摘要：船舶推进系统稳定性受到施加在螺旋桨上的负载及其本身的惯性效应的综合影响.论文聚焦非对称动力输入下的双缸推进系统,旨在通过理论建模、数值仿真和实验验证探究推进系统的动力学行为及其影响因素.首先,考虑传动系统的啮合刚度、齿面摩擦、齿侧间隙、非对称激励等时变、非线性因素,建立推进系统非线性动力学模型.其次,采用数值方法研究桨端负载及其惯性效应对于推进系统稳定性和振动响应的影响,揭示多参数影响下的系统复杂的动力学行为.最后,基于理论模型,构建并联推进系统综合实验平台,进一步研究了负载和惯性效应对于推进系统声振特性的影响.研究结果对于从动力学角度进行系统动力参数的设计和螺旋桨的结构优化具有积极意义.

摘要：Functional knowledge integration is the initial and core phase of a design process. It is the key phase to ensure that the functional requirement of the design product can be appropriately complied with, and its result is also the rudiment of the subsequent detailed design work. If this important phase can be supported by an increasingly distributed resource environment, and be automated such that its completion requires less manual work, the efficiency of the design process would be largely improved and its ability to promote innovation would be enhanced. Therefore, this study involved a detailed analysis of the functional knowledge integration of the design process, as well as the proposal of a corresponding running model. Based on the model, a computational algorithm and an evaluating method were established to automate functional knowledge integration. A corresponding computer program was developed to prove the feasibility of this approach, and it was used to design a solarpowered wiper blade.

摘要：Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of *** paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake *** categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary *** typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.

摘要：The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following *** such situation,the contour error estimation plays an important ***,the linear or second-order estimation approach is adopted for biaxial motion systems,whereas only linear approach is available for triaxial *** this paper,the second-order contour error estimation,which was presented in our previous work,is utilized to determine the variable CCC gains for motion control systems with three *** integrated stable motion control strategy,which combines the feedforward,feedback and CCC controllers,is developed for multiaxis CNC *** results on a triaxial platform indicate that the CCC scheme based on the second-order estimation,compared with that based on the linear one,significantly reduces the contour error even in the conditions of high tracking feedrate and small radius of curvature.

摘要：在地面上的一个严肃环境，自从人首先由飞目标探索了空间，在空间的零严肃的环境的二个飞的目标的接触过程的模拟是一个挑战性的问题。Hardware-in-the-loop (HIL ) 模拟是一个重要、有效的方法在空间测试真实停靠机制的可用性，可靠性，和安全。为 HIL 模拟系统有四个主要问题：能够高频率反应，高运动精确，高速度，和快速的加速的模拟器的设计；为模拟失真的赔偿；为 HIL 模拟进程的一个控制模型的设计；并且试验性的确认。这里，我们与 6-DOF 3-3 建议一个新奇 HIL 模拟器系统垂直平行机制和 3-DOF 3-PRS 平行机制；发现模拟失真的原则；为模拟器的力量测量系统，动态反应，和结构的动力学介绍失真赔偿模型；并且为 HIL 模拟过程提供一个控制模型。二种实验在被动未受潮的有弹性的杆和停靠机制上被执行测试他们的表演并且验证 HIL 模拟器的有效性和可用性。在这份报纸建议的 HIL 模拟系统为开发停靠的空格是有用的， berthing， refueling，修理，升级，搬运，并且 rescuing 技术。