一种7DOF冗余手臂构形的运动学与动力学特性研究

冗余度机构具有高度的灵活性和避障能力,利用冗余自由度可以改善仿人机器人手臂的运动性能。以实现人体手臂的运动特性和操作灵活性为目标,研制了一种7DOF冗余仿人机器人手臂,根据冗余手臂的机构学特点,研究了手臂的运动学和动力学性能,并在工作空间、肘部关节的自运动能力以及手臂自重引起的关节重力矩等方面与其它两种典型的冗余手臂构形进行了比较分析。

危险作业机器人控制系统的研究

随着科学技术的发展，移动机器人被寄予越来越高的期望，要求其具有更高的机动性、更强的环境适应及感知能力和快速反应能力。因此，研究高效的移动机构和高性能控制系统成为排爆、消防等各种地面遥操作危险作业移动机器人的共同课题。 本论文以中国科学院沈阳自动化研究所自行研发的“灵豹”反恐防暴机器人和子母消防搜救机器人(在研)为平台，对危险作业机器人的控制系统进行了较为系统的研究。 “灵豹”机器人采用轮-腿-履带复合移动机构。其轮式移动采用三轮机构，两前主动轮单独驱动，差速完成转向，后轮为万向从动脚轮，配合前轮转向，车体转向半径可实现从零到无限大。其控制系统以嵌入式控制器为核心，采用模块化方法设计构建，保证了系统体积紧凑、实时性好和可靠性高等的应用要求。 作为智能控制技术的一种，模糊控制可以对那些数学模型难以求取或无法求取的对象进行有效控制。用基于PC的可编程控制器实现模糊控制，关键在于前期处理和软件编程，因为必须充分考虑执行速度。针对实际的非完整约束三轮式移动机器人运动方向可控性差，PID控制器参数难以实现全局整定的问题，利用模糊控制器实现运动轨迹控制。 单纯用电子罗盘测量航向角作为模糊控制器输入，环境适应性较差，本文提出一种结合脚轮偏转角和罗盘航向角计算机器人角速度和航向角的算法。试验结果表明，设计的控制器能对机器人进行有效航向跟踪，能迅速缩小航向偏差，机器人转向灵活可控，且没有大的航向偏转角速度，提高了系统适应性和运动稳定性。 子母消防搜救机器人主要用于火场侦查搜救，分为子机器人和母机器人，既可单独执行任务，又可协作搜救。机器人体积小，内部空间极其有限，要求控制系统有较高的集成度，还要能耐高温、通讯可靠。火场环境一般比较复杂，尤其是在地下建筑，通讯不畅将严重影响消防搜救机器人深入到火场深处侦查。为充分保障通讯链路畅通，设计了子母机控制系统，母机和子机可互为通讯中继，有效减少通讯死角，扩大搜索范围。系统采用基于多载波调制技术的影音传输系统作为图像及语音信号的主要通信链路，采用数字电台传输指令数据。设计的通讯系统实时性好，抗干扰能力和绕射能力强。

