式移动机器人的内在运动传递机理，指出了其区别于轮式移动载体的独特的运动特性，尤其是在其转向特性方面，得出了履带式移动机器人运动角速度几乎不可控原理、原地转弯转不准问题、以及履带式车辆行动规划时所要遵循的规则等重要结论，针对履带式移动机器人的纵向运动控制问题，讨论了其速度控制模型，提出了一种速度测量与控制的简单、准确、可靠的方法。在磺向运动方面，提出了一种基于ＦＭ－ＬＩＫＥ和ＡＭ－ＬＩＫＥ相结合的复合控制技术，解决了难度较大的方向控制问题。最后提供了实验结果，证明了上述方法与结论的正确性。上述方法与结论，作为８６３－５１２某型号任务的一部分，业已通过验收。

地质导向钻井关键技术及方法

On the basis of analyzing the principle and realization of geo-steering drilling system, the key technologies and methods in it are systematically studied in this paper. In order to recognize lithology, distinguish stratum and track reservoirs, the techniques of MWD and data process about natural gamma, resistivity, inductive density and porosity are researched. The methods for pre-processing and standardizing MWD data and for converting geological data in directional and horizontal drilling are discussed, consequently the methods of data conversion between MD and TVD and those of formation description and adjacent well contrast are proposed. Researching the method of identifying sub-layer yields the techniques of single well explanation, multi-well evaluation and oil reservoir description. Using the extremum and variance clustering analysis realizes logging phase analysis and stratum subdivision and explanation, which provides a theoretical method and lays a technical basis for tracing oil reservoirs and achieving geo-steering drilling. Researching the technique for exploring the reservoir top with a holdup section provides a planning method of wellpath control scheme to trace oil and gas reservoir dynamically, which solves the problem of how to control well trajectory on condition that the layer’s TVD is uncertain. The control scheme and planning method of well path for meeting the demands of target hitting, soft landing and continuous steering respectively provide the technological guarantee to land safely and drill successfully for horizontal, extended-reach and multi-target wells. The integrative design and control technologies are researched based on geology, reservoir and drilling considering reservoir disclosing ratio as a primary index, and the methods for planning and control optimum wellpath under multi-target restriction, thus which lets the target wellpath lie the favorite position in oil reservoir during the process of geo-steering drilling. The BHA (bottomhole assembly) mechanical model is discussed using the finite element method, and the BHA design methods are given on the basis of mechanical analyses according to the shape of well trajectory and the characteristics of BHA’s structure and deformation. The methods for predicting the deflection rate of bent housing motors and designing their assemblies are proposed based on the principle of minimum potential energy, which can clearly show the relation between the BHA’s structure parameters and deflection rate, especially the key factors’ effect to the deflection rate. Moreover, the interaction model between bit and formation is discussed through the process of equivalent formation and equivalent bit considering the formation anisotropy and bit anisotropy on the basis of analyzing the influence factors of well trajectory. Accordingly, the inherence relationship among well trajectory, formation, bit and drilling direction is revealed, which lays the theory basis and technique for predicting and controlling well trajectory.

Improved Analysis Method for Wave-Induced Pipeline Stability on Sandy Seabed

The existing Det Norske Veritas DNV Recommended Practice RP E305 for pipeline on-bottom stability is mainly based on the pipe–soil interaction model reported by Wagner et al. in 1987, and the wake model reported by Lambrakos et al. in 1987, to calculate the soil resistance and the hydrodynamic forces upon pipeline, respectively. Unlike the methods in the DNV Practice, in this paper, an improved analysis method is proposed for the on-bottom stability of a submarine pipeline, which is based on the relationships between Um/ gD 0.5 and Ws / D2 for various restraint conditions obtained by the hydrodynamic loading experiments, taking into account the coupling effects between wave, pipeline, and sandy seabed. The analysis procedure is illustrated with a detailed flow chart. A comparison is made between the submerged weights of pipeline predicted with the DNV Practice and those with the new method. The proposed analysis method may provide a helpful tool for the engineering practice of pipeline on-bottom stability design.

