基于并联机器人的船载炮半物理仿真试验系统研究

20世纪90年代以来，并联机器人被广为注意，成了机器人技术新的热点。并联机器人技术被广泛地应用在工业、航天、航海等领域，尤其是并联机床，佩一出现就引起了广泛的关注，被称为是“21世纪的机床”，“20世纪机床首次革命性改型”。为了提高船载炮射击训练效益，解决船载炮兵训练的保障问题，同时也为船载炮兵训练的保障工作探索新的路子，提出研制基于并联机器人的船载炮半物理仿真试验系统，使训练可以不受天气、场地的限制。本系统采用模拟船、操瞄炮等设备与计算机图形虚拟技术相结合的方式组成船载炮半物理仿真试验系统。系统既要虚拟船载炮的作战环境，又要实现船在海浪中的6维运动。采用3自由度并联机器人平台构建模拟船，实现船的3维转动；采用计算机仿真虚拟作战环境，并实现船的3维移动。本文介绍了整个系统的软硬件构成，硬件从三自由度并联机构的运动学到控制系统的结构，软件从形成虚拟视景的图形驱动原理到主程序界面，最后展示了系统的硬件实物和软件界面的照片。基于并联机器人的船载炮半物理仿真试验系统具有以下特点：1．采用变频调速技术，研制了三自由度并联机构模拟系统，实现了船炮平台的运动模拟，使系统具有负载能力强、成本低、性能可靠等特点。2.整个系统由计算机图形分系统、动态数据采集与处理分系统、船的运动模拟分系统等组成，实现了船载炮兵射击指挥和火炮操作的模拟训练。 3．应用了多传感器信息融合技术，实现了多信息实时处理，达到了实时仿真的要求。系统能够实时检测船姿态和火炮操作状态等信息，评价射击效果。4.采用三自由度的旋转模拟与图像三自由度的平移运动相结合的方法，实现了六自由度的炮目相对运动模拟效果。该系统可用于模拟炮兵部队实施渡海登陆作战，对岸防目标、海上目标射击和指挥训练。完成船载炮兵的火炮操瞄和射击指挥的教学、训练及考核任务。

有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

水下机器人主动升沉补偿系统研究

介绍一种基于水下机器人常规液压收放绞车的主动升沉补偿系统,利用加速度传感器获得母船的升沉运动信号,控制绞车的运转来降低母船的升沉运动对水下机器人的影响。通过理论计算建立主动升沉补偿系统的数学模型,仿真分析绞车运动对水下机器人升沉运动的补偿效果,并利用主动升沉补偿系统实验台验证基于常规液压收放绞车的主动升沉补偿方案的可行性。

基于信道估计的RS纠错编码改进算法的设计与实现

提出了一种基于信道估计的RS纠错编码改进算法,该算法可以自适应地根据外界条件和环境对传输信道的干扰变化实时地调节编码系统的数据冗余量。仿真与完整的分析结果证实了该改进算法有效地改善了RS编码算法的传输效率;并且通过实际应用表明:良好的性能,高容错性适应于该通信系统的多种传输信道,具有很强的实用性。

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

港口业船舶优化调度模型设计

以港口船舶计划调度为研究背景 ,分析了港口业计划调度的特征 ,提出了生产计划调度的系统框架 ,并在此基础上建立了以船舶拖期惩罚费用为最小 ,多种因素约束下的调度模型 ,将人工智能技术应用到实际生产调度中 ,实现分层次、分级研究多种资源约束条件下的计划调度和优化

一个CIMS环境下的基于范例的船体装配CAPP系统

本文介绍了一个 CIMS环境下的基于范例的船体装配 CAPP系统 .包括 :CAPP系统在渤海造船厂 CIMS工程中的地位 ,基于范例的工艺规划 (范例的表达 ,范例的索引、存储、检索和适应 ) ,工艺定额和材料定额制定 ,分系统之间的信息集成 .系统采用 Power Builder和 SQL Server数据库中的 SQL语言编写 .目前 ,船体装配 CAPP系统已经在渤海造船厂的微机上连网运行

