计及铰链间隙的机械臂动力学建模与仿真

工程中的机械多体系统都存在铰链间隙问题,铰链间隙使系统的约束条件、自由度数目和拓扑结构发生变化.根据Hertz接触定律和Coulomb摩擦定律,建立了含间隙平面旋转铰的力学模型;采用几何变形约束法和模态缩聚技术描述了柔性机械臂的非线性变形;同时考虑两个旋转铰的间隙特性和柔性臂的弹性,最终采用Kane方程建立了含铰链间隙的刚-柔机械臂系统的动力学模型.以Mathematica软件为编程工具.对含两个铰链间隙的双刚性臂系统进行了仿真计算,得到了更加真实的动力学响应.     

一种水下双目视觉测距方法研究

基于改进的SIFT特征匹配算法,建立了一个水下双目视觉测距系统.围绕提高水下双目视觉测距的精度、速度和抗干扰度等,研究了图像预处理、SIFT特征匹配算法等关键技术.针对传统图像直方图均衡化结果过亮或过暗现象以及过增强的特点,提出了一种改进的结合了OTSU阈值算法的直方图均衡化方法;结合稀疏匹配搜索算法,提出一种改进的SIFT特征匹配算法对左、右目图像进行特征匹配.利用区域增长算法,分别生成了水下标定板和机械臂的伪彩色视差图像,由视差图获得了目标相应位置的距离.实验结果显示:水下标定板平均测距精确度为97.66%,利用所提方法也获得了水下机械臂的双目视差图像.     

柔性空间机械臂区间参数不确定性分析

研究了柔性空间机械臂动力学分析中由于区间参数的存在而引起的动力学响应不确定性问题.采用能够描述大位移、大变形耦合特性的绝对节点坐标方法来建模柔性机械臂臂杆,建立了含区间参数的多体系统动力学方程,为指标-3的微分代数方程.运用基于Chebyshev多项式的Chebyshev区间扩张函数,将含区间参数的微分代数方程转化为Chebyshev多项式插值点处的确定参数的动力学方程,研究得到了一维区间参数和多维区间参数影响下机械臂系统的动力学响应区间边界,形成了预测机械臂末端轨迹区间的新方法.通过与Taylor方法的对比研究,结果表明,该方法能够有效减少系统仿真工作量,减小动力学响应预测值误差,快速稳定地得到机械臂系统动力学响应区间.      

基于人工势场的空间遥操作共享控制

在大通信时延、微重力的空间环境中,使用机械臂实施单元更换等遥操作存在巨大挑战。该文提出了一种基于人工势场的共享控制方法,即利用服务星机械臂上测距传感器阵列产生引力或斥力信号来增强地面遥操作的控制指令,以共享控制模式扩展人类远程控制与操作能力。该方法在一个6-DOF Motoman机械臂上得到了有效实现。地面实验系统上的实验表明此方法能够克服5s以上的时延影响并显著提高操作效率。     

PCSS通信测距复合系统中一种改进的映射方法

为了提高通信测距复合系统的信息传输速率,实现数据与序列的完全映射,将并行组合扩频技术（parallel combinatory spread spectrum,PCSS）应用于复合系统,提出了一种改进的r_组合数据序列映射方法。在发送端采用所提出的映射方法实现数据的扩频传输,在接收端采用改进的广义互相关算法进行时延估计和数据解扩,同时实现了信息传输和距离测量。仿真结果表明,改进的数据序列映射方法实现了映射的唯一性,提高了数据的映射效率,提升了PCSS通信测距复合系统的信息传输速率;改进的广义互相关算法在低信噪比下具有更好的时延估计性能。因此,所提方法能使PCSS通信测距复合系统更有效地完成测距任务和通信任务,可为通信测距复合系统的理论研究和工程应用提供参考。     

一种光纤组量程扩增的激光频率扫描干涉绝对测距系统

为解决激光频率扫描干涉(FSI)测距系统随着目标距离增大测量精度下降的问题,提出了一种利用光纤组量程扩增技术实现大尺寸绝对测距的精度补偿方法。采用参考光路光程可变递增的方法,建立了光纤组量程扩增的激光频率扫描干涉绝对测距系统,通过FSI原理实现了量程扩增部分光程差的自标定。对应不同测量目标,通过粗测和精确测量,实现了系统原点自标定、光纤通道切换和目标值的精确测量。实验结果表明,在测量距离大于3 000mm后,光纤组量程扩增测距系统具有更高的绝对距离测量重复精度,在6 700mm目标位置的绝对距离重复精度比FSI测距系统的重复精度提高了2.4μm,并且在大尺寸测量方面更具有一定的优势。     

信道设备阻抗失配对扩频测距的影响

高精度扩频测距系统中,信道设备间阻抗失配引入的测距误差是影响系统性能的重要因素.在互连信道设备阻抗失配对扩频测距影响的系统模型基础上,给出了信道设备阻抗失配对扩频测距影响的量化结果,深入分析了一种大型测距系统阻抗失配评估方法.研究成果可为提高高精度扩频测距系统测距精度以及系统性能评估提供支撑.     

