Mobile Robot Control Based on Dynamic Potential

An efficient method is presented for implementing mobile robot perception-action behaviors, based on time-varying environment potential field approach. First, in this paper, the concept of dynamic potential U(x,y,z,t) is proposed for representing the environment of a mobile robot, and the form of U(x,y,z,t) is deduced, and then the velocity control of the vehicle with two wheel is directly calculated by transition function T of U(x,y,z,t). Finally, the perception-action layer is successfully implemented for avoiding collision, wandering, and integrating path planning and steering control on THMR-Ⅱ (TsingHua university Mobile Robot system). Based on sonar array signals, the experimental results are given to show that THMR-Ⅱ has better reflexive function, real-time obstacle avoidance, adaptablity and robustness for complex environments.     

宝钢炼钢厂300 t整体钢包热循环实测研究

对宝钢炼钢厂300t整体钢包的整个周转过程热状态进行了跟踪测试,对各阶段的测试结果进行了分析,并得出了周转过程各阶段钢包包衬温度变化规律。在此基础上提出缩短烘烤时间,加盖保温等提高热循环效率的措施。     

一种用于彩色图像认证的脆弱水印算法

提出了一种用于彩色图像认证的脆弱水印算法。这种算法是采用了均值量化的方法 ,把数字水印嵌入图像的离散小波域 ,可以检测在空间域和频率域的图像失真。利用脆弱数字水印算法提供的关于失真的估计信息 ,可以帮助用户判断图像内容的可靠程度。同时还采用了聚合篡改区域方法来完成失真检测 ,能够区分出恶意攻击和一般的图像处理。仿真结果证明 ,该方法可以提供图像修改的程度和修改区域的信息 ,其可信度比一般量化方法强。     

Effects of Si and Ce on the microstructure and hydrogen storage property of Ti_(26.5)Cr_(20)V_(45)Fe_(8.5)Ce_(0.5) alloy

In this paper,the effects of Si and Ce on the microstructure and hydrogen storage property of Ti26.5 Cr20V45Fe8.5Ce0.5 alloy were studied,respectively.First of all,effects of Si on the microstructure and hydrogen storage properties of Ti26.5Cr20(V45Fe8.5)1-xSixCe0.5(x=0,0.5,1.0,1.5 and 2.0 at%)alloys were studied by X-ray diffraction,scanning electron microscopy and P-C isotherm measurements.As the Si addition increases,the hydrogen absorption capacities of alloys decrease but the equilibrium pressure incre...     

Net-shape forming of composite packages with high thermal conductivity

The continuing miniaturization of electronic devices in microelectronics and semiconductors drives the development of new packaging materials with enhanced thermal conductivity to dissipate the heat generated in electronic packages.In recent years,several promising composite materials with high thermal conductivity have been developed successfully for high performance electronic equipment to replace the traditional Kovar and Cu/W or Cu/Mo alloys,such as SiCp/Al,SICp/Cu,diamond/Al and diamond/Cu.However,thes...     

Effects of particle size on the mechanical properties of particle-reinforced Sn-Ag composite solder joint

Particulate size has significant influenced on the mechanical properties of particle-reinforced composite solder joints.In this current research,Cu or Ni reinforcement particles were mechanically added to the Sn-3.5Ag eutectic solder,and the effects of the particle size on the mechanical properties of particle-reinforced composite solder joint were systematically studied. This investigation touched on how mechanical properties of the solder joints are affected by particles size.A quantitative formula was se...     

石油化工过程中控制与联锁自保系统的仿真

本文介绍了石油化工过程中控制与联锁自保系统的仿真模型的建立方法，并附以相应程序。     

并行工程产品开发过程的建模方法学

在并行工程中，为了实现产品开发过程的集成、并行和最优化，首先要建立能够充分反映产品开发过程各方面信息的产品开发过程模型。通过对模型的仿真分析和优化，指导产品开发过程的实施。本文首先提出了并行工程产品开发过程模型是集成多视图模型，随后提出了采用集成多视图建模理论的并行工程产品开发过程建模、分析和管理的方法学框架     

折流移动床用于除尘的研究

在折流移动床的气固流动特性的研究基础上，以小米为除尘介质，对折流移动床在除尘中的应用进行了研究，并分析了各种操作条件对过滤效果的影响，结果表明，折流移动床用于烟道气除尘效果很好，产物均匀且易于调控，可以实现连续操作，同时多层床的实现，提高了除尘效率，并且此新型装置的压损显著低于固定床，降低了动力消耗，理论分析建立的数学模型计算结果与试验结果基本相符。     

基于遗传算法的热连轧机负荷再分配

以工业轧机为对象,根据热连轧板形前馈的特点,研究提出了基于遗传算法的轧制力负荷再分配的模型.实验数据对比分析结果表明,使用该策略能够获得良好的板形及生产的平稳过渡,可用于热连轧生产.