Slightly slanting impact on an elastic cantilever column-an experimental study

Experiments concerning slightly slanting impact between a flat-ended rigid body and a flat-ended elastic cantilever column with a rectangular cross-section have been performed. The experimental results are compared with the theoretical ones. The small angle of incidence was measured by using an optical method. The impact process was studied by using a split disc for the rigid body, with the two halves bonded together and electrically insulated from each other. The disc and the column were parts of an electric circuit. Different contact states could be distinguished according to different voltage levels. Reasonably good agreement between theory and experiment was found. Thus, the impact duration has its minimum under perfectly axial impact as predicted by the theory. Also, the predicted process of alternating line and surface contact was observed. Furthermore, the existence of a small critical angle of incidence was verified. This critical angle of incidence divides the impact processes into two categories: (1) The rigid body and the column end come into surface contact before separation. (2) They separate without surface contact. Comparison of axial strains between theory and experiment shows good agreement.

立方反射镜失调特性的研究

结合理想坐标系下立方镜镜面微小倾斜后其三个平面法线坐标，利用刚体微量转动的反射法线向量公式，获得非理想立方镜反射矩阵；为了研究在光斜入射时镜面倾斜对出射光方向的影响，利用立方镜绕顶点旋转等效于光斜入射的方法，计算出光束夹角δ与单一镜面偏差角ε和立方镜旋转角θ之间的关系式；对于理想情况下的立方镜，利用几何光学可以证明出射光与入射光不但平行，而且过顶点作任意截面交于两光线所得的两个交点关于顶点对称，从而计算出立方镜绕顶点以外任意轴旋转造成出射光束相对原出射光的偏移量与旋转角关系式，理论计算值与实验数据吻合得很

Molecular modeling on human CCR5 receptors and complex with CD4 antigens and HIV-1 envelope glycoprotein gp120

AIM: To investigate the interaction between human CCR5 receptors (CCR5) and HIV-1 envelope glycoprotein gp120 (HIV-1 gp120) and HIV-1 receptor CD4 antigens (CD4). METHODS: The structurally con served regions (SCR) of human CCR5 was built by the SYBYL/Biopolymer module using the corresponding transmembrane (TM) domain of bacteriorhodopsin (bR) as the template. The coordinates for amino-ter minal residue sequence, and carboxyl-terminal residue sequence, extracellular and cytoplasmic loops were generated using LOOP SEARCH algorithm. Subsequently the structural model was merged into the complex with HIV-1 gp120 and CD4. RESULTS: Human CCR5 interacted with both an HIV-1 gp120 and CD4. The N-terminal residues (especially Met1 and Gln4) of human CCR5, contacted with CD4 residues, mainly 7Nith one span (56 - 59) of CD4 in electrostatic interaction and hydrogen-bonds. The binding sites of human CCR5 were buried in a hydrophobic center surrounded by a highly basic periphery. On the other hand, direct interatomic contacts were made between ? CCR5 residues and 6 gp120 amino-acid residues, which included van der Waals contacts, hydrophobic interaction, and hydrogen bonds. CONCLUSION: The interaction model should be helpful for rational design of novel anti-HIV drugs.

基于刚体运动学仿真的坦克训练模拟系统研究

根据坦克部队作战特点，以计算机技术、网络技术、系统仿真与模型方法为基础，将HLA与坦克分队战术训练相结合，把分散在不同地点的人与设备“连接”到同一模拟训练环境中；将虚拟现实技术与半实物仿真模拟器相结合，建立吴有时空一致性的系统合成的虚拟“战场环境”；将刚体运动学与解析几何相结合，解决坦克实体模型视景仿真和坦克直线运动与转向运动中的六自由度刚体运动学模拟技术。遵循这一技术路线，完成了以计算机仿真技术与军事训练专业的复合应用为目的的分布式坦克训练模拟与分析系统。