蠕动式步行机器人研究

提出了一种可在复杂地面环境下行走的需蠕动式步行机器人本体结构。该结构采用一种地面被动态适应技术，使得腿部可根据地面情况自动调整伸缩长度，以获得较为稳定的支撑。机器人依靠本体变形及被动适应地面的方法产生步行，在很大程度上简化了步行过程中复杂的动作协调控制问题。根据机器人的结构特点，给出了两种步态规划方式。仿真试验表明，该机器人控制简单，运动灵活，具有较广的应用前景。     

Conductivity exponent in three-dimensional percolation by diffusion based on molecular trajectory algorithm and blind-ant rules

Diffusion on random systems above and at their percolation threshold in three dimensions is carried out by a molecular trajectory method and a simple lattice random walk method, respectively. The classical regimes of diffusion on percolation near the threshold are observed in our simulations by both methods. Our Monte Carlo simulations by the simple lattice random walk method give the conductivity exponent μ/ν=2.32±0.02 for diffusion on the incipient infinite clusters and μ/ν=2.21±0.03 for diffusion on a percolating lattice above the threshold. However, while diffusion is performed by the molecular trajectory algorithm either on the incipient infinite clusters or on a percolating lattice above the threshold, the result is found to be μ/ν=2.26±0.02. In addition, it takes less time step for diffusion based on the molecular trajectory algorithm to reach the asymptotic limit comparing with the simple lattice random walk.     

双车道公路弯道回旋线长度对行车特性的影响

基于驾驶模拟实验,采集了15名驾驶员在半径为100～500 m的72个弯道路段的车速、侧向偏移等数据,研究双车道公路弯道路段回旋线长度对车速及行车轨迹的影响。结果表明:在半径一定的条件下,随着回旋线长度增加,前后路段车速差呈上升趋势,而速度梯度随之下降;行车轨迹波动幅度随回旋线长度增加而增大,而波动频率随之降低;半径为100 m时,回旋线太短会使轨迹的局部曲率增大;对于半径为200 m的弯道,过长或过短的回旋线都会造成车辆轨迹的局部曲率增大;对于半径为300 m及以上的弯道,回旋线长度和车辆轨迹的最大局部曲率成正相关。     

基于滑模控制器的电弧传感焊接机器人轨迹跟踪控制研究

针对电弧传感焊接机器人系统的非完整约束性,建立了机器人运动学模型,通过讨论两后轮为控制输入的电弧传感焊接机器人轨迹跟踪问题,设计了一种滑模控制器,且应用Lyapunov稳定性理论保证了跟踪误差渐近收敛到零.经直线和圆弧2种轨迹跟踪的实验仿真结果,验证了所设计控制器的有效性和正确性.     

柔性机械臂运动轨迹规划模板函数的比较研究

末端加速度曲线中含有的高频成分会激励起柔性机械臂逆动力学的病态行为,由此限制了末端最小运动时间轨迹跟踪控制的实现,本文对轨迹规划的模板函数进行了比较研究,以揭示不同模板函数生成的末端运动轨迹对运动学及动力学关键参量的内在影响.     

坛紫菜hsp70基因克隆与表达

HSP70家族是一类最保守和最重要的热应激蛋白家族,在藻类中编码HSP70家族的基因也是普遍存在的,从原始单细胞藻到多细胞的大型藻,hsp70基因在藻类适应环境的过程中起了重要的作用.为了进一步探讨hsp70基因的生物学作用及其在系统进化中的保守性,研究采用简并PCR,扩增获得了坛紫菜(Porphyra haitanensis)hsp70基因片段,随后利用基因组步移获取了坛紫菜hsp70基因全序列.该基因全长2449个碱基,其中1866bp为编码区域,共编码621个氨基酸,与同属紫菜(P.purpurea)hsp70的氨基酸一致性达90%以上.利用Real-time PCR技术研究热激及恢复过程中坛紫菜hsp70的表达情况,结果表明:坛紫菜hsp70对热激应答极为迅速,35℃热激15 min,hsp70 mRNA的表达就提升了15倍;在恢复培养3 h后坛紫菜hsp70的表达进入第二个高峰,表达量提升了48倍,且在随后的过程中始终高于对照值.在整个热激处理中,坛紫菜HSP70蛋白除了作为胁迫的应激蛋白外,始终作为重要因素参与了防御与损伤修复的过程.     

平板混合层流动中两相脉动关联矩的大涡模拟

在气粒两相平板混合层流动中,对气相流动采用大涡模拟,对颗粒相流动采用轨道模拟,研究了两相脉动关联矩。由两相各自瞬时速度出发可以直接获得两相脉动关联矩的统计结果。模拟获得的颗粒相一阶矩、二阶矩以及两相脉动关联矩与实验结果定量符合,表明基于细观模拟是不通过模型获得和研究两相脉动关联矩的可行途径。     

Online Tracking of Maneuvering Target Trajectory Based on Chaotic Time Series Prediction

Online prediction of maneuvering target trajectory is one of the most popular research directions at present. Specifically, the primary factors balancing, between prediction accuracy and response time, will give the research substance. This paper presents an online trajectory prediction algorithm based on small sample chaotic time series (OTP-SSCT). First, we optimize in terms of data breadth. The dynamic split window is built according to the motion characteristics of the maneuvering target, thus realizing trajectory segmentation and constructing a small sample chaotic time series prediction set. Second, since fully considering the motion patterns of maneuvering targets, we introduce the spatiotemporal features into the particle swarm optimization (PSO) model identification algorithm, which improves the identification sensitivity of key trajectory data points. Furthermore, we propose a feedback optimization strategy of residual compensation to correct the trajectory prediction values to improve the prediction accuracy. For the initial value sensitivity problem of the PSO model identification algorithm, we propose a new initial population strategy, which improves the effectiveness of initial parameters on model identification. Through simulation experiment analysis, it is verified that the proposed OTP-SSCT algorithm achieves better prediction accuracy and faster response time.     

Investigation of a method to calculate spontaneous radiation spectra from relativistic electrons in undulators

Undulators are key devices to produce brilliant synchrotron radiation at the synchrotron radiation facilities. In this paper we present a numerical computing method, including the computing program that has been developed to calculate the spontaneous radiation emitted from relativistic electrons in undulators by simulating the electrons＇ trajectory. The effects of electron beam emittance and energy spread have also been taken into account. Comparing with other computing methods available at present, this method has a few advantages with respect to several aspects. It can adopt any measured or arbitrarily simulated 3D magnetic field and arbitrary electron beam pattern for the calculation and it＇s able to analyze undulators of any type of magnetic structure. It＇s expected to predict precisely the practical radiation spectrum. The calculation results of a short period in-vacuum undulator and an Elliptically Polarized Undulator （EPU） at Shanghai Synchrotron Radiation Facility （SSRF） are presented as examples.     

掺气分流墩水舌射距的计算方法

依据自由抛射理论,探讨了掺气分流墩水舌射距的计算方法。该计算方法亦可应用于其它挑流式消能工射距的计算。计算结果证明,该计算方法精度高,误差小。