Research on bionic quadruped robot based on hydraulic driver

A prototype of hydraulically powered quadruped robot is presented.The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of endurance and high load carrying ability.The current version is 1.1m long and 0.48 m wide,and weights about 150 kg.Each leg has four rotational joints driven by hydraulic cylinders and one passive translational joint with spring.The torso carries the control system and the power system.A novel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the principle of joint function separation.The robot can not only cross a 150 mm high obstacle in static gait and trot at 2.5km/h and lkm/h on the level-ground and 10°sloped-terrain respectively,but also automatically keep balanced under lateral disturbance.In this paper,the mechanical structure and control systems are also discussed.Simulations and experiments are carried out to validate the design and algorithms.     

Visual attention based model for target detection in large-field images

It is of great significance to rapidly detect targets in large-field remote sensing images,with limited computation resources.Employing relative achievements of visual attention in perception psychology,this paper proposes a hierarchical attention based model for target detection.Specifically,at the preattention stage,before getting salient regions,a fast computational approach is applied to build a saliency map.After that,the focus of attention(FOA) can be quickly obtained to indicate the salient objects.Then,at the attention stage,under the FOA guidance,the high-level visual features of the region of interest are extracted in parallel.Finally,at the post-attention stage,by integrating these parallel and independent visual attributes,a decision-template based classifier fusion strategy is proposed to discriminate the task-related targets from the other extracted salient objects.For comparison,experiments on ship detection are done for validating the effectiveness and feasibility of the proposed model.     

水轮机叶片坑内修复机器人的机械臂样机磨削力

该文介绍了一种自主设计的可进行水轮机叶片坑内高效修复作业的磁吸附爬壁式机器人,该机器人焊缝的修磨方式为缓进深切磨削.为进一步研究采用该方式修磨焊缝时的受力特点,搭建了由应用于该机器人的机械臂样机系统和测力仪系统构成的焊缝磨削实验平台,对机械臂采用缓进深切磨削方式修磨焊缝时的切削力进行了测量.通过实验得到了切削力经验公式,该公式估算误差在20%以内,可为机器人及机械臂后续的优化设计和作业控制研究提供依据.     

Development of a nurse robot serving in infectious disease isolation wards

A prototype of nurse robot system serving in infectious disease wards is developed by analyzing the systems requirement. Firstly, the type synthesis and dimension synthesis for optimizing the workspace are presented. Secondly, the tele-control system based on velocity control mode is introduced, and tele-control program is written. Finally, the imitation of position workspace and experiment of transforming objects from buffer area to isolation area are carried out.     

面向蛋白质结晶的微量生物试剂自动分配技术研究

近年来，蛋白质结晶技术向高通量方向发展，对微量试剂自动化分配技术提出了更高的要求．本文针对蛋白质结晶操作中微量试剂分配具有试剂种类多、分配精度高、速度快等要求，总结分析了目前该领域中各种微量试剂分配技术的原理、优缺点、适用场合以及面向蛋白质结晶操作时微量生物试剂分配方法的选择原则．最后，采用计算流体动力学（CFD）分析方法，对目前常用的非接触式微量试剂分配中液滴脱落过程进行分析．得出系统压力，试剂特性以及喷嘴尺寸等参数对分配过程的影响趋势，并指出微量液滴成功与喷嘴脱落实现非接触式分配所必需满足的条件．     

机床主轴结构回归模型近似重分析优化设计

结构优化设计一般要多次对结构进行重分析计算，对此许多文献提出了不同的解决方法以减少整个优化计算所用的时间。本文探讨了一种新的解决途径，即有限元－－回归模型－－数学规划法优化设计。做为例子，文中还给出了用该方法编制的FORTRAN语言程序在IBM－PC／XT机上计算的结果。     

Immune secondary response and clonal selection inspired optimizers

The immune system's ability to adapt its B-cells to new types of antigen is powered by processes known as clonal selection and affinity maturation. When the body is exposed to the same antigen, immune system usually calls for a more rapid and larger response to the antigen, where B cells have the function of negative adjustment. Based on the clonal selection theory and the dynamic process of immune response, two novel artificial immune system algorithms, secondary response clonal programming algorithm (SRCPA) and secondary response clonal multi-objective algorithm (SRCMOA), are presented for solving single and multi-objective optimization problems, respectively. Clonal selection operator (CSO) and secondary response operator (SRO) are the main operators of SRCPA and SRCMOA. Inspired by the clonal selection theory, CSO reproduces individuals and selects their improved maturated progenies after the affinity maturation process. SRO copies certain antibodies to a secondary pool, whose members do not participate in CSO, but these antibodies could be activated by some external stimulations. The update of the secondary pool pays more attention to maintain the population diversity. On one hand, decimal-string representation makes SRCPA more suitable for solving high-dimensional function optimization problems. Special mutation and recombination methods are adopted in SRCPA to simulate the somatic mutation and receptor editing process. Compared with some existing evolutionary algorithms, such as OGA/Q, IEA, IMCPA, BGA and AEA, SRCPA is shown to be able to solve complex optimization problems, such as high-dimensional function optimizations, with better performance. On the other hand, SRCMOA combines the Pareto-strength based fitness assignment strategy, CSO and SRO to solve multi-objective optimization problems. The performance comparison between SRCMOA, NSGA-II, SPEA, and PAES based on eight well-known test problems shows that SRCMOA has better performance in converging to approximate Pareto-optimal fronts with wide distributions.     

面向新型成像卫星自主任务规划系统设计

随着成像卫星硬件水平的提高,其应用目标也有了更高的要求。因为复杂的约束、难以预测的状态信息以及繁杂的需求种类,卫星任务规划问题一直是系统工程领域的难点问题之一。为更好地适应新的应用环境并满足不同用户的需求,设计了自主卫星任务规划系统。其包括星上与地面两个子系统,各子系统中均包含若干模块,分别实现不同的功能并协同完成某些复杂任务。基于对需求分析,整理出了卫星的应用场景、主要模块和关键技术。通过对两套系统的仿真结果比较,论证了该系统框架的可行性与优化效率,并为未来卫星任务规划系统的设计提供了思路。     

压电技术在智能道路中应用研究现状

压电技术是一种新兴的绿色能源技术,在各领域都有着广泛的应用,特别是随着智能道路的发展,压电技术在公路中的应用日渐成熟。对于压电技术在智能道路中的应用进行介绍,主要包括压电能量收集系统和混凝土结构健康监测及交通监测技术,着重分析了如何通过压电技术进行能量收集储存为周边设施提供所需电能以及监测交通流量和混凝土内部结构是否有损伤等数据,从而降低交通事故发生频率,增加道路使用时间。对压电技术目前存在的问题进行了剖析并给出了适当的建议,使压电技术能够更全面、更高效地应用在道路中。     

漓江流域林地时空变化及驱动力分析

为推进林地资源研究,实现对漓江流域景观可持续发展的监测与评估,基于2013年、2017年、2020年Landsat-8 OLI影像、数字高程模型(GDEM V2)以及气象、经济和人口等影响因子,采用随机森林和地理探测器等方法,分析了漓江流域林地时空变化特征及其驱动机制。研究表明：2013—2020年耕地是漓江流域内林地转化面积较多的土地利用类型,且林地面积呈现减少的趋势,林地动态度由2013—2017年的0.38显著升高到2017—2020年的4.46;高程和坡度对林地空间分布格局影响较大,第一产业产值与林地的面积呈现负相关的关系。该研究可以为有关管理部门对漓江流域林地资源的管理保护方面提供相关参考。