一种3自由度并联柔索驱动机器人的变刚度特性研究

以一种3自由度并联驱动机器人为研究对象,研究这种机器人的变刚度特性。从操作臂的静力学出发,对并联柔索驱动机器人的刚度进行了分析得到刚度公式。从得到的公式可以看出,操作臂的刚度不仅与各分支的刚度有关,与操作臂位姿有关,还与张紧柔索的张紧力有关。在机器人各分支上串联刚度较低的弹簧后做刚度实验,试验结果验证了对刚度理论分析所得的结论。

可重构模块化机器人系统的爬坡能力研究

介绍了一种新型的可重构模块化星球探测机器人系统,详细分析了子机器人组合的三种基本构型:手臂在前,首尾相连成串状;手臂在后,首尾相连成串状;两个子机器人首尾相连成环状。以两个子机器人为例,对爬坡过程中子机器人系统的各种组合形式进行了静力学分析,在此基础上,对机器人组合的爬坡能力进行了仿真研究,结果表明子机器人组合的爬坡能力与其连接构型紧密相关。实际试验很好地验证了仿真结果,同时,以实际试验为基础,得出了如下结论:在爬坡过程中,手臂在前的串状连接的机器人组合的运动稳定性较差,首尾相连的环状连接的机器人组合是子机器人组合爬坡的首选构型。

3自由度并联柔索驱动变刚度操作臂的刚度控制

利用柔索的弹性及驱动冗余性构造了一种3自由度并联柔索驱动变刚度操作臂,在静力学与刚度分析的基础上,进行刚度控制研究。首先,将柔索驱动力映射到关节空间,并分析等效关节力与柔索张力和外力的关系, 提出该操作臂的三维力矢量闭合原理。根据微分变换原理进行刚度分析,得到关节刚度矩阵及操作手刚度矩阵, 并进行数值算例分析,结果表明:刚度与柔索的张力有关,调节柔索张力可以改变系统刚度。最后,采用位置与张力混合控制的策略,对该变刚度操作臂进行了刚度控制,并进行了仿真验证。

一种3自由度并联柔索驱动柔性操作臂的建模与控制

以一种3自由度并联柔索驱动机器人为研究对象,研究这种并联柔性系统的控制规律。考虑到运动描述的唯一性及易测性,取约束关节的位置作为广义关节变量,用以描述操作臂的运动状态。在此基础上分析了操作臂的运动学和静力学关系,建立了并联柔性系统的动力学模型。然后,以轨迹控制为目标,分别基于刚性模型和柔性模型设计控制器,并对系统的性能进行分析和仿真。结果表明:基于刚性模型控制器的性能较差,而基于柔性模型的奇异摄动方法则可以获得较好的控制效果。

可重构星球探测机器人的空间对接研究

提出了以改装后的位置敏感传感器来引导机器人完成自动对接的方法,分析了具体工作原理。对可重构星球探测机器人在运动模式下完成对接的两种姿态进行了比较,分别用一般方法和改进后的规划方法计算出了对接工作空间,比较结果说明,机器人在运动模式下三角边着地有利于完成自动对接。对工作模式机器人在工作空间内的运动进行了静力学分析,分析结果表明,机器人在工作空间内可以自由运动。用VC和OpenGL搭建的平台对空间对接进行了仿真试验,试验结果验证了对接工作空间计算的正确性和完成空间自动对接的可能性。

柔索驱动三自由度球面并联机构运动学与静力学研究

柔索驱动并联机器人采用柔索代替连杆作为机器人的驱动元件 ,它结合了并联结构和柔索驱动的优点 .文章提出了一种新型带有约束机构的并联柔索驱动机器人 ,采用四根柔索驱动 .由于约束机构的引入 ,机器人可实现在空间的三维转动 .介绍柔索驱动并联机器人的机构构型 ,给出了位姿逆解 ,建立了静力平衡方程和运动学方程 ,讨论了柔索拉力的确定方法 .研究结果证明在加入了约束机构后 ,柔索机器人可以实现更多的运动形式 ,这就为更广泛的应用柔索驱动成为可能

一个数控自动编程系统的自然语言接口

本文简要介绍了一个数控自动编程专家系统的自然语言接口的实现.该自然语言接口是以我们研制的数控自动编程专家系统为背景,运行在 SUN3/4 工作站的 UNIX 下和 IBM/AT 机的 DOS 下,用 C语言编程.该自然语言接口由词法分析、句法分析、语义语用分析、目标生成和图形仿真五个模块及相应的知识库构成.该接口能够接受数控编程系统所需的对工件的英语自然语言描述并处理一些比较简单的英语语言现象.

