基于人机协作的机器人柔顺示教及再现

针对机器人传统示教方法的局限性,通过分析机器人低速运动状态下的力矩变化,提出基于人机协作的机器人柔顺示教及再现技术;首先建立机器人重力矩和摩擦力矩动力学补偿模型,通过最小二乘法辨识得到机器人重力矩和摩擦力矩,以电机驱动力补偿机器人重力矩和摩擦力矩,以操作者的操作力补偿机器人运动过程中的惯性力、离心力等速度、加速度的相关项,人机协作共同完成柔顺示教;然后在电机速度模式下,通过低通滤波、比例微分控制和速度前馈完成轨迹再现;最后利用个人计算机与固高系列运动控制卡,搭建开放式机器人控制平台,在可视化仿真环境Simulink软件中建立控制程序进行实验。结果表明,通过人机协作,力矩补偿效果显著,柔顺示教较轻松,轨迹再现精度符合基本作业要求。     

串联弹性驱动器的控制策略应用于工业机器人

为提高工业机器人的控制及示教水平,首先设计串联弹性驱动器关节机械臂零力控制系统和比例-积分-微分(proportion integration differentiation, PID)位置控制系统,然后搭建MATLAB仿真系统,最后采用串联弹性驱动器力跟踪实验的方法,研究了串联弹性驱动器关节机械臂零力控制系统的正确性和控制算法的可行性。结果表明:设计的机器人零力控制系统和控制策略能够提高机器人的柔顺性和控制效率。可见,基于力/位置混合的驱动控制方法,在实现机器人在到达指定位置的同时,能够提高机器人示教水平。     

基于手持导航器的协作机器人引导控制技术研究

现今实际的制造生产工作给机器人的交互性和协作性提出了越来越高的要求,传统的基于机器人示教器控制的交互技术已经越来越难以满足这些需求.为此,提出了一种新型的引导控制技术,采用了基于力/力矩识别的手持导航器,并开发出了可以实现快、慢速控制相互转换的引导控制模式.首先,对导航器的原始数据进行读取和解析,获得其自身的坐标系,建立和机器人的映射关系,并通过标定得出其输出数据与所受力/力矩之间的定量关系.其次,为减少操控过程中操作者的生理抖动和噪声的影响,引入卡尔曼滤波来对其状态进行最优估计.然后,为实现多控制模式的转换,建立变导纳控制模型,通过最小二乘法获得交互力的变化率,从而确定人机交互过程中的导纳参数,进而选取符合操作者意图的控制模式.最后,通过实验有效地验证了该方法在人机交互应用中具备较高的可行性和通用性.     

基于MotoSim EG的安川机器人虚拟示教仿真

工业机器人的示教分为在线示教与虚拟示教两种,文中给出了应用MotoSim EG软件实现安川工业机器人的虚拟示教过程。在机器人及其环境物建模的基础上,完成了机器人工件搬运的示教与编程,进而生成了INFORM III格式的机器人程序代码,通过将程序下载至机器人控制器,验证了虚拟仿真建模的精度与示教程序的可行性。实践应用表明:应用仿真软件能达到预期效果,与现场操作相比具有直观安全、成本低、效率高等优点。     

T/P机器人原理实验台的研制

本文介绍T/P机器人原理实验台的研制。实验台主要由单板机、X—Y笔式记录仪和示教盒组成。示教与再现可通过示教盒实现,具有结构简单、操作方便的特点。实验台软、硬件构成,考虑了直接示教方式。示教盒示教和MDI示教方式并具有插补计算、速度调节等功能,非常适合于在普通高等院校开展多种T/P机器人原理教学,也可用于对机械专业、计算机专业及自动控制专业本科生开展机——电一体化教育。     

面向机器人抓取的双目视觉单步多目标检测方法应用研究

针对工业机器人的抓取技术普遍采用离线示教的方式,目标物的改变就会导致抓取不准的问题,研究了一种面向机器人抓取的双目视觉单目多目标检测方法,强化了机器人的抓取能力;首先搭建机器人抓取视觉检测系统,系统采用双目测距模型定位深度,单步多目标检测器定位像素坐标;通过相机标定和eye-to-Hand手眼标定将图像中的像素坐标以及双目测距模型的深度坐标转换为机器人基坐标的位姿,建立机器人运动学模型完成机器人基坐标到机器人末端坐标的转换,通过ROS实现上位机与机器人通讯,并将定位结果发送给ROS;经过多次实验,表明方法的目标检测误差在3.5 mm以内,深度误差在1.2 mm之内,具有很好的实用推广价值。     

弧焊机器人用数控焊接变位机示教盒系统的设计与实现

采用微机控制技术,以W78E58单片机为核心,设计实现了弧焊机器人用数控焊接变位机的示教盒示教系统.通过示教盒上的键控和显示功能,使操作者顺利实现对变位机运动的示教控制,并把位置信息反馈给操作者实现人机交互的功能.增强了数控焊接变位机对复杂工件的适应性,可完成优质高效的焊接过程.     

