新型变形轮腿式移动机器人的运动学分析及设计

移动机器人作为智能勘探与侦察的自动化装备,在航天探测、军事侦察、抢险救灾等领域具有广阔的应用前景.兼具良好的机动性及越障性是移动机器人快速适应非结构化复杂环境的首要性能指标,结合轮式行进机构强机动性与腿式行进机构优越障性的变形轮腿式移动机器人受到普遍青睐.然而,现有变形轮腿式移动机器人在设计与优化方面仍存在变形形式过于复杂、设计方法缺乏理论依据等不足.针对上述问题,提出一种结构紧凑、操作简便的新型轮腿变换结构,借助电磁离合器分离运动的原理,通过改变轮-腿变形动力输入促使轮与腿相对运动,以曲柄滑块机构触发轮-腿结构径向扩展,完成由轮式变形为腿式的过程.定义变形过程中曲柄滑块机构的压力角为机动性指标、变形前后结构的展开比为越障性指标,进而开展变形结构的尺度综合,优化结果表明新型变形轮腿式移动机器人的展开比为1.92,可越过高度为150 mm的障碍物.基于优化后的尺度参数,建立变形轮腿式移动机器人越障过程的动力学模型,确定驱动电机参数,设计并制造物理样机.最终开展软件仿真与实验研究,仿真结果与理论分析结果一致,表明优化设计方法与动力学建模方法的有效性,实验结果证明所设计的变形轮腿式机器人具有...     

爱因斯坦的洞察力

<正>今年12月2日是爱因斯坦广义相对论论文发表100周年纪念日坐在办公桌前或常年在实验室中独自忙碌,直到——灵感产生——觉察到了一切。这就是科学工作的神话,而且这个过程几乎总是错的。在现实生活中,科学的进步是循序渐进的,大多数研究人员是在团队中工作,孤独的天才总是难以找到揭示宇宙的革命性的新理论。然而,阿尔伯特·爱因斯坦(Albert Einstein)却做到了。来自于哈勃空间望远镜的图像:遥远星系由于地球附近星系团质量的存在而发生弯曲——这种弯曲是由广义相对论所预言的(又称引力透镜现象)     

基于专利的难溶性含钾岩石生产钾肥技术分析

难溶性含钾岩石的开发和利用对提高我国钾肥产能，保障粮食生产安全有重要意义。该文围绕难溶性含钾岩石生产钾肥技术，通过专利数据库和专利分析系统，统计了本行业相关的专利数据，并对其进行了各种指标的分析，从而揭示了该技术领域中一些非常有价值的情报信息，为科研立项、课题选择、产品攻关、建立知识产权预警制度等提供一定参考。     

建筑中错觉问题的探讨

阐述错觉问题的几种主要表现,分析错觉问题在建筑实例中的运用,提出运用错觉的几点建议.     

曲柄滑块刚体导引机构的尺度综合与运动仿真

根据曲柄滑块机构的型式 ,建立了一个含有对心和偏置两种情况在内的 2 0 30 0组的基本尺寸型连杆转角函数的谐波成分数据库。通过模糊识别方法 ,在已建立的数据库中 ,寻找出能够近似实现给定刚体导引的多个曲柄滑块机构基本尺寸型 ;然后计算机构的实际尺寸及安装尺寸参数。文中还给出了综合算例和运动仿真。     

脑的微环路

<正>前言脑中微环路的研究,是介于还原到神经元、综合到心理与行为两个层次间的大问题。简单的定义,就是研究神经元相互之间是什么关系,几十个到几千个神经元作为整体是怎样运作的,并怎样产生高级功能的。只有理解了这个中间层次的问题,我     

Comparison of Drought-Resistance about Three Wild Rocky-Grasses

In this experiment, using the methods of drought-stress in the pot and PEG simulative drought-stress, three native rocky-slope grasses Pogonatherum panideum（Lam.） Hack, Erioophorum comosum nees and Cynodon dactylon cultivated in the pots were selected as materials to study their drought-resistance by analyzing the indexes such as the leaf area index, the drying roots accumulation, the holding water ability of leaf, the relative conductance of leaf, the soluble protein, chlorophyll. At the same time, by comparing with membership function value of each index, the order of each grass drought-resistance was decided. The results showed that the drought-resistance of Erioophorum comosum nees was stronger than Cynodon dactylon and drought-resistance of Cynodon dactylon was stronger than Pogonatherum panideum （Lam.） Hack. The purpose of the experimental results was to find theoretical foundations for selecting and cultivating native protecting-slope vegetations to adapt to rocky slopes.     

