欠驱动机械臂无源-自适应迭代学习控制

针对一类欠驱动串联机械臂,基于其动力学方程的变换,提出了一种分步控制策略。该策略首先利用全驱动关节与欠驱动关节之间的动力学耦合,驱使欠驱动关节达到理想位置进而对其进行锁定。由于欠驱动关节理想夹角的随机性,使得锁定欠驱动关节后的机械臂成为一结构不确定系统。针对此类系统,结合迭代学习和耗散控制理论,提出了一种无源-自适应迭代学习控制方法,使其能够进行轨迹跟踪。通过对三连杆机械臂的仿真验证了其有效性及实用性。     

孔隙结构表征陶粒滤料净水效能的方法

在分析陶粒的吸附性能和孔隙结构的基础上,采用浊度和UV254等动态实验方法研究了陶粒滤料的净水效能,建立了陶粒滤料过滤性能的表征方法.结果表明,陶粒的比表面积和碘吸附值、孔体积和单宁酸吸附值、最可几孔径与全部吸附值的相关系数分别是0.99、0.92和1.00.其表征方法所得的陶粒滤料评价结果与陶粒滤料净水效能的实验结果相符,为评价陶粒滤料的净水效能和针对不同水质选择陶粒滤料提供了标准.     

高温工质冷凝换热试验台冷却水温度控制方法

在高温工质冷凝换热试验台中,冷却水供水温度的稳定性直接影响高温工质冷凝换热的试验结果.建立了冷却水加热设备——冷却水高位水箱的传递函数及控制传递函数模型,选择了积分分离式PI控制嚣,利用C Builder语言开发了冷却水温度计算机控制程序,设计了计算机监控系统.控制试验结果表明该PI温控系统响应快、抗干扰性好,控制精度高为(±0.2)℃.     

利用克立金方法预测湿地水质的变化趋势

将空间域上的克立金方法延伸到时空域中,得出当时间信息量大于空间信息量时区域化变量的无偏最优估计形式,进而给出时间域上克立金的估计形式,最后利用该方法对某湿地近几年水体中BOD-DO的未来的趋势进行了预测,实例说明该方法是一种比较稳健的预测方法.     

Reactions Between Humic Acid Solutions and Excessive ClO2 or Cl2

Reactions between humic acid solutions and excessive ClO2 or Cl2 have been investigated. Under various experimental conditions, the removal efficiency of TOC, UV254 and A140 from humic acid solutions were examined. The relationship between the removal efficiency and the consumption of ClO2 or Cl2 was discussed. The results showed that the maximum demand of ClO2 was 2.19 mg/mg TOC for the humic acid solution under the experimental conditions, and that of Cl2 was 1.88 mg/mg TOC. The variation tendency of ClO2 consumption was similar to that of Cl2. TOC of humic acid solutions decreased 15.2% and 15.6% after the reaction with ClO2 or Cl2 respectively. Under the experimental conditions, 21.4% of unsaturated bonds and 52.8% of humic acid color were removed by ClO2 in 168 h. As for Cl2, removal efficiency of unsaturated bonds and humic acid color were 16.8% and 41.7% respectively. Larger molecules from humic acid were oxidized to smaller molecules by ClO2 and Cl2. Higher oxidation potential of ClO2 than that of Cl2 was also indicated by variation of UV254/A410 ratios. The similar tendency, that exhibited faster variation in the initial 24 h, existed for all the research factors.     

Kinematics analysis of a robotic rock grinder

With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geolo- gist’s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding sys- tem. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abra- sion experiments have been made to testify the feasibility and the basic function of this system.     

基于蚁群算法的机器人足球通信机制

给出了基于蚁群算法实现机器人足球比赛中球员之间协作和通信的机制.选用两只球队分别采用了传统的通信机制和"黑板"通信机制进行实验比较,发现虽然两个球队的整体结构和高层策略相差无几,但是无论从速度、力量还是传接球成功率等方面,Novauro都比ujdb强.该通信机制具有灵活,鲁棒性强的特点,不会由于局部的失误而影响全局的性能.     

消防网络机器人自动灭火规划与研究

概述了消防机器人的发展,分析了网络远程监控消防机器人的神经网络构成、担负的主要任务及研究开发的方向,并探讨了研制智能化消防机器人需要进一步研究的技术问题。     

黄河大柳树生态经济区老灌区节水潜力综合分析

建设大柳树生态经济区是黄河黑山峡河段开发的主要任务,长期以来,围绕黄河流域突出的水资源供需矛盾,引起了不同学者和有关部门对大柳树生态经济区建设的学术技术争议.结合生态经济区水资源条件,以黄河大柳树生态经济区老灌区节水潜力为主线,系统分析了影响节水潜力的主要因素和敏感性.结果表明,通过输水工程改造、种植结构调整、田间改造、井渠结合、运行管理等方面的节水努力,老灌区节水量为13.18×108～22.69×108 m3,有水资源条件支撑了大柳树生态经济区的建设与开发.     

红树莓品种的越冬性初步研究

在沈阳地区,采用电导法、组织褐变法和萌芽生长法对不同红树莓品种的越冬性进行研究,结果表明,树莓越冬枝条在-20~-25℃条件下遭受冻害,致死临界温度为-30℃,越冬期间枝条表皮保水能力较差,抽条现象较严重.树莓越冬伤害为冻害和抽条伤害两种,但主要是抽条伤害.