Fault tolerant motion planning based on joint torque limit for redundant manipulators

0 IntroductionWith the development of science and technology,manipulators have been widely utilized in some specialfields of space , deeper ocean, and nuclear materialcleanup.Becausethese workingenvironments are distant ,harsh and dangerous ,itis difficultfor peopletorepairthefailed manipulators onthe spot .Therefore ,the manipula-tors should operate normally for a long time . To meetthese requirements ,the manipulators must have not onlyhigher reliability but also fault tolerance capabilities…     

共面闭合断续节理岩体直剪强度特性研究

介绍了节理面和岩桥各自的抗剪强度机制,引入法向变形协调条件,基于Mohr-Coulomb理论,推导了共面闭合断续节理岩体的直剪强度公式。模型试验发现,剪切破坏面以拉剪复合破坏为主,同时岩块中伴随大量的拉张微裂隙。试样的强度和变形具有明显的阶段性,全应力应变曲线主要经历了线弹性增长、节理面错动、次生裂纹起裂稳态扩展、节理面贯通破坏和残余强度5个阶段。对比发现,理论计算结果与试验值吻合较好。     

关于人膝关节生物力学模型的研究现状

建立人膝关节模型是生物力学研究领域中最具挑战性的课题之一．本文对人膝关节生物力学模型的研究现状予以简单的评估和综述．结果显示:目前用于研究人膝关节的大部分模型,均属静力或准静力模型;仅建立了极少的人膝关节解剖基生物动力模型,且均属二维动力模型．因此,建立一个三维真实人膝关节生物动力模型是目前迫在眉睫的工作      

界面裂纹问题的解析—变分解法及其在复合材料盖板胶接件中的应用

本文根据穆斯海里什维利求解各向同性平面问题与列赫尼兹基求解各向异性平面问题的广义复变函数理论与本征函数展开法,分析了复合材料盖板胶接件的分层问题,得到了精确满足所有基本方程、裂纹表面边界条件与层间连续条件的位移场与应力场本征展开式.进而利用分区广义变分原理满足裂纹表面以外的边界条件并由此确定应力强度因子.     

高频地波雷达下的多目标跟踪数据处理

根据高频地波雷达监测海上低速移动目标的要求及该类雷达的特点,提出了一种与高频地波雷达目标跟踪相适应的多目标跟踪数据处理方案。在该方案中对BTC(bayes tracking confirm)方法与BTT(bayes tracking termination)方法进行了改进,解决了上述两种方法在高频地波雷达实际应用中存在的问题。提出了贝叶斯准则与次数判定相结合的跟踪起始和终结方法。模拟结果表明,该方案能够稳定、有效地实现高频地波雷达密集回波下的多目标跟踪。     

不同铆接速度下板材搭接顺序对钢/铝异种金属铆接接头性能的影响

采用自冲铆接实现了钢/铝异种金属的有效连接。通过改变铆接速度,对比研究了钢上铝下和铝上钢下两种搭接顺序下的接头的成形性能、断裂力和断裂方式。研究结果显示,随着铆接速度的增大,接头头高和底切量不断减小,互锁值不断增大。钢上铝下搭接顺序下的接头的成形情况较为稳定,缺陷较少。钢上铝下搭接顺序下的拉剪接头的断裂力明显高于铝上钢下搭接顺序下的拉剪接头的,而铝上钢下搭接顺序下的十字拉伸接头的断裂力明显高于钢上铝下搭接顺序下的十字拉伸接头的。铆钉变形时受力方向的不同导致拉剪接头的断裂力明显高于十字拉伸接头的。铆接速度为250～325 mm/s时,可以实现两种搭接顺序下的接头成形性能和断裂力的良好匹配。     

Vector subdivision schemes and multiple wavelets

We consider solutions of a system of refinement equations written in the form

where the vector of functions is in and is a finitely supported sequence of matrices called the refinement mask. Associated with the mask is a linear operator defined on by . This paper is concerned with the convergence of the subdivision scheme associated with , i.e., the convergence of the sequence in the -norm.

Our main result characterizes the convergence of a subdivision scheme associated with the mask in terms of the joint spectral radius of two finite matrices derived from the mask. Along the way, properties of the joint spectral radius and its relation to the subdivision scheme are discussed. In particular, the -convergence of the subdivision scheme is characterized in terms of the spectral radius of the transition operator restricted to a certain invariant subspace. We analyze convergence of the subdivision scheme explicitly for several interesting classes of vector refinement equations.

Finally, the theory of vector subdivision schemes is used to characterize orthonormality of multiple refinable functions. This leads us to construct a class of continuous orthogonal double wavelets with symmetry.

     

Fatigue damage behavior of a surface-mount electronic package under different cyclic applied loads

This paper studies and compares the effects of pull-pull and 3-point bending cyclic loadings on the mechanical fa- tigue damage behaviors of a solder joint in a surface-mount electronic package. The comparisons are based on experimental investigations using scanning electron microscopy （SEM） in-situ technology and nonlinear finite element modeling, respec- tively. The compared results indicate that there are different threshold levels of plastic strain for the initial damage of solder joints under two cyclic applied loads; meanwhile, fatigue crack initiation occurs at different locations, and the accumulation of equivalent plastic strain determines the trend and direction of fatigue crack propagation. In addition, simulation results of the fatigue damage process of solder joints considering a constitutive model of damage initiation criteria for ductile materials and damage evolution based on accumulating inelastic hysteresis energy are identical to the experimental results. The actual fatigue life of the solder joint is almost the same and demonstrates that the FE modeling used in this study can provide an accurate prediction of solder joint fatigue failure.     

基于Polar码的水声通信信源信道联合译码方法

水声信道时延扩展较长,频域选择性衰落严重,导致水声通信提升可靠性困难.同时,水声通信实际发送的信源中通常存在残留冗余,传统方法难以利用这部分冗余,从而导致一定的带宽浪费.针对该问题,提出了一种基于Polar码的水声通信信源信道联合译码方法.该方法根据Polar码的译码结构,以信源状态转移关系为基础构建信源信道联合译码网...     

任意相位差条纹信号细分方法的研究

为消除传统细分方法中由于两路条纹信号不正交引入的细分误差，提出了一种可对任意相位差条纹信号直接细分的新方法。根据两路条纹信号的极性和幅值大小，把一个信号周期分成8个区段。高速采集两路条纹信号，通过判断信号采样点所处的区段是否跳变对信号幅值交点进行动态跟踪。对不足一个周期的条纹移动，当测量出起点与终点的幅值，计算出其所在的区段及位置后，结合两路信号的交点，可实现对任意相位差条纹信号的细分。实验结果表明，该方法突破了传统细分方法必须信号正交的限制，可对任意相位差信号进行准确地细分，降低了条纹测量中器件安装与调试的难度，具有更强的环境适应性和抗干扰能力。