基于坐标变换的具有可操舵轮的移动机器人运动学建模

为了提高移动机器人的灵活性和机动性,人们提出了最大限度地利用普通常规轮的运动自由度来实现移动机器人的平面自由运动。当移动机器人具有n(n≥2)个可操舵驱动轮时,它可以实现平面上的自由运动,即它具有3个自由度。针对轮式移动机器人的运动学建模问题,基于坐标变换法,提出了一种解决具有可操舵轮的移动机器人运动学建模的通用方法,建立了在满足理想运动约束条件下的运动学模型,并以具有2个可操舵驱动轮的3自由度移动机器人为例,给出了运动学仿真结果。     

Near-optimal design of Global Positioning System (GPS) networks using the Tabu Search technique

This paper describes an optimization technique based on an heuristic procedure which is applied to analyse and improve the efficiency of the design of Global Positioning System (GPS) surveying networks. GPS is a valuable survey tool because of its ability to increase the accuracy, speed and flexibility of a survey. A GPS network can be defined as a number of stations, which are co-ordinated by a series of sessions, formed by placing receivers on stations. The goal is to select the best order in which these sessions can be organised to give the best possible schedule. Generally, solving large networks to optimality requires impractical computational time. This paper proposes a Tabu Search technique which provides optimal or near-optimal solutions for large networks with an acceptable amount of computational effort. Computational results for several case studies with known and unknown optimal schedules have been presented to assess the performance of the proposed technique.     

甲醇与蓖麻油混合物运动粘度的实验研究

利用改型的乌别洛特毛细管粘度计,本文对243～353K温度范围内对质量配比为98.8:1.2的甲醇与蓖麻油混合物的运动粘度进行了实验研究,运动粘度测量结果的不确定度为1.06%,利用得到的实验数据拟合了甲醇 蓖麻油二元混合物的运动粘度方程.方程与实验数据最大偏差为3.31%,平均偏差为1.11%.     

空间机构的位置分析

本文以“基本方向”确定空间机构中各构件的位置,并基于“基本方向”之间的关系以及机构的环路封闭条件,建立了机构位置分析的数学模型。将优化技术和求解非线性方程组迭代技术结合起来,提高了解决问题的可靠性及效率。     

基于多维行为分析的窃电高风险客户精准定位方法

窃电行为对国家电力系统及供电公司造成了极大的损失,故反窃电技术是电力行业的重要研究方向之一。传统的窃电用户定位方法存在定位不准确、查处效率低等问题,为了解决上述问题,提出基于多维行为分析的窃电高风险客户精准定位方法。首先通过相关矩阵R及特征值谱熵正则化完成用户数据去噪,其次在UFS-MI模型内提取用户数据特征,分析用户用电的多维行为,最后根据逻辑回归算法完成窃电高风险客户的精确定位。实验结果表明,所提方法的窃电高风险客户定位精准度较高,误判率较低,整体定位效果较好。     

一种神经网络实现GPS导航定位算法

目的 研究ＧＰＳ接收机状态解算的估计方法。方法 利用Ｈｏｐｆｉｅｌｄ神经网络对ＧＰＳ接收机数据进行处理,结果 以统计自述平均误差和均方根误差作为衡量性能的指标,神经网络方法与迭代量小均方误差算法相比较定位误差减小,结论利用神经网络实现ＧＰＳ接收机状态解算是可行的,且与迭代最小均方误差算法比较,可提高定位精度。     

Analysis of the Temperature and Composition Dependence of Viscosimetric Properties of 2-Butanone <Emphasis Type="Bold">+</Emphasis> 2-Butanol Solvent Mixtures

Kinematic viscosities were measured for 2-butanone + 2-butanol binary liquid mixtures with a capillary Ubbelohde routine viscometer in the temperature range from 273.15 to 353.15 K at atmospheric pressure, and covering the whole miscibility field (0x_i1). Experimental data have been correlated by means of different empirical or semiempirical relationships, such as =(T), =(x_i), and =(T, x_i). Viscosity deviations, , from ideal behavior are negative at all experimental conditions, confirming that structure breaking effects prevail in the liquids. Furthermore, the thermodynamics of viscous flow and excess Gibbs energy of activation of viscous flow, G*^E, have been calculated. As an alternative and complementary approach to such investigations, the fluidity () of this binary system has been analyzed by the modified—Batschinski theory. The results are discussed in terms of the specific molecular interactions between the mixture components.     

凸轮-连杆组合机构设计系统

将计算机辅助设计技术、网络技术与机构设计相结合,以组合机构的尺寸综合理论为基础,以机构最小尺寸为优化目标,采用Java作为开发语言,应用模块化的面向对象的设计方法,研制开发了凸轮-连杆组合机构网上设计系统.     

Parallel Mechanisms with Two or Three Degrees of Freedom

Parallel manipulators for the machine tool industry have been studied extensively for various industrial applications. However, limited useful workspace areas, the poor mobility, and design difficulties of more complex parallel manipulators have led to more interest in parallel manipulators with less than six degrees of freedom (DoFs). Several parallel mechanisms with various numbers and types of degrees of freedom are described in this paper, which can be used in parallel kinematics machines, motion simulators, and industrial robots.     

昆虫翅膀的运动参数测量研究

研究可用于精确测量昆虫运动参数的条纹投影法.应用具有高衍射效率的声光调制器(AOD)生成投影条纹,通过调整各衍射光束的角度获得不同角间距的条纹,可用来测量反射比较低的昆虫翅膀.结合AOD和光栅,从两个相互垂直的方向投射条纹,可以在>90°的测量范围内测量蜜蜂的拍打翅膀.结果表明,在蜜蜂的一个拍打周期内,用该方法可以有效地测量其拍打角、滞后角,扭转角和扭转变形,相对测量误差<2%.