Fault tolerant motion planning based on joint torque limit for redundant manipulators

0 IntroductionWith the development of science and technology,manipulators have been widely utilized in some specialfields of space , deeper ocean, and nuclear materialcleanup.Becausethese workingenvironments are distant ,harsh and dangerous ,itis difficultfor peopletorepairthefailed manipulators onthe spot .Therefore ,the manipula-tors should operate normally for a long time . To meetthese requirements ,the manipulators must have not onlyhigher reliability but also fault tolerance capabilities…     

相似产品步进应力加速寿命试验的统计分析

本文将单组样本的步进应力加速寿命试验(SSALT)拓展到双样本情形.基于累积失效模型(CEM),对两组指数产品的联合Ⅱ型截尾数据进行综合分析.首先,计算未知参数的极大似然估计(MLE),并利用矩母函数(MGF)建立其条件概率分布.然后,采用两种方法,基于概率分布的精确分析方法和参数的Bootstrap方法,构建参数的置信区间(CIs).以覆盖率作为评价标准,对两种方法的区间估计效果进行分析.最后,通过数值算例验证了本文方法的有效性.     

不同铆接速度下板材搭接顺序对钢/铝异种金属铆接接头性能的影响

采用自冲铆接实现了钢/铝异种金属的有效连接。通过改变铆接速度,对比研究了钢上铝下和铝上钢下两种搭接顺序下的接头的成形性能、断裂力和断裂方式。研究结果显示,随着铆接速度的增大,接头头高和底切量不断减小,互锁值不断增大。钢上铝下搭接顺序下的接头的成形情况较为稳定,缺陷较少。钢上铝下搭接顺序下的拉剪接头的断裂力明显高于铝上钢下搭接顺序下的拉剪接头的,而铝上钢下搭接顺序下的十字拉伸接头的断裂力明显高于钢上铝下搭接顺序下的十字拉伸接头的。铆钉变形时受力方向的不同导致拉剪接头的断裂力明显高于十字拉伸接头的。铆接速度为250～325 mm/s时,可以实现两种搭接顺序下的接头成形性能和断裂力的良好匹配。     

两层供应链的多物品共同补货策略研究

研究了由单制造商和单销售商组成的两层供应链中多物品的生产和补货问题,其中所有物品拥有共同的生产线、配送路线等,且需求确定.为研究供应链上下游企业合作和多物品之间基于基本时段的共同补货对供应链总费用的影响,建立了四种生产一补货模型,然后分析了模型的最优解特性,并给出了搜索算法.算例表明,制造商零售商联合决策下基于基本时段的多种物品共同生产、共同补货,使得供应链的费用最低.此外,将这种基本时段方法和公共周期方法的共同补货策略进行比较,发现基本时段方法策略更优.     

Data association based on target signal classification information

In most of the passive tracking systems, only the target kinematical information is used in the measurement-to-track association, which results in error tracking in a multitarget environment, where the targets are too close to each other. To enhance the tracking accuracy, the target signal classification information （TSCI） should be used to improve the data association. The TSCI is integrated in the data association process using the JPDA （joint probabilistic data association）. The use of the TSCI in the data association can improve discrimination by yielding a purer track and preserving continuity. To verify the validity of the application of TSCI, two simulation experiments are done on an air target-tracing problem, that is, one using the TSCI and the other not using the TSCI. The final comparison shows that the use of the TSCI can effectively improve tracking accuracy.     

新营销视域下的高校图书馆阅读推广新模式

从5个方面比较了传统营销和新营销的理念，介绍了新营销理念指导下高校图书馆单独推广和联合推广的典型策略，列举了广西民族大学近年来所进行的阅读推广活动。     

Optimal pricing and inventory policy with order cancelations under the cash-on-delivery payment scheme

Considering a periodic review system where the online seller allows the customers to pay when the products are delivered to them（referred as cash-on-delivery payment scheme in this paper）,the authors investigate the seller＇s joint pricing and inventory control policy with a finite planning horizon.In particular,the authors incorporate the customers＇ possible order cancellation behavior with the cash-on-delivery scheme.It can be proven that the base-stock list price policy is optimal under mild conditions.The authors also analyze the impact of the customers＇ forward looking behavior on the optimal policy.     

地下连续墙H型钢接头防绕流施工措施探讨

简要介绍了地下连续墙的接头分类,结合工程实例,针对地下连续墙施工中出现的问题,提出了预防绕流的措施。     

某轿车的铰接点——A点优化设计

对某轿车的铰接点(A点)进行了刚度及其灵敏度分析,并在此基础上对A点进行了优化,对比分析优化后的A点发现,重量减轻了,刚度并没有减弱.说明这种以减重为目标的优化分析方法是有效可行的.