喜马拉雅西构造结区岩石圈演化三维有限元动力学数值模拟

The past three decades have seen numerous attempts to numerically model stress and strain patterns in the lithosphere of the Earth on both global and regional scales. This efforts have been indispensable in identifying the features we need to include in our endeavour to develop better models of our planet’s lithosphere and they have also raised our awareness for the many unresolved issue in the deep geodynamical issues that need to be addressed in the future. Nonetheless, in most models, the lithosphere is treated as a single layer with depth-averaged properties, and as the same distribution in the stress and strain fields, and as deforming under plane strain. All these above make a great hander for its reality and degree of recognition. As the beginning in this paper, some principal numerical models and results on the evolution of Tibetan plateau are reviewed and analyzed. Then, the geological and geophysical expedition on the Western Himalayan Syntaxis is briefly reviewed. Furthermore, we analysis the feature in deep geophysical field studies in this area and adjacent regions. Because, for most continents, stress models driven by plate boundary forces have successfully reproduced the main characteristics of the stress and strain field, we present a set of three-dimensional models of lithosphere system for a simplified geometry of the Western Himalayan Syntaxis area and its adjacent regions, where we try to match the first-order characteristics of the stress and strain fields of lithosphere since 10 Ma, and deformation and geodynamical evolution process in former 2Ma. Of course, the kinematic boundary conditions of the stress models driven by plate boundary forces were applied. The rheology plays a significant role in the lithospheric tectonics, which lead to different rheological parameters were used in different works although the have the same constitutive equations in models. So, in this paper we do not aim to produce all characteristics of the Western Himalayan Syntaxis areas’ stress and strain fields by the choices of various parameters, but rather the dynamic response between various rheological parameters and stress and strain fields. We have chosen to concentrate on the importance of rheology and lateral strength variations for lithospheric stress and strain patterns and use our findings to build a model of the Western Himalayan Syntaxis areas. In doing so, we want to go beyond purely elastic models or purely viscoelastic models. Compared the results of the crust viscosity in the Western Himalayan Syntaxis areas, we believed that, when various viscoelastic models are adopted, the selection of the coefficient of viscosity in the Western Syntaxis area has important influence on the its uplifts and evolutions. A wider uplift ranges and gently elevation was observed at the same time when a lower viscosity was used in our models, and vice versa. Data of stress magnitudes are not available, but it is clear that the stress levels must be at or below the failure threshold of rock under compression. Under these criteria, the calculation results show that the viscosity in the Western Syntaxis area should be smaller than 1023Pa.s When elastic model is adopted in relatively rigid Tarim basin, obvious changes are induced to the stress and strain fields of the whole Western Syntaxis area. We found that rigid block of lithosphere reduced stress levels within its interior and that, at the edges of such regions, stress orientation can change. Furthermore there is no evidence that such rigid regions act as stress barriers in that they shield areas in opposite sides of the structure from the influence of one another. In our models, the upper crustal material of the Western Syntaxis area does not turns to move westward. Whereas, because of the stress and strain fields have been decoupling at the interior of the lithosphere, we can get the results that the deep material must not move westward.

International transport costs and the margins of Intra-Latin American maritime trade.

This paper focuses on the analysis of the relationship between maritime trade and transport cost in Latin America. The analysis is based on disaggregated (SITC 5 digit level) trade data for intra Latin maritime trade routes over the period 1999-2004. The research contributes to the literature by disentangling the effects of transport costs on the range of traded goods (extensive margin) and the traded volumes of goods (intensive margin) of international trade in order to test some of the predictions of the trade theories that introduce firm heterogeneity in productivity, as well as fixed costs of exporting. Recent investigations show that spatial frictions (distance) reduce trade mainly by trimming the number of shipments and that most firms ship only to geographically proximate customers, instead of shipping to many destinations in quantities that decrease in distance. Our analyses confirm these findings and show that the opposite pattern is observed for ad-valorem freight rates that reduce aggregate trade values mainly by reducing the volume of imported goods (intensive margin).

In Common Cause: The NATO Multilateral Force and Mixed-Manning Demonstration on USS Claude V. Ricketts, 1964-1965

Priest, A. (2005). In Common Cause: The NATO Multilateral Force and Mixed-Manning Demonstration on USS Claude V. Ricketts, 1964-1965. Journal of Military History, 69 (3), 759-789. RAE2008

Militarismos, “Parapolíticos” e Perfis Populares

Dissertação apresentada à Universidade Fernando Pessoa para obtenção do grau Mestre em Relações Internacionais.

EXPERIMENTAL INVESTIGATION OF LINEAR BUBBLE DYNAMICS IN A VISCOELASTIC XANTHAN GEL

Oceanic bubble plumes caused by ship wakes or breaking waves disrupt sonar communi- cation because of the dramatic change in sound speed and attenuation in the bubbly fluid. Experiments in bubbly fluids have suffered from the inability to quantitatively characterize the fluid because of continuous air bubble motion. Conversely, single bubble experiments, where the bubble is trapped by a pressure field or stabilizing object, are limited in usable frequency range, apparatus complexity, or the invasive nature of the stabilizing object (wire, plate, etc.). Suspension of a bubble in a viscoelastic Xanthan gel allows acoustically forced oscilla- tions with negligible translation over a broad frequency band. Assuming only linear, radial motion, laser scattering from a bubble oscillating below, through, and above its resonance is measured. As the bubble dissolves in the gel, different bubble sizes are measured in the range 240 – 470 μm radius, corresponding to the frequency range 6 – 14 kHz. Equalization of the cell response in the raw data isolates the frequency response of the bubble. Compari- son to theory for a bubble in water shows good agreement between the predicted resonance frequency and damping, such that the bubble behaves as if it were oscillating in water.

