摘要：The current literature lacks uniform calculation methods for following trajectory control for autonomous vehicles,including the calculation of errors,determination of tracking points,and design of feedforward ***,a complete calculation method is proposed to address this ***,a control equation in the form of an error is obtained according to the dynamic equation of the vehicle coordinate system and the trajectory following ***,the deviation of the vehicle state is obtained according to the current vehicle s state and the following control ***,a linear quadratic regulator(LQR)controller with feedforward control is designed according to the characteristics of the dynamic *** the proposed LQR,the simulation of computational time,anti-interference,and reliability analysis of the trajectory following control is performed by programming using *** simulation outcomes are then compared with the experimental results from the *** comparison indicates that the proposed complete calculation method is effective,reliable,and capable of achieving real-time and anti-interference following control *** simulation results with or without feedforward control show that the steady-state error is eliminated and that good control performance is obtained by introducing feedforward control.

摘要：尺度约束类型是指构件为其所连接的运动副轴线之间的相对方位提供的几何约束类型,研究了一种基于尺度约束类型及其顺序的机器人支链的拓扑结构表示及其设计方法。建立尺度约束类型与符号表示之间的对应关系;基于方位特征集及自由度,将尺度约束类型作为单元,综合出4自由度和5自由度的串联机构结构,并给出其尺度约束类型表示;通过对6自由度关节机器人进行演化分析,获得5轴及4轴工业机器人,并对这些串联机器人的方位特征集及尺度约束类型进行分析。

摘要：行星减速器是机电设备中的核心功能部件,随着产品对空间和质量的要求越来越严格,高功率密度行星减速器应运而生,这也对减速器精度及精度保持性、输入输出性能、振动、噪声及可靠性、寿命等提出了更高要求。传统的行星减速器设计技术难以满足产品开发的要求。针对高功率密度行星减速器开发中的动力学设计、多物理场耦合仿真、可靠性设计及寿命预测等三个关键核心设计技术进行分析论述,可为减速器产品的研发提供参考。

摘要：Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot sur-face to form soft sensor skin is very difficult with the traditional technology. In this paper we propose a new method to realize such a *** implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped *** developed sensor skin is a large-area, flexi-ble array of infrared sensors with data processing *** on the skin electronics, it en-dows its carrier with an ability to sense its *** structure, the method of infrared sensor sig-nal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

摘要：卫星短报文系统能够满足大范围的双向短数据通信需求。针对低轨卫星短报文通信系统中的信道规划、用户接入、拥塞控制及多路上行并行接收等关键技术进行了设计,能够很好地解决这类系统的技术难点。研究内容能够在有限的资源下实现集约的频谱利用和用户接入,解决用户冲突避免,实现通道化多普勒分集接收。