计算机辅助机械绘图语言与系统设计

本文针对我国计算机绘制机械图领域内的现状,提出了一种易于掌握的机械图描述语言,以及一个相应的功能较强的绘图系统。该系统便于图形输入,并具有图形的平移、旋转、映射等功能,和较强的剖面域的处理能力。系统带有一个标注专用的笔写式字符库(包括汉字和专用符号)。该系统用 FORTRAN 语言写成,便于向大、中型计算机和存储容量较大的微型机移植。

模糊Petri网自动生成方法研究

为解决模糊Petri网建模效率低、工作量大、易出错等问题,提出了模糊产生式规则自动生成模糊Petri网的方法,并给出了其映射模型。该方法通过模型映射,结合图元生成与定位实现了模糊Petri网的自动建模。避免了模糊Petri网建模的人为失误,提高了建模效率。使知识库与模型库同步更新,保证二者的一致性。有利于充分发挥模糊Petri网的知识表示、模糊信息处理与动态并行推理的优势,对模糊Petri网理论的广泛应用具有推动作用。通过实例表明该方法是可行的。

高阶广义屏波动方程叠前深度偏移

Attaining sufficient accuracy and efficiency of generalized screen propagator and improving the quality of input gathers are often problems　of wave equation presack depth migration,　in this paper,a high order formula of generalized screen propagator　for one-way wave equation is proposed by using the asymptotic expansion of single-square-root operator. Based on the formula，a new generalized screen propagator is developed ,which is composed of split-step Fourier propagator and high order correction terms，the new generalized screen propagator not only improving calculation precision without sharply increasing the quantity of computation，facilitates the suitability of generalized screen propagator to the media with strong lateral velocity variation.　As wave-equation prestack depth migration is sensitive to the quality of input gathers, which greatly affect the output，and the available seismic data processing system has inability to obtain traveltimes corresponding to the multiple arrivals, to estimate of great residual statics��� to merge seismic datum from different projects and to design inverse Q filter, we establish　difference equations with an embodiment of Huygens’s principle for obtaining traveltimes corresponding to the multiple arrivals,bring forward a time variable matching filter for seismic datum merging by using the fast algorithm called Mallat tree for wavelet transformations， put forward a method for estimation of residual statics by applying the optimum model parameters estimated by iterative inversion with three organized algorithm,i.e,the CMP intertrace cross-correlation algorithm,the Laplacian image edge extraction algorithm,and the DFP algorithm, and present phase-shift inverse Q filter based on Futterman’s amplitude and phase-velocity dispersion formula and wave field extrapolation theory. All of their numerical and real data calculating results shows that our theory and method are practical and efficient. Key words: prestack depth migration, generalized screen propagator, residual statics���inverse Q filter ,traveltime，3D seismic datum mergence

复杂地区地震成像技术研究

Aiming at solving the seismic imaging difficulty in complex area, the static correction methods and the migration imaging techniques taking the anisotropy into account are studied in this dissertation. To solve the static correction problems, a new tomography inversion approach is presented which takes use of the apparent slowness and apparent velocity and inverts both head and diving waves over the complete offset ranges. This approach is also taken practice to the practical seismic data processing of south areas of China and gets ideal effects. There are obvious differences between the actual statics and the statics based on the surface consistency hypothesis. In this dissertation, the exact differences formula is derived. The wave-eqation datuming method based on a single shot gather and the hybrid zero-offset wave-equation datuming algorithm based on f-x domain and f-k domain are presented at the same time. Further more, some forward modelings are made and tested. These methods are also put into practical seismic data processing and good results are made. In this dissertation, the true amplitude Kirchhoff pre-stack time migration fomula in VTI media is presented. The high-dense bispectral scanning technique based on the anelliptical time-shifted hyperbola and the geostatistical filtering are adopted to extract the anellipticity parameter. Simultaneously, combined with the practical seismic data imaging, the anisotropic pre-stack time migration flow is proposed and good processing results are made.

