摘要：针对现有的水下机器人的运动稳定性分析仅局限于定深直航的现象,本文对全海深AUV上浮运动稳定性进行研究,研究内容对机器人的稳定性判别和相应的机器人水动力型体设计以及运动控制策略设计具有重要意义。论文根据古尔维茨判别法的思想推导了全海深AUV从水面下潜至工作深度以及从工作深度上浮至水面的运动稳定性判定公式,通过计算一台全海深AUV的水动力系数,利用所推导的稳定性判定公式,对该台水下机器人的运动稳定性进行评判,结果表明该水下机器人的稳定性符合设计要求,全海深AUV在上浮过程中具有良好的动稳定性。

摘要：为了实现对钢管管端内外径、不圆度的自动化非接触快速测量,设计并实现了一种钢管管端内外径测量系统。该系统利用转台带动激光三角法位移传感器绕钢管中轴线转动的方法来测量管端截面整个圆周的外径和内径尺寸,然后利用圆心拟合算法修正转台中轴线与钢管中轴线不重合带来的误差。通过平移台自动调整测量截面与管端的距离,大型升降台调节管心对齐高度,双臂平移台调节可测量管径范围,自动实现对不同管径钢管的非接触测量。实验结果表明:系统测量精度小于0.05mm;重复性限小于等于5μm;每个管端截面测量500个点时,测量时间小于25s。设计的系统具有精度高、操作简便、测量速度快的优点,满足无缝钢管生产在线检测的要求,并已经在天津天管元通管材制品有限公司通过离线测试。

摘要：Irregular seismic data causes problems with multi-trace processing algorithms and degrades processing quality. We introduce the Projection onto Convex Sets （POCS） based image restoration method into the seismic data reconstruction field to interpolate irregularly missing traces. For entire dead traces, we transfer the POCS iteration reconstruction process from the time to frequency domain to save computational cost because forward and reverse Fourier time transforms are not needed. In each iteration, the selection threshold parameter is important for reconstruction efficiency. In this paper, we designed two types of threshold models to reconstruct irregularly missing seismic data. The experimental results show that an exponential threshold can greatly reduce iterations and improve reconstruction efficiency compared to a linear threshold for the same reconstruction result. We also analyze the anti- noise and anti-alias ability of the POCS reconstruction method. Finally, theoretical model tests and real data examples indicate that the proposed method is efficient and applicable.

摘要：采用有限元法进行重力坝坝体应力分析时,坝踵、坝址的应力计算结果一直无法作为设计坝体断面的依据。本文将有限单元法所求得的应力合成截面内力,用材料力学公式求出重力坝建基面上任意点对应的线性化等效应力,并分析了影响有限元等效应力的各种因素。研究结果表明,有限元等效应力法有效地避免了坝踵、坝址的应力集中现象,解决了坝踵应力随网格的变化而变化的问题,计算出的建基面应力具有数值稳定性,得出的应力结果可以按现行的重力坝设计规范规定的应力标准评价重力坝坝体安全度。因此,结合有限元结果和等效应力法计算的坝踵、坝址应力结果,可为重力坝坝体强度的综合评定提供相应的依据。

摘要：轮胎力的准确获取对车辆主动安全系统精确控制的实现至关重要。本文提出了一种轮胎力的鲁棒估计方法。在假设系统噪声特性为分布未知但有界的同时,该方法将集员滤波算法引入到轮胎力估计器的设计中,并结合强跟踪理论和序贯更新的思路对该算法进行优化。在此基础上,结合车轮转动动力学模型和双轨车辆动力学模型分别设计轮胎纵向力和侧向力估计器。最后,利用联合仿真平台对所提出的方案进行验证。结果表明:相较于卡尔曼滤波方案,改进的集员滤波方案能够获得更好的估计效果,且对系统噪声和道路状况的变化具有很好的鲁棒性。

摘要：为获得更优性能的无铟透明导电薄膜,需要在不损害薄膜透光性的同时提高导电性能.本文采用紫外光刻和磁控溅射,在Cu网格的表面覆盖Al掺杂的ZnO(ZnO:Al,AZO)薄膜,制备透明导电的AZO/Cu网格复合膜.Cu网格的线宽低至15μm,透光性极高,并且导电性能得到大幅度改善,覆盖稳定的透明导电AZO薄膜为Cu网格提供屏障保护.通过六边形网格形状的设计和工艺参数的优化,制备出的复合膜的可见光波段透过率达到86.4%,方块电阻降低至4.9Ω/sq,同时实现了高透光性和高导电性.成本低廉、光电性能好且环境稳定的AZO/Cu网格复合膜在透明电子领域具有广泛的应用前景,将其用于透明电加热膜,可在较低电压下实现快速、均匀、稳定的电热响应,有望作为透明的面发热膜应用于除雾除霜玻璃、热疗贴膜等.

摘要：糖缀合物末端的唾液酸化修饰参与了很多重要的生理及病理过程,尤其是肿瘤细胞表面唾液酸过度表达,能够通过多种途径和机制促进肿瘤转移。唾液酸转移酶是人体内负责唾液酸化修饰的合成酶,良好的唾液酸转移酶抑制剂不仅能够充当糖生物学研究的探针分子,而且有望成为临床治疗中亟需的抑制肿瘤转移的药物。本文综述了近年来唾液酸转移酶抑制剂设计及发现的研究进展,重点介绍了不同类型抑制剂的设计思路及构效关系。此外,对该研究领域当前面临的一些挑战进行了探讨,并对其发展趋势进行了展望。

摘要：Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.

摘要：某探测器安装在飞行器上,飞行过程中将经历极为恶劣的振动环境。受空间限制探测器不宜采用传统方式进行减振,而常规金属或复合材料支架的阻尼系数小,无法为探测器减振提供帮助。为改善探测器的振动响应,以探测器支架为研究对象,采用结构阻尼一体化方案,对其开展基于综合约束下的优化设计和减振效果分析。首先通过结构拓扑优化,形成较优的支架结构构型,基于等效均质材料下的模态分析确定其外形参数,再基于经典层合板理论和构建的有限元模型,对支架开展阻尼层优化设计和模态分析,确定复合材料铺层方案和阻尼层厚度参数,最终通过对比分析确认减振效果,相比常规复合材料支架,结构阻尼一体化支架的动力学响应显著降低。

摘要：针对实际生产制造中纽扣电池的划痕、凹坑或污渍等缺陷自动检测问题,提出一种基于机器视觉的纽扣电池缺陷检测方法。利用同轴光源和多角度条形组合光源,搭建了视觉成像系统,获取高质量缺陷图像。然后对图像进行预处理,使用简化的组合缺陷检测算法进行检测,形成了一套完整、高效的纽扣电池缺陷检测系统。最后对纽扣电池的划痕、凹坑及污渍缺陷进行批量实验,结果表明:三类缺陷的检测成功率均超过98%,验证了该检测系统的有效性。