面向任务的虚拟环境和人机交互方法研究

基于虚拟现实技术的人机交互方法为面向任务的机器人远程作业研究提供了新的思想和思路 ,增强了机器人系统的遥控作业能力 .本文对机器人系统中虚拟环境和人机交互方法研究进行了综述 ,对虚拟环境中的示教和遥操作进行了评析 ,并探讨了未来遥操作机器人系统作业的发展趋势

智能机器人分层系统中的人机交互

在非结构环境里工作的智能机器人,人智能的介入有时是必不可少的.本文研究了这类机器人系统人机接口某些问题,提出了人智能输入的分层输入原则,实时性原则和协调性原则,讨论了人机接口的结构和实现问题,给出了人机接口命令的一种格式,并提出了人机操作的实际例子.

Experimental Investigations on Interaction of Two Drops by Thermocapillary-Buoyancy Migration

Experiments were performed, in a terrestrial environment, to study the migration and interaction of two drops with different diameters in matrix liquid under temperature gradient field. Pure soybean oil and silicon oil were used as matrix liquid and the drop liquid, respectively. The information on the motions of two drops was recorded by CCD camera system in the experiments to analyze the trajectories and velocities of the drops. Our experiments showed that, upon two drops approaching each other, the influence of the larger drop on the motion of the smaller one became significant. Meanwhile the smaller drop had a little influence on the larger one all the time. The oscillation of migration velocities of both drops was observed as they were approaching. For a short period the smaller drop even moved backward when it became side by side with the larger one during the migration. Although our experimental results on the behavior of two drops are basically consistent with the theoretical predictions, there are also apparent differences. 2006 Elsevier Ltd. All rights reserved. Keywords: Thermocapillary migration; Drop; Interaction; Oscillation 1. Introduction A bubble or drop will move when placed in another fluid with temperature gradient. This motion happens as a consequence of the variation of interfacial tension with temperature. Such a phenomenon is already known as Marangoni migration problem. With the development of microgravity science, bubble dynamics and droplet dynamics became a hot point problem of research because this investigation is very important for basic research as well as for applications in reduced gravity environment, such as space material science, chemical engineering and so on. Young et al. first investigated the thermocapillary migration of

Measuring Receptor/Ligand Interaction at the Single-Bond Level: Experimental and Interpretative Issues

There is increased interest in measuring kinetic rates, lifetimes, and rupture forces of single receptor/ligand bonds. Valuable insights have been obtained from previous experiments attempting such measurements. However, it remains difficult to know with sufficient certainty that single bonds were indeed measured. Using exemplifying data, evidence supporting single-bond observation is examined and caveats in the experimental design and data interpretation are identified. Critical issues preventing definitive proof and disproof of single-bond observation include complex binding schemes, multimeric interactions, clustering, and heterogeneous surfaces. It is concluded that no single criterion is sufficient to ensure that single bonds are actually observed. However, a cumulative body of evidence may provide reasonable confidence. 0 2002 Biomedical Engineering Society.

The Interaction Between Shock Waves and Foam in a Shock Tube

An experimental study and a numerical simulation were conducted to investigate the mechanical and thermodynamic processes involved in the interaction between shock waves and low density foam. The experiment was done in a stainless shock tube (80mm in inner diameter, 10mm in wall thickness and 5360mm in length). The velocities of the incident and reflected compression waves in the foam were measured by using piezo-ceramic pressure sensors. The end-wall peak pressure behind the reflected wave in the foam was measured by using a crystal piezoelectric sensor. It is suggested that the high end-wall pressure may be caused by a rapid contact between the foam and the end-wall surface. Both open-cell and closed-cell foams with different length and density were tested. Through comparing the numerical and experimental end-wall pressure, the permeability coefficients a and 0 are quantitatively determined.

Analytical Interaction of the Acoustic Wave and Turbulent Flame

A modified resonance model of a weakly turbulent flame in a high-frequency acoustic wave is derived analytically. Under the mechanism of Darrieus-Landau instability, the amplitude of flame wrinkles, which is as functions of the expansion coefficient and the perturbation wave number, increases greatly independent of the 'stationary' turbulence. The high perturbation wave number makes the resonance easier to be triggered but weakened with respect to the extra acoustic wave. In a closed burning chamber with the acoustic wave induced by the flame itself, the high perturbation wave number is to restrain the resonance for a realistic flame.