地震勘探三维可视化方法研究与实现

This thesis mainly studies the technologies of 3-D seismic visualization and Graphic User Interface of seismic processing software. By studying Computer Graphics and 3-D geological modeling, the author designs and implements the visualization module of seismic data processing software using OpenGL and Motif. Setting seismic visualization flow as the subject, NURBS surface approximation and Delaunay Triangulation as the two different methods, the thesis discusses the key algorithms and technologies of seismic visualization and attempts to apply Octree Space Partitioning and Mip Mapping to enhance system performance. According to the research mentioned above, in view of portability and scalability, the author adopts Object-oriented Analysis and Object-oriented Design, uses standard C++ as programming language, OpenGL as 3-D graphics library and Motif as GUI developing tool to implement the seismic visualization framework on SGI Irix platform. This thesis also studies the solution of fluid equations in porous media. 2-D alternating direction implicit procedure has been turned into 3-D successive over relaxation iteration, which possesses such virtues as faster computing speed, faster convergence rate, better adaptability to heterogeneous media and less memory demanding.

板北断块油藏储层均质特征与剩余油分布研究

With the growing development and perfection of reservoir describing technology, its research achievements have played an increasingly important role in old oilfields in recent years. Reservoir description quantitatively describes, characterizes and predicts every kind of reservoir characters in 3D space. The paper takes Banbei block reservoir as an object, studies the reservoir characters and residual oil distributing characteristics of gravity flow genetic reservoir, and definitudes potential adjustment direction of reservoir development. Main achievements are gained as follows. Through fine correlation of strati graphic sequence, the classification of layers and single sands of main payzones in Banbei block is ascertained, the classifying methods of sedimentary unit in gravity flow reservoir characterized with picked cyclical marker bed are formed. On the basis of comprehensive logging evaluation, depositional characters of Banbei block are studied, and classifying methods of sedimentary microfacies in gravity flow reservoir are described. The sedimentary background of main oil layers in Banbei block is open lake with shallow water, and belongs to lacustrine underwater gravity flow- lacustrine phase depositional system. Main microfacies types are underwater water course^ water course side-wing, underwater floodplain, between two water courses, and lacustrine mud, etc. Reservoir sands mainly are underwater water course sands. Influenced by distributing characters of gravity flow underwater water course, sand shapes in plane mainly are stripe, finger-shape, tongue-shape. Sand distribution shows obvious split property. Sands overlap each other. According to comprehensive analysis of lithologic data, logging parameters, and dynamic production data, the researching threads and methods of reservoir heterogeneous characters are perfected. The depositional characters of gravity flow underwater water course in Banbei block determine its high reservoir heterogeneity. Macroscopic heterogeneity is studied in many aspects such as the scale of layers, the scale of single sands, in-situ scale, the distribution of interlayer types, the interlayer scale, and heterogeneity in plane. Thus, heterogeneous characters of reservoir are thoroughly analyzed. Through microscopic research of reservoir, the types of porous structure and related parameters are determined. According to the analysis of dynamic production data, the reaction and inner influential factors of reservoir heterogeneity in waterflood development are further revealed. Started with the concept and classifying methods of flow unit, clustering classification which can better meet the requirements of production is formed. The flow unit of Banbei block can be classified into four types. According to comprehensive evaluation, the first and second type of flow unit have better percolating capability and reserving capability. Research thread of 3D model-building and reservoir numerical simulation combined as an integral is adopted. The types and characters of residual oil distribution are determined. Residual oil of Banbei block mainly distributes in the boundary of sands, near the faults, areas with non-perfect injection-production well pattern , undeveloped sands, vertically poor developed layers. On the basis of comprehensive reservoir study, the threads and methods of improving development effect towards reservoir with high water cut, high recovery percent, serious heterogeneity are ascertained. The whole waterflood development effect of Banbei block reservoir is good. Although its water cut and recovery percent is relatively high, there is still some potential to develop. According to depositional characters of gravity flow and actual production situation? effective means of further improving development level are as follows. We should drill new wells in every kind of areas abounding with residual oil, implement comprehensive measures such as increasing liquid discharge, cyclic waterflood, changing fluid direction when injection-production well pattern is perfected, improve water quality, enhance displacement efficiency in flooding.

