摘要：针对换热管多规格自动检测的需求,提出了一种全新的抓握式管板攀爬机器人GTCBot。首先,基于多规格大面积管板的地图特征和三趾啄木鸟的攀爬运动机理,设计出一种适应不同规格管板的自锁爬行脚机器人,并建立静力学模型开展受力分析,完成机器人运行中的载荷评估。为了提高换热管扫查效率,提出了笛卡儿坐标系和柱坐标系的混合定位扫查方法,构建运动学模型对机器人的工作空间开展分析及验证。为了保障控制系统稳定运行,采用FreeRTOS嵌入式实时操作系统对机器人运行中的各个任务进行调度协调。在此基础上,研制出抓握式管板攀爬机器人的物理原型样机,分别开展了室内实验和现场应用测试,测试结果证明机器人具有抓握自锁性、高机动性、高适应性。

摘要：Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kind of wheel-legged robot（Rolling-Wolf） is designed. It is actuated by means of ball screws and sliders, and each leg forms two stable triangle structures at any moment, which is simple but has high structure stability. The positional posture model and statics model are built and used to analyze the kinematic and mechanical properties of Rolling-Wolf. Based on these two models, important indexes for evaluating its motion performance are analyzed. According to the models and indexes, all of the structure parameters which influence the motion performance of Rolling-Wolf are optimized by the method of Archive-based Micro Genetic Algorithm（AMGA） by using Isight and Matlab software. Compared to the initial values, the maximum rotation angle of the thigh is improved by 4.17%, the maximum lifting height of the wheel is improved by 65.53%, and the maximum driving forces of the thigh and calf are decreased by 25.5% and 12.58%, respectively. The conspicuous optimization results indicate that Rolling-Wolf is much more excellent. The novel wheel-leg structure of Rolling-Wolf is efficient in promoting the load distribution, structure stability and carrying capacity of wheel-legged robot and the proposed optimization method provides a new approach for structure optimization.

摘要：Focusing on the singularities of a spacecraft using control moment gyros(CMGs)to do the large angle maneuvers,a new mixture steering law is proposed to avoid the *** to this method,if the CMGs are far away from the singularity,the Moore-Penrose pseudo-inverse steering law(MP)is used *** the CMGs are close to the singularity,instead of solving the inverse matrix,a set of optimal gimbal angles are sought for the singular measurement to reach the maximum,which can avoid the *** show that the designed steering law enables the spacecraft to carry out the large angle maneuver and avoid the singularities simultaneously.

摘要：为了实现对大棚温室内环境的实时监测和控制,提高农作物的生长质量和产量,将古代汉语实践思维注重实际应用和实践操作、强调“知行合一”的理念,应用到大棚温室无线控制系统的设计中,注重系统的实际应用,通过设计无线采集子模块、无线控制子模块、供电网络子模块和各个子电路,实现了整个系统。测试结果表明:系统采集温度的差值为±0.2℃,相对湿度差值为±2%RH,且与系统预设的温湿度值基本一致,准确性较高,符合设计需求。

摘要：The 29th summer Olympiad,extolled as"truly exceptional"by IOC President Jacques Rogge,has left over tremendous legacy to Beijing,in particular,its perfect combination of sports and *** showcases of Chinese folk arts in the Olympic Village,while amazing

摘要：学生创客思维的培养在艺术设计专业教学中尤为重要,主要是艺术设计本身就是一个创意勃发的行业,设计人员需要不断的进行创意,才能够实现长期发展目标。新时期下,在艺术设计专业教学中,教师应该以创客思维为导向,改变以往教学模式与教育理念,激发学生设计兴趣,发展学生思维能力,从而培养学生创客思维。因此,本文着重分析创客思维的概述,以此论述创客思维在艺术设计专业教学中的现状,并提出创客思维在艺术设计专业教学中的策略研究。

摘要：电影化装在深化电影主题、丰富电影内容及扩充表现手段、提升电影艺术品质等方面有着不可替代的行业作用和十分重要的辅助价值,但一直未被深入系统地研究。中国早期电影化装的观念是通过理论的转译和形式的模仿,在实践的探索中碰撞生成的。早期电影人运用本土思维模式对外来艺术形式进行改造与借鉴,形成了对化装概念、化装的艺术性、民族形式等问题的探讨,揭示了早期中国电影化装理论的生成路径与观念流变。

摘要：针对FFT硬件实现中旋转因子模块占用资源较多的问题,设计高性能单路延时反馈结构的基22快速傅里叶变换.采用CORDIC与MCM混合的方法设计旋转因子模块,实现了无需常规乘法器的FFT架构,不必占用DSP48E资源.对于旋转角度数量较少的W16旋转因子模块,采用基于三输入加法器的MCM方法设计,将加法器数量降到最低.对于旋转角度数量较多的W64、W256和W1024模块,采用CORDIC方法设计.依据旋转角度的数学规律,设计旋转角度实时生成模块,与传统的CORDIC方法相比,不需要占用ROM资源,避免了复杂的寻址逻辑和时序控制.与其他构架相比,设计的16 bit 64点快速傅里叶变换在Xilinx Virtex-7上将单位slice吞吐率提高了35.20%,256点FFT在Virtex-5上提高了30.37%,1024点FFT在Virtex-7上提高了25.38%.

摘要：选择这篇文章，与我的一段切身经历有关。我第一次去凉山彝族地区做田野调查时看到，当地的服饰、烟袋等上面有很多图案，我想将当地的这些图案与凉山其他地方的装饰图案作比较，看文化的传播和交流。这个考古学式的想法遭到人类学家的否定，

摘要：为设计开发一款兼顾功能性与舒适性的女性老年人髋关节抗冲击保护裤装,针对目标人群进行深度访谈,基于扎根理论分析建立功能、美学及表现方面的用户需求层次模型,并将其转化为保护衬垫、裤装的设计与制作方面的具体解决方案。通过落锤冲击试验验证6种不同厚度的软质缓冲材料的缓冲性能,选用厚度为20 mm的EVA(ethylene-vinyl acetate copolymer)材料作为保护衬垫材料,通过石膏复模法设计髋部保护衬垫的形态。考虑下肢运动特性,将裤装设计为膝部拱起的弯身结构,并基于侧面结构分割线和立体袋的设计将髋部保护衬垫置入裤装。跌倒保护试验结果表明,所设计的髋关节保护裤装所受到的冲击力比无护具时降低29.92%,抗冲击效果相比商用SHK-6010内裤提高了12.67%。