PXJ-Ⅱ排险机器人

介绍了一种可在危险环境下作业的遥控机器人──PXJ－Ⅱ排险机器人，分析了其功能指标及结构，简述了以武器系统和传感器为主的机器人辅助系统及其实用意义。

广西合山固体废弃物制备地质聚合物胶凝材料

Geopolymer gelatinous material was prepared by ferroalloy slag (signed with NKT in laboratory) and circulating fluidization bed slag (CFB slag, signed with NM in laboratory) produced from Heshan city, Guangxi zhuang autonomous region, China. The mechanical properties of the geopolymer made of high content ferroalloy slag can reach the standard of 42.5# portland blastfurnace-slag cement, and it’s processing technology is more simple and not need of mill and burn and will not produce harmful gas. By means of chemical and XRD analyses, it is concluded that NKT is a kind of acidity water-granulated slag with better activation and fit to be activated by alkali activators. Low-cost industrial gypsum (signed with NG in laboratory), analytic reagent oxide(signed with NH in laboratory) and sulfate(signed with NS in laboratory) were selected as alkali activation in the experiment. The results showed NH is a good alkali activator for NKT. Both NH and NG can activate ferroally slag’s activities, but NS can’t alone. The activation effect of superimposing activation of NH and NG excel by separateness. Based on those experiments, optimization compounds were carried out: (1) NKT: NH: NG = 80: 10: 10 and (2) NM: NKT: NS: NG: NH = 10: 70: 2: 8: 10。. The soundness of the test blocks is good by boiling examination. Through XRD, SEM, IR, NMR analyses of geopolymer, the reaction mechanism of geopolymer prepared by alkalescent activating in solid wastes was discussed in the thesis first. It is point out, there is difference in reaction mechanism between traditional geopolymer preparation and the preparation of alkalescent activating solid wastes because NG is a industry product. There is the similar process of depolymerization and reunion of Si-O bond. The latter preparation process generate new subtance but the former doesn’t. In the experiment, we found a performance of NKT that the water requirement of normal consistency of geopolymer reduces with increasing content of NKT. The result shows NKT has some ability to reduce water requirement. The performance is worthy of further research and utilization. Making use of solid wastes to prepare geopolymer, not only can settle environment problem caused by a great deal of dump of NKT, but also settle the shortage of natural resources. Moreover it could take economic, environmental and social benefits and settle thoroughly contradiction in the environment protection and regional economy development and promote circulation economy development.

城市发展与地质环境相互作用机制及数量分析—北海市可持续发展战略研究

Based on a viewpoint of an intricate system demanding high, this thesis advances a new concept that urban sustainable development stratagem is a high harmony and amalgamation among urban economy, geo-environment and tech-capital, and the optimum field of which lies in their mutual matching part, which quantitatively demarcates the optimum value field of urban sustainable development and establishes the academic foundation to describe and analyze sustainable development stratagem. And establishes a series of cause-effect model, a analysissitus model, flux model as well as its recognizing mode for urban system are established by the approach of System Dynamics, which can distinguish urban states by its polarity of entropy flows. At the same time, the matter flow, energy flow and information flow which exist in the course of urban development are analyzed based on the input/output (I/O) relationships of urban economy. And a new type of I/O relationships, namely new resources-environment account, are established, in which both resource and environment factors are considered. All above that settles a theoretic foundation for resource economy and environment economy as well as quantitative relationships of inter-function between urban development and geoenvironment, and gives a new approach to analyze natinal economy and urban sustainable development. Based on an analysis of the connection between resource-environmental construct of geoenvironment and urban economy development, the Geoenvironmental Carrying Capability (GeCC) is analyzed. Further more, a series of definitions and formula about the Gross Carrying Capability (GCC), Structure Carrying Capability (SCC) and Impulse Carrying Capability (ICC) is achieved, which can be applied to evaluate both the quality and capacity of geoenvironment and thereunder to determine the scale and velocity for urban development. A demonstrative study of the above is applied to Beihai city (Guangxi province, PRC), and the numerical value laws between the urban development and its geoenvironment is studied by the I/O relationship in the urban economy as following: · the relationships between the urban economic development and land use as well as consumption of underground water, metal mineral, mineral energy source, metalloid mineral and other geologic resources. · the relationships between urban economy and waste output such as industrial "3 waste", dust, rubbish and living polluted water as well as the restricting impact of both resource-environmental factors and tech-capital on the urban grow. · Optimization and control analysis on the reciprocity between urban economy and its geoenvironment are discussed, and sensitive factors and its order of the urban geoenvironmental resources, wastes and economic sections are fixed, which can be applied to determine the urban industrial structure, scale, grow rate matching with its geoenvironment and tech-capital. · a sustainable development stratagem for the city is suggested.