Developmental modes of the Neoproterozoic-Lower Paleozoic marine hydrocarbon source rocks in China

Based on the researches on rock type, the mode of occurrence, diagnostic minerals and creatures, the sedimentary geochemistry and organic facies of Chinese marine source rocks from wells and outcrops, and on the research findings of developmental modes of foreign marine source rock, the authors consider that it is impossible to objectively make clear the formation mechanism of hydrocarbon source rock with high organic matter abundance by either single mode of preservation or high organic matter productivity. According to the Chinese geological features, the formation mechanism of the Neoproterozoic-Lower Paleozoic marine source rock is generalized into four modes, namely, thermal water activity-upwelling flow-anoxic; carbonate gentle slope-upwelling flow; xerothermic climate-brine euxinic milieu; and humid climate-retained euxinic milieu; as the Lower Cambrian undercompensation basin organic facies （the Tarim Basin, South China and southwestern margin of North China）, carbonate gentle lime mud bound organic facies （the Upper Ordovician in Tazhong region of the Tarim Basin and the Lower Silurian in the Upper Yangtze Platform）, the Middle Cambrian evaporation laggon organic facies （the Tarim Basin and the Upper Yangtze Platform）, enclosed undercompensation terrigenous bay organic facies （the Middle-Upper Ordovician in the west of the Tarim Basin, the Lower Silurian Long- maxi Formation in the Upper Yangtze platform）. Chinese marine sedimentations with lower organic matter abundance are generalized into two modes of consumption-dilution mode of open epicontinental sea and depletion-dilution mode of supercompensation basin.     

The controlling factors and distribution prediction of H2S formation in marine carbonate gas reservoir, China

Generally, there are some anhydrites in carbonate reservoir, as H2S is also familiar in carbonate oil and gas reservoirs. Nowadays, natural gas with high H2S concentration is usually considered as TSR origin, so there is close relationship between H2S and anhydrite. On the contrary, some carbonate rocks with anhydrite do not contain H2S. Recently, researches show that H2S is only a necessary condition of H2S formation. The reservoir porosity, sulfate ion content within formation water, reservoir temperature, oil/gas and water interface, hydrocarbon and some elements of reservoir rock have great controlling effects on the TSR occurrence. TSR deoxidizes hydrocarbon into the acidic gas such as H2S and CO2, and the H2S formation is controlled by TSR occurrence, so the relationship among reaction room, the contact chance of sulfate ion and hydrocarbon, the reservoir temperature has great influence on the TSR reaction. H2S has relatively active chemical quality, so it is still controlled by the content of heavy metal ion. Good conditions of TSR reaction and H2S preservation are the prerequisite of H2S distribu- tion prediction. This paper builds a predictive model based on the characteristic of natural gas reservoir with high H2S-bearing. In the porosity reservoir with anhydrite, the formation water is rich in sulfate and poor in heavy metal ion. Oil and gas fill and accumulate in the gas reservoir with good preservation conditions, and they suffered high temperature later, which indicates the profitable area of natural gas with high H2S-bearing.     

第二类非线性Fredholm型积分方程数值解的超收敛性

本文讨论第二类非线性Ｆｒｅｄｈｏｌｍ型积分方程数值解的超收敛性，以Ｇａｌｅｒｋｉｎ方法为基础建立了该类方程的Ｇａｌｅｒｋｉｎ算法、小波Ｇａｌｅｒｋｉｎ算法以及它们相应的迭代校正格式，证明了两种算法数值解的超收敛性，不仅将Ｈａｍｍｅｒｓｔｅｉｎ积分方程的结果推广到第二类非线性Ｆｒｅｄｈｏｌｍ型积分方程，而且应用小波分析工具得到了更精确的结果．