检索结果-南通市图书馆

Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

在线全文

学校读者我要写书评

暂无评论

High Technology Letters 2017年第3期23卷 271-278页

作者：乔冠宇 Gao Huibin Peng Cheng Gu Yingying xu zhenbang xu Boqian Innovation Laboratory of Space Robot System Space Robot Engineering Center Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130033 P. R. China University of Chinese Academy of Sciences Beijing 100039 P. R. China

To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.

关键词： flexible force control gravity compensation ground demonstration system in-orbit assembly manipulator six-dimensional force/torque sensor

The dynamic compressive properties of magnetorheological plastomers: enhanced magnetic-induced stresses by non-magnetic particles

在线全文

学校读者我要写书评

暂无评论

Journal of Materials Science & Technology 2022年第7期102卷 195-203页

作者： Haoming Pang zhenbang xu Longjiang Shen Jun Li Junshuo Zhang Zhiyuan Li Shouhu xuan Xinglong Gong CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern MechanicsCAS Center for Excellence in Complex System MechanicsUniversity of Science and Technology of China(USTC)Hefei 230027China Anhui Weiwei Rubber Parts Group Co.Ltd Tongcheng 231400China CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System Changchun Institute of OpticsFine Mechanics and PhysicsChinese Academy of SciencesChangchun 130033China Hunan Bogie Engineering Research Center Zhuzhou 412000China

In this research, a series of hollow glass powder(HGP) reinforced magnetorheological plastomers(MRPs)were prepared to improve the impact resistance of the materials, and the dynamic compressive properties of MRPs under high strain rate were investigated by using a split Hopkinson pressure bar(SHPB)system equipped with a customized magnetic device. Experimental results showed the HGPs greatly enhanced the yield stresses of the MRPs. Especially, for MRPs with 9 vol.% carbonyl iron powders(CIPs), the magnetic-induced yield stress increased from 7.3 MPa to 17.1 MPa(134% increased) by adding 18 vol.%HGPs. The particle structures in MRPs were further simulated and the corresponding intergranular stress was calculated to study the enhancement effect of HGPs. The simulated results showed that more compact structures were formed with the excluded volume caused by secondary HGPs, so the yield stresses of the MRPs increased under a magnetic field. However, when the mass ratio of HGP to CIP was larger than 0.67, HGPs would hinder the formation of chain-like structures and reduce the magneto-mechanical properties. As a result, the replacing of CIPs by HGPs was proven to be an excellent strategy to improve the dynamic properties of MRPs.

关键词： Particle-reinforced composites Stress/strain curves Microstructures Impact behavior Mechanical properties

A Monocular Vision Measurement System of Three-Degree-of-Freedom Air-Bearing Test-Bed Based on FCCSP

在线全文

学校读者我要写书评

暂无评论

Photonic Sensors 2018年第2期8卷 119-126页

作者： Zhanyu GAO Yingying GU Yaoyu LV zhenbang xu Qingwen WU Innovation Lab of Space Robot System Space Robot Engineering Center Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130033 China University of Chinese Academy of Sciences Beijing 100049 China

A monocular vision-based pose measurement system is provided for real-time measurement of a three-degree-of-freedom （3-DOF） air-bearing test-bed. Firstly, a circular plane cooperative target is designed. An image of a target fixed on the test-bed is then acquired. Blob analysis-based image processing is used to detect the object circles on the target. A fast algorithm （FCCSP） based on pixel statistics is proposed to extract the centers of object circles. Finally, pose measurements can be obtained when combined with the centers and the coordinate transformation relation. Experiments show that the proposed method is fast, accurate, and robust enough to satisfy the requirement of the pose measurement.

关键词： 3-DOF air-bearing test-bed machine vision pose measurement cooperative target central extraction

基于三方博弈的多能交互微网群系统双层优化模型

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

太阳能学报 2024年第2期45卷 384-394页

作者：谢敬东徐振邦上海电力大学能源电力科创中心上海200082 上海电力大学经济与管理学院上海200082

随着新能源占比不断提高,多能交互微网群凭借其促进微网间能源互济、提升新能源利用率的能力,将成为智能电网的重要发展方向。为解决多能交互微网群在与用户进行能源交易过程中,对能源交易价格具有操纵性,多能交互微网群与用户间无法建... 详细信息

随着新能源占比不断提高,多能交互微网群凭借其促进微网间能源互济、提升新能源利用率的能力,将成为智能电网的重要发展方向。为解决多能交互微网群在与用户进行能源交易过程中,对能源交易价格具有操纵性,多能交互微网群与用户间无法建立公平的能源交易机制的问题,建立政府、多能交互微网群、用户三方博弈模型,保证多能交互微网群与用户间能源交易行为的公平公正。由于传统的单层优化方法难以揭示多主体之间的交互行为,建立基于政府、多能交互微网群、用户三方博弈的多能交互微网群系统双层优化模型。模型上层为政府、多能交互微网群、用户三方博弈,三方博弈目标为政府社会福利最大化、多能交互微网群效益最优、用户满意度最高;模型下层为多能交互微网群系统优化调度,多能交互微网群系统协调各类能源转化最优分配,运行成本最低。最后,通过算例仿真验证该模型的有效性。

关键词：微网群博弈理论优化运行双层优化

维普期刊数据库博看期刊

Identifying GNSS NLOS using visual label and ensemble tree under complex city environment

在线全文

学校读者我要写书评

暂无评论

Identifying GNSS NLOