四轮驱动全向底盘的控制方法研究

为提高机器人移动的灵活性和机动性,使机器人到任意位置均沿直线行走并改变姿态,需在传统的两轮驱动底盘上增加驱动轮,本文主要针对四轮驱动全向底盘的控制方法进行研究。本文对四轮驱动全向底盘进行运动学分析并建模,得到了控制系统传递函数,并进仿真验证;对四轮驱动全向底盘进行了动力学建模,分析了如何避免出现“打滑”现象;导航方式采用了经济、精度较高的全向码盘导航方式;控制上采用闭环控制,加入前置探测点和超前校正环节,并且考虑了实际过程中机体的加减速问题。实验结果表明,提出的控制方法可以使四轮驱动全向底盘实现预设功能,并且具有较高的控制精度,研究内容对机器人的灵活移动有着十分重要的意义。     

纳升液相色谱-高分辨串联质谱研究不同分离方法对唾液外泌体蛋白质组的影响

外泌体是一系列胞外囊泡,是生物标志物的来源,但目前尚无灵敏高效的唾液外泌体蛋白质分离方法。本研究采用质谱方法比较唾液外泌体试剂盒(Exo Quick,EQ)方法和超高速离心(Ultracentrifugation,UC)方法分离外泌体的效果以及尿素缓冲液、RIPA裂解液、SDS裂解液提取外泌体蛋白质的效果。Brodford法和BCA定量测定结果表明,EQ方法分离0.5 m L唾液外泌体得到的蛋白质含量高于UC方法分离2 m L唾液所得到的蛋白质。进一步的质谱分析表明,前者鉴定到的蛋白质数目亦多于后者;试剂盒分离唾液外泌体与尿素缓冲液提取外泌体蛋白质的方法联用效果最佳,鉴定到194种蛋白质。本方法重现性好、样品用量少、检测结果稳定,可为在唾液外泌体中筛选疾病的标志物提供方法学参考。     

聚合物体系拉伸流变行为的表征及研究进展

聚合物的拉伸流动在吹膜、纺丝、热成型等加工中扮演着支配的角色,因此掌握聚合物熔体在拉伸条件下的流动行为对于控制和预测其加工性能具有重要意义。相对于剪切流动,拉伸粘度对于大分子的结构、填充粒子的各向异性、共混物中两相的结构等更加敏感。本文简要介绍了当前用于拉伸流变研究的常用装置及其原理,并举例描述了单一组分聚合物、聚合物纳米复合材料和聚合物共混物等体系拉伸流变研究的现状和成果,最后指出了当前拉伸流变研究领域存在的一些不足之处并进行了展望。     

多孤子和类噪声脉冲共存的锁模光纤激光器

研究了非线性放大环形镜锁模掺铒光纤激光器中多孤子和类噪声脉冲同时产生的演化特性.当激光器运行在类噪声脉冲状态时,单个孤子簇里包含着多个不同间距的脉冲,同时相邻脉冲之间的脉冲间距均保持在数百皮秒的范围内,说明多孤子脉冲之间存在较弱的相互作用力.并且,单个孤子簇中的总脉冲数随着抽运功率的增大而增加.在最大的抽运功率时,单个孤子簇包络内部有8个脉冲.此外,利用时间拉伸色散傅里叶变换技术研究了这种类噪声多孤子脉冲的实时动力学演化特性,研究表明类噪声脉冲状态下的多孤子脉冲中每个脉冲实际上都是由随机强度的噪声混沌波组成的.这些研究结果将有助于深入理解类噪声脉冲的物理机制,也将为探索其他复杂孤子动力学过程奠定基础.     

Analysis of the influence of occupation rate of public transit vehicles on mixing traffic flow in a two-lane system

Based on the existing classical cellular automaton model of traffic flow, a cellular automaton traffic model with different-maximum-speed vehicles mixed on a single lane is proposed, in which public transit and harbour-shaped bus stops are taken into consideration. Parameters such as length of cellular automaton, operation speed and random slow mechanism are re-demarcated. A harbour-shaped bus stop is set up and the vehicle changing lane regulation is changed. Through computer simulation, the influence of occupation rate of public transit vehicles on mixed traffic flow and traffic capacity is analysed. The results show that a public transport system can ease urban traffic congestion but creates new jams at the same time, and that the influence of occupation rate of public transit vehicles on traffic capacity is considerable. To develop urban traffic, attention should be paid to the occupation rate of public transit vehicles and traffic development in a haphazard way should be strictly avoided.     

A study on the effects of the transit parking time on traffic flow based on cellular automata theory

This paper mainly deals with the effects of transit stops on vehicle speeds and conversion lane numbers in a mixed traffic lane.Based on thorough research of traffic flow and cellular automata theory,it calibrates the cellular length and the running speed.Also,a cellular automata model for mixed traffic flow on a two-lane system under a periodic boundary condition is presented herewith,which also takes into consideration the harbour-shaped transit stop as well.By means of computer simulation,the article also studies the effects of bus parking time on the traffic volume,the transit speed and the fast lane speed at the same time.The results demonstrate that,with the increase of the bus parking time,the traffic volume of the transit stop and the transit speed decrease while the fast lane speed increases.This result could help calculate the transit delay correctly and make arrangements for transit routes reasonably and scientifically.