基于协方差矩阵重构和导向矢量优化的波束形成算法

针对传统波束形成算法在导向矢量失配和协方差矩阵误差情况下输出信干噪比下降严重的问题,提出了一种基于协方差矩阵重构和导向矢量优化的稳健自适应波束形成算法。该算法通过估计信号和干扰的功率及方向,重构干扰加噪声协方差矩阵,同时结合投影和空域积分思想,对假定的导向矢量进行优化计算,使其接近真实的导向矢量。进而通过相关运算求得复数加权值实现波束形成。所提算法可以有效抑制干扰,提高输出信干噪比。在多种失配存在的情况下,所提算法也具有较好的性能。研究共进行了6个仿真实验,所提算法性能均优于所对比算法。所提算法在快拍数固定且存在导向矢量失配的情况下,相比于最差情况性能最优算法有约5 dB的输出信干噪比提升。在信噪比固定且存在导向矢量失配的情况下,相比于对比算法均有4 dB以上的性能提升。实验结果验证了所提算法的有效性。     

磁流变调谐质量阻尼器在海上风机振动控制中的应用

针对近海风机在风、波浪和地震3种载荷作用下的振动控制问题,提出了基于磁流变弹性体(magnetorheological elastomer, MRE)调谐质量阻尼器(tuned mass damper, TMD)的海上风机半主动控制方法。首先,介绍了MRE的变刚度磁致力学特性及面向海上减振需求的MRE-TMD结构设计原理;其次,建立了海上风机-TMD动力学模型,计算了风、波浪及地震激励载荷;再次,应用半主动控制算法跟踪识别风机塔筒顶端响应的频率,实时调节MRE-TMD的刚度,进而对海上风机进行振动控制。通过分析导管架式近海风机在多种载荷作用下的动力响应可知,采用基于MRE-TMD的控制方法能够有效衰减导管架式海上风机在多种载荷作用下的振动响应。与被动TMD相比,MRE-TMD具有较好的减振效果,为海上风机振动控制提供了一种新的解决思路。     

Prediction of Flexural Deformation of Reinforcement Concrete Beams with Polynomial Tension Stiffening Model

Based on an assumption of parabolic bond stress distribution,a simplified model with quartic polynomial function of the relative slip of steel bar and surrounding concrete for reinforced concrete (RC)tensile member was proposed. The post-cracking behavior as well as tension stiffening effect was considered in the new model. The relative slip of bending member could also be determined through the extension of the new model,which could be applied to obtaining the concentrated rotations at certain sections in order to predict the flexural deformation of RC beam. Several examples of four-point bending RC beams were approached to verify the new model,and the predictions of the flexural deflections of RC beams agreed well with experimental results. The new model can be extended to the application of partially corroded RC beam.     

双臂空间机器人的通用运动学路径规划算法

提出了一种基于通用运动学模型的双臂空间机器人在自由浮游状态下捕捉目标并避免碰撞障碍物的路径规划算法。过去的双臂空间机器人路径规划问题主要研究双臂的避碰问题 ,而忽略了机器人本体的避碰问题。实际上 ,当机械臂运动时 ,机器人本体也在相对运动 ,这个相对运动随机械臂质量与本体质量之比的增大而增大。利用通用运动学模型计算出双臂空间机器人的各点 (包括本体 )的速度 ,并在路径规划过程中根据机器人本体的速度计算出本体平动的距离 ,克服这个平动来避免与障碍物碰撞。最后 ,通过路径规划算法的计算机仿真结果证明了所提出路径规划算法的可行性     

Building Integrated Mobile Robots for Soccer Competition

Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme adaptive PID learning controller. It means to overcome the drawbacks of the conventional PID type control methods. Secondly, we introduce our vision recognition algorithm. It remarkably increases the speed of recognition. Finally, we refer the communication system. We adopt bulletin board system to prevent communication confusion.     

考虑辊系倾角的轴移式轧机辊系弹性变形计算

采用分段离散法 ,求解轴移式轧机辊系弹性变形 ,其方法主要特点是计算过程中考虑了轴移式轧机由于工作辊的窜动而引起的辊系倾角对辊系变形挠度的影响 ,为藕合计算板凸度时提供更为合理的辊系弹性变形模型。     

CAD/CAM“教、学、做”一体化网络实施方案研究

为＂教、学、做＂一体化教学模式顺利实施,结合高职院校机械专业CAD/CAM类课程教学现状,提出在网络环境下构建＂教、学、做＂一体化教学模式实施平台的设想,分析方案的实现方法。     

综合勘察手段查明贵州镇胜公路黄果树隧道左线（ZK17＋150-ZK17＋210）段地基情况

黄果树隧道ZK17＋150-ZK17＋210位于贵州省关岭县境内,跨度40m,处于漏斗状落水洞内,由于该段详勘阶段未进行专门勘察,地基情况不明确,成拱后地基下沉导致初级支衬开裂,拱部不断有水下渗,为查明落水洞范围地基岩土构成,在施工阶段进行补充勘察,由于拱内因可塑状粘土塌落物堆积,中部净空不利于架设钻机,挖方掏土会加速地面下沉,在ZK17＋170-ZK17＋200段采用地面物探高密度电法铺助勘察方法解决此难题,效果良好。     

新型的桥式起重机定位系统

本文针对当前桥式起重机追踪定位系统的定位方式上存在定位手段过于原始、定位精度不够、工作效率很低的问题,提出采用激光测距仪和条码定位系统对桥式起重机进行追踪定位的新型系统,应用结果显示,文中所提定位系统较原有定位系统在定位精度上提高了200倍,工作效率有很大提高,并间接地降低了起重机作业中的能耗.     

A New Method for Accelerated Waldthroughs of Virtual Environments

A new method for accelerated walkthroughs of virtua l environments is presented. In order to improve rendering quality, it partitio ns visibility computation PVS preprocessing and runtime dynamic visibility computation, at the meantime level-of-detail models are managed to speed up the rendering. The me th od relies on the hierarchical spatial data structure (HSDS) of 3D objects in vir tual environment. Compared with some classical speedup methods such as the graph ic hardware method and a few typical software speedup techniques, the new method embodies obvious improvement in speedup performance.