基于伪码测距的弹射试验测试系统

提出了一套基于伪码测距的弹射试验测试系统设计方案.将GPS定位和精密授时与伪码测距相结合用于弹射试验的测试,在保证测试精度前提下,提高了数据更新率,适应了弹射试验高动态测试的要求.机载测站与地面多个基站构成测试数据链路,采用伪码测距获取原始数据,测试系统的时标和空间参考坐标由基站的GPS模块进行自动标定.事后解算处理获得定位数据.测距定位的精度受测试系统几何布局的影响,详细分析了在伪码测距误差既定的情况下,测试基站的布局对测试定位精度的影响,对测场范围内的测量误差分布进行了仿真计算,并根据误差分布给出了合理的测试基站布局.     

无末端力传感器的可重构机械臂分散力控制

针对存在关节摩擦和外扰的可重构机械臂系统在受限空间内的力控制问题,提出一种无需使用力传感器即可同时控制受限空间内机械臂力和位置的分散阻抗内环/力外环控制方案.采用模糊系统逼近机械臂系统中的不确定项及子系统间的耦合关联项,通过基于模糊预测的力外环控制器为内环的阻抗控制器提供参考轨迹,并利用模糊系统逼近实际的接触力.该方案为没有力传感器情况下的可重构机械臂的力控制提供了一种可能的解决方案,且模糊预测调节参考轨迹的阻抗内环控制使机械臂具有一定的柔顺性,能较好地实现机械臂由自由空间向受限空间的过渡.通过对2自由度平面机械臂和3自由度机械臂的仿真验证了该方法的有效性.     

基于超声测距的随钻井径测量系统设计

 传统电缆测井的机械多臂井径仪在高速旋转的随钻条件下难以完成测量,而基于超声测距的随钻井径测量系统,具有利用超声测距的非接触、速度快、信息处理简单、抗干扰能力强等优点,通过采用3个换能器等角距圆周分布,在存在“偏心”时可有效测量井径以及井筒轴心到仪器轴心的距离矢量。本文借鉴国内外现有超声波随钻井径测量系统及技术经验,设计了以单片机为核心的模块化超声随钻井径测量系统。从超声换能器特性、硬件电路以及程序控制3个方面入手进行协同设计,精度高、具偏心修正功能。根据理论计算和超声换能器产品参数特点,采用1MHz的超声换能器进行测距。采用增益可编程的反射波信号检测电路,通过多次增益校正,使得首个反射波信号前沿被比较器捕捉到,把超声波传输时间检测精度提高到一个换能器振荡周期以内,有效提高了测距精度,实现高速高精度测量与井径计算,其测量精度达到毫米量级。     

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.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

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.     

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。     

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.     

A computer generator for randomly layered structures

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

An Index mechanism for multi-scale view in spatial databases

There are numerous geometric objects stored in the spatial databases. An importance function in a spatial database is that users can browse the geometric objects as a map efficiently. Thus the spatial database should display the geometric objects users concern about swiftly onto the display window. This process includes two operations:retrieve data from database and then draw them onto screen. Accordingly, to improve the efficiency, we should try to reduce time of both retrieving object and displaying them. The former can be achieved with the aid of spatial index such as R-tree, the latter require to simplify the objects. Simplification means that objects are shown with sufficient but not with unnecessary detail which depend on the scale of browse. So the major problem is how to retrieve data at different detail level efficiently. This paper introduces the implementation of a multi-scale index in the spatial database SISP (Spatial Information Shared Platform) which is generalized from R-tree. The difference between the generalization and the R-tree lies on two facets: One is that every node and geometric object in the generalization is assigned with a importance value which denote the importance of them, and every vertex in the objects are assigned with a importance value,too. The importance value can be use to decide which data should be retrieve from disk in a query. The other difference is that geometric objects in the generalization are divided into one or more sub-blocks, and vertexes are total ordered by their importance value. With the help of the generalized R-tree, one can easily retrieve data at different detail levels.Some experiments are performed on real-life data to evaluate the performance of solutions that separately use normal spatial index and multi-scale spatial index. The results show that the solution using multi-scale index in SISP is satisfying.     

Jane Eyre——A Feminist In The 19th Century

In the 19th century the society was controlled by men, and women were just appendants of them, they had not any rights and freedom. But Jane was an exception, she showed some characteristics of early feminist. Jane showed her characteristics of feminism in three aspects: rebellion, equality, and independence. These characteristics were helpful to her success, and feminism is the only way out for women of that time.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-