Grain Refinement at the Nanoscale Via Mechanical Twinning and Dislocation Interaction in a Nickel-Based Alloy

A nanostructured surface layer was formed on an Inconel 600 plate by subjecting it to surface mechanical attrition treatment at room temperature. Transmission electron microscopy and high-resolution transmission electron microscopy of the treated surface layer were carried out to reveal the underlying grain refinement mechanism. Experimental observations showed that the strain-induced nanocrystallization in the current sample occurred via formation of mechanical microtwins and subsequent interaction of the microtwins with dislocations in the surface layer. The development of high-density dislocation arrays inside the twin-matrix lamellae provides precursors for grain boundaries that subdivide the nanometer-thick lamellae into equiaxed, nanometer-sized grains with random orientations.

Numerical simulation of standing solitons and their interaction

Standing soliton was studied by numerical simulation of ifs governing equation, a cubic Schrodiger equation with a complex conjugate term, which was derived by Miles and was accepted. The value of linear damping in Miles equation was studied. Calculations showed that linear damping effects strongly on the formation of a standing soliton and Laedke and Spatschek stable condition is only a necessary condition, but not a sufficient one. The interaction of two standing solitons was simulated. Simulations showed that the interaction pattern depends on system parameters. Calculations for the different initial condition and its development indicated that a stable standing soliton can be fanned only for proper initial disturbance, otherwise the disturbance will disappear or develop into several solitons.

Analysis of super compact finite difference method and application to simulation of vortex-shock interaction

Turbulence and aeroacoustic noise high-order accurate schemes are required, and preferred, for solving complex flow fields with multi-scale structures. In this paper a super compact finite difference method (SCFDM) is presented, the accuracy is analysed and the method is compared with a sixth-order traditional and compact finite difference approximation. The comparison shows that the sixth-order accurate super compact method has higher resolving efficiency. The sixth-order super compact method, with a three-stage Runge-Kutta method for approximation of the compressible Navier-Stokes equations, is used to solve the complex flow structures induced by vortex-shock interactions. The basic nature of the near-field sound generated by interaction is studied.

Influence of Electrostatic Interaction on Fibrinogen Adsorption on Gold Studied by Imaging Ellipsometry Combined with Electrochemical Methods

Imaging ellipsometry was combined with electrochemical methods for studying electrostatic interactions of protein and solid surfaces. The potential of zero charge for gold-coated silicon wafer/solution interfaces wad determined by AC impedance method. The potential of the gold-coated silicon wafer was controlled at the potential of zero charge, and the adsorption of fibrinogen on the potential-controlled and non-controlled surfaces was measured in real time at the same time by imaging ellipsometry The effect of electrostatic interaction was studied by comparing the difference between the potential of controlled adsorption and the Potential of noncontrolled adsorption. It was shown that the rate of fibrinogen adsorption on the potentiostatic surface was faster than that on the nonpotentiostatic surface. The electrostatic influence on fibrinogen adsorption on the gold-coated silicon wafer was weak, so the hydrophobic interaction should be the major affinity.

Fluid-Solid Interaction in Particle-Laden Flows

Liu Qingquan, Singh V.P

Experiments on interaction between current-induced vibration and scour of submarine pipelines on sandy bottom

In order to understand the dynamic behavior of submarine pipelines exposed to current and the mechanism of the interaction between current-induced vibration and scour of pipelines on a sandy bottom, an experimental investigation is conducted with a small scale model A test model which can be tested in the flume is set up by taking into account the typical working conditions of the pipelines and by applying the similarity theory. The interactions between the shape of the scour hole and the behavior of the pipeline as well as the flow patterns of the current are detailed, and the interaction mechanism outlined. The effect of vibration of the pipeline on the development of dynamic scour at different stages is found out. The proposed experimental method and test results provide an effective means for design of marine pipelines against scouring.