北京市中学生考试焦虑状况及其相关因素分析

In order to analyze the test anxiety of Beijing's high school students, relevant factors affecting test anxiety and how those factors have effect on the test anxiety of those high school students, a cross-sectional study had been conducted among 2,089 students randomly selected from 15 high schools in Beijing, using the Test Anxiety Scale（TAS）, Parenting Style Scale (PSS) and Academic Aggregate Graphic (AAG). Five months later, 194 students from one of those high schools were retested with TAS with students remaining anonymous. In the retest, the classes and birth dates of those students were strictly matched. This paper is composed of three parts to examine the issue. The first part examines the test anxiety among high school students in Beijing and establishes the model; the second part conducts a comparative study of issues related to test anxiety and academic performance; the third part examines the factors affecting test anxiety and establishes the model. Results showed that: 1. The reliability and validity of TAS are satisfied and can meet survey requirement. The 25-item version of TAS turned out to have equal or even better performance compared with the original 37-item version. 2. Incidence of test anxiety in high schools of Beijing: 57.9 percent of samples have an overall score at or higher 15. 55 percent of male student samples have a score at or higher than 15 while that for female student samples is 61 percent. A score of 20 refers to fairly serious test anxiety and 31.9 percent of samples have a score over 20. 28.1 percent of the male student samples have a score of over 20 while that for female student samples is 35.9 percent. 3. The effect of grade and sex and the interaction between the two factors are statistically significant. Female students have higher test anxiety than male students and the level of test anxiety varies from grade to grade. 4. Samples are divided into two groups, one with test anxiety and the other without. The academic performance gap between the two groups is very significant. There is a significant negative correlation between academic score and test anxiety. 5. There is a negative correlation between test anxiety and mastery goal orientation and a positive correlation between test anxiety and performance goal orientation. Students with higher academic self-efficiency have lower test anxiety. The more one thinks study is valuable, the lower his/her test anxiety is. Those whose parents communicate smoothly with them have lower test anxiety. Those whose parents have an inconsistent communication style have higher test anxiety. 6. Achievement goal is mediate variable for the effect of lack of values on test anxiety. 7. The indirect effect of introduction of achievement goal and parenting style, including communication, monitoring and communication consistence, on test anxiety is significant. Key words: Test anxiety，reliability, validity, self-efficiency，parenting style，achievement goal orientation, academic values, academic score

儿童汉字意识及精细辨认能力的发展研究

The important basis for the children to study chinese character is the Chinese character awareness, which means the understanding and extracting of the Chinese character combinatorial rule. The perceptual learning intrinsically is the direct perceive to the invariant rules. As the important mechanism to extract the abstract rule, the perceptual learning is the important mechanism of the development of the Chinese character awareness also. 4-6-year-old children's Chinese character awareness are tested by the degree of acceptance to the graphic words, inlaying words and pseudowords. The perceptual disintegration are tested by the perceptual learning experiment. Moreover, the development of the ability to finely-identify the Chinese character under the different level of attention condition is explored. The result suggests the quality to the development of the children's Chinese character awareness: The Chinese character awareness to 4-year-old children is in the rudiment stage, and it have different qualities as the change of the age. As the mechanism of the Chinese character awareness, the perceptual learning have an complex correlation to the awareness. The result indicates the following effects of the children perceptual disintegration: the level of the perceptual disintegration is transitive from three-dimension confusion to one-dimension falsity. It have correlation with the ability to finely-identify the Chinese character to a certain degree. The result also shows: the developmental specialties of the ability to finely-identify the Chinese character are different in the different age. The ability to finely-identify the Chinese character under the different level of attention condition have very similar processes.