Journeying to a journal

At a Council meeting of the newly-formed Cork Historical and Archaeological Society, 17 November 1891, the Chairman /President, Revd R.A. Canon Sheehan, 'informed the meeting that Mr. Robert Day had been generous enough to place his valuable edition of Smith's History, with notes by Dr. Caulfield and Crofton Croker, at the disposal of the Society for publication'. At a subsequent meeting Wm Ringrose Atkins expressed the Society's thanks to W.A. Copinger 'who has kindly consented to edit Smith's Cork with Mr. Robert Day'. Thus began the work of rounding out close to two and a half centuries of antiquarian endeavour in Cork and of using its synthesis as a foundation for a new medium to record and communicate the social and cultural heritage of Cork city and county.

History, revolution and the British popular novel: historical fiction in the romantic age

“History, Revolution and the British Popular Novel” takes as its focus the significant role which historical fiction played within the French Revolution debate and its aftermath. Examining the complex intersection of the genre with the political and historical dialogue generated by the French Revolution crisis, the thesis contends that contemporary fascination with the historical episode of the Revolution, and the fundamental importance of history to the disputes which raged about questions of tradition and change, and the meaning of the British national past, led to the emergence of increasingly complex forms of fictional historical narrative during the “war of ideas.” Considering the varying ways in which novelists such as Charlotte Smith, William Godwin, Mary Robinson, Helen Craik, Clara Reeve, John Moore, Edward Sayer, Mary Charlton, Ann Thomas, George Walker and Jane West engaged with the historical contexts of the Revolution debate, my discussion juxtaposes the manner in which English Jacobin novelists inserted the radical critique of the Jacobin novel into the wider arena of history with anti-Jacobin deployments of the historical to combat the revolutionary threat and internal moves for socio-political restructuring. I argue that the use of imaginative historical narrative to contribute to the ongoing dialogue surrounding the Revolution, and offer political and historical guidance to readers, represented a significant element within the literature of the Revolution crisis. The thesis also identifies the diverse body of historical fiction which materialised amidst the Revolution controversy as a key context within which to understand the emergence of Scott’s national historical novel in 1814, and the broader field of historical fiction in the era of Waterloo. Tracing the continued engagement with revolutionary and political concerns evident in the early Waverley novels, Frances Burney’s The Wanderer (1814), William Godwin’s Mandeville (1816), and Mary Shelley’s Valperga (1823), my discussion concludes by arguing that Godwin’s and Shelley’s extension of the mode of historical fiction initially envisioned by Godwin in the revolutionary decade, and their shared endeavour to retrieve the possibility enshrined within the republican past, appeared as a significant counter to the model of history and fiction developed by Walter Scott in the post-revolutionary epoch.

Investigation of the genetic susceptibility to osteoporosis in the Irish population

Osteoporosis is a complex skeletal disorder characterized by compromised bone strength. Variation in bone mineral density (BMD) is a contributing factor. The aim of this research as to select informative single nucleotide polymorphisms (SNPs) in potential candidate genes from loci suggestively linked to BMD variation for fine mapping. The gene regulated by oestrogen in breast cancer 1 (GREB1), located at 2p25.1, was selected. GREB1 transcription is initiated early in the oestrogen receptor alpha regulated pathway. There was significant association between GREB1_03 and BMD variation at the lumbar spine and femoral neck (FN) in the discovery cohort. Significant association was observed between GREB1_04 and FN BMD in the replication cohort. The development and differentiation enhancing factor 2, the integrin cytoplasmic domain associated protein 1 and A-disintegrin and metalloprotease 17 were selected due to their respective roles in cell mobility and adhesion. There was no linkage or association observed between the Chr2 cluster SNPs and BMD. Two factors in bone remodelling are the attraction of bone cell precursors and endocrine regulation of the process, primarily through the action of parathyroid hormone (PTH). The C-C chemokine receptor type 3 (CCR3) encodes a CC chemokine receptor expressed in osteoclast precursors. The PTH receptor type 1 (PTHR1) encodes a G-protein coupled receptor for PTH. Association was observed between CCR3 haplotypes and BMD variation at the FN. There was no linkage or association observed between PTHR1 SNPs and BMD variation. Population genetic studies with complex phenotypes endeavour to elucidate the traits genetic architecture. This study presents evidence of association between GREB1 and BMD variation and as such, introduces GREB1 as a novel gene target for osteoporosis genetics studies. It affirms that common genomic variants in PTHR1 are not associated with BMD variation in Caucasians and supports the evidence that CCR3 may be contributing to BMD variation