仿人形机器人虚拟示教系统的研究与实现

引入虚拟现实技术对仿人形机器人进行三维虚拟示教，对于研究、改善及提高仿人形机器人的运动控制具有非常重要的意义。本文首先介绍了虚拟示教系统的结构，给出了具有七自由度机器手臂和六自由度机器腿的逆运动学计算方法，然后描述了采用三次多项式插值的空间轨迹规划方法及其在虚拟示教系统中的应用，最后将上述方法应用到仿人形机器人三维虚拟示教系统中，通过示教仿人形机器人双足步行和双手指挥交通，仿真实验结果表明了虚拟示教系统的正确性和实用性。     

工业机器人自动磨抛仿真控制的研究

介绍了自动磨抛工业机器人仿真控制的主要组成。采用了视觉系统控制,示教和轨迹控制的理论,实现了工业机器人和自动磨抛系统自身快速、柔性配合。提高了生产效率。     

仿人机器人虚拟示教系统的设计与实现

引入虚拟现实技术对仿人机器人进行三维虚拟示教,对于改善仿人机器人的运动控制算法具有非常重要的意义.文中首先提出了具有七自由度机器手臂和六自由度机器腿的逆运动学计算方法,并采用三次多项式插值的方法来进行空间轨迹规划,在此基础上设计和实现了仿人机器人三维虚拟示教系统.示教仿人机器人手足协调舞蹈的仿真实验结果证明了虚拟示教系统的正确性和实用性.     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

Design and analysis of generic LBS application developing platform

Location based services is promising due to its novel working style and contents.A software platform is proposed to provide application programs of typical location based services and support new applications developing efficiently. The analysis shows that this scheme is easy implemented, low cost and adapt to all kinds of mobile nework system.     

橡胶颗粒沥青混合料低温抗裂性试验研究

以AC-13级配为基础,将橡胶颗粒代替部分集料掺入混合料中,以低温弯曲试验为评价方法对不同橡胶颗粒掺量下沥青混合料的低温抗裂性进行研究,并引入应变能密度值对混合料的低温抗裂性进行综合评价.试验结果表明:橡胶颗粒沥青混合料试件的破坏微应变均超过2 300,满足冬寒区的技术指标;无论是否掺加橡胶颗粒,随着温度的下降,沥青混合料破坏时的最大弯拉强度增大,弯拉应变降低,劲度模量增大;弯曲应变能密度在胶粒掺量为1%左右时具有较大的弯曲应变能密度值,此时橡胶颗粒沥青混合料具有较好的低温抗裂性.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

A computer generator for randomly layered structures

AcomputergeneratorforrandomlylayeredstructuresYUJia shun1,2,HEZhen hua2(1.TheInstituteofGeologicalandNuclearSciences,NewZealand;2.StateKeyLaboratoryofOilandGasReservoirGeologyandExploitation,ChengduUniversityofTechnology,China)Abstract:Analgorithmisintrod…     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

Quantitative trait loci （QTLs） for quality traits related to protein and starch in wheat

Quality traits in wheat （Triticum aestirum L.） were studied by quantitative trait locus （QTL） analysis in a recombinant inbred line （RIL） population, a set of 131 lines derived from Chuan 35050 × Shannong 483 cross （ChSh）. Grains from RILs were assayed for 21 quality traits related to protein and starch. A total of 35 putative QTLs for 19 traits with a single QTL explaining 7.99-40.52% of phenotypic variations were detected on 10 chromosomes, 1D, 2A, 2D, 3B, 3D, 5A, 6A, 6B, 6D, and 7B. The additive effects of 30 QTLs were positive, contributed by Chuan 35050, the remaining 5 QTLs were negative with the additive effect contributed by Shannong 483. For protein traits, 15 QTLs were obtained and most of them were located on chromosomes 1 D, 3B and 6D, while 20 QTLs for starch traits were detected and most of them were located on chromosomes 3D, 6B and 7B. Only 7 QTLs for protein and starch traits were co-located in three regions on chromosomes 1D, 2A and 2D. These protein and starch trait QTLs showed a distinct distribution pattern in certain regions and chromosomes. Twenty-two QTLs were clustered in 6 regions of 5 chromosomes. Two QTL clusters for protein traits were located on chromosomes 1D and 3B, respectively, three clusters for starch traits on chromosomes 3D, 6B and 7B, and one cluster including protein and starch traits on chromosome 1D.