滚石机理及滚石灾害评价研究

Rockfall is a geological evolution process involving detachment of blocks or boulders from a slope face, then their free falls, bouncing, rolling or sliding, and finally deposition near the toe of the slope. Many facts indicate that the rockfall can cause hazards to peoples, and it can be regarded as a geological hazard. A rockfall event may only involve a boulder or rock, and also several ones. When there are peoples, buildings, or other man-made establishments within the scope of rockfall trajectory, losses will be possibly induced in tenns of human lives or damages to these facilities. Researches into mechanism, kinematics, dynamics, hazard assessment, risk analysis, and mitigation measures of rockfalls are extremely necessary and important. Occurrence of rockfall is controlled by a lot of conditions, mainly including topographical, geomorphic, geological ones and triggering factors. The rockfall especially in mountainous areas, has different origins, and occurs to be frequent, unexpected, uncertain, in groups, periodic and sectional. The characterization and classification of the rockfalls not only increase knowledge about rockfall mechanism, but also can instruct mitigation of the hazards. In addition, stability of potential rockfalls have various sensitivity to different triggering factors and changes of geometrical conditions. Through theoretical analyses, laboratory experiments and field tests, the author presents some back-analysis methods for friction coefficients of sliding and rolling, and restitution coefficients. The used input data can be obtained economically and accurately in the field. Through deep studies on hazard assessment methods and analysis of factors influencing rockfall hazard, this paper presents a new assessment methodology consisting of preliminary assessment and detailed one. From the application in a 430 km long stretch of the Highway, which is located between Paksho and Nyingtri in Tibet, the methodology can be applicable for the rockfall hazard assessment in complex and difficult terrains. In addition, risk analyses along the stretch are conducted by computing the probability of encountering rockfalls and life losses resulting from rockfall impacts. Rockfall hazards may be mitigated by avoiding hazardous areas, clearness of dangerous rocks, reinforcement, obstructing the rockfalls, leading the rockfalls, warning and monitoring for rockfalls, etc. Seen from present remedial level of rockfall hazards, different mitigation measures, economical and effective buffering units, monitoring tecliniques and consciousness of environmental protection for rockfall mitigations should be further developed.

电厂燃煤中主要有害元素的种类、迁移及潜在环境影响

Distributions of elements especially hazard trace elements in coals and their wastes from a coal fired power plant have been studied in detail using knowledge of Geology, Mineralogy, Geochemistry and Environmental chemistry. The key work is on the small particle sizes of fly ashes which escaped from electric precipitator and discharged into atmosphere. By means of X-ray powder diffraction (XRD) and scanning electron microscopy with energy-dispersive spectrometer (SEM-EDS), the characteristics of minerals and morphologies were studied. Different types of fly ash were formed in different stages and processes. More than 50% of small fly ashes belonged to inhalable particles (PM10). The very fine fly ashes preferred to attach on surface of bigger fly ash or conglutinate with each other and this decreased the environmental impact of tiny fly ashes. The trace elements in coal, fly ashes, slags and small particle sizes of fly ashes had been analysed by means of Neutron Activation Analysis (INAA), inductively coupled plasma mass spectrometry (ICP-MS), inductively coupled plasma atomic emission spectrometry (ICP-AES). As particle sizes decreasing, distributions of most elements increased, but in contrary to most studies, this increasing trend was not very obviously because of the tendency of attachment of tiny fly ashes. The occurrence of 30 elements including hazard trace elements of Cd, Cr, Ni, Co, Pb, Zn, As, Se, Cu, V was studied by means of sequential chemical extract. The annual discharge of hazard trace elements of slag, fly ash, small fly ash (PM10), tiny fly ash (PM2.5) and air was calculated by mass balance. S, V, Cu, Pb, Se, Mo, Cd from power plant had potential impacts on environment. Hazard trace elements from the power plant had little effect on soil and aerosol comparing to those from other industrial sources and the effects were mostly on downwind direction. Both the high performance electric precipitator and high chimney made the hazard trace elements from power plant being transported far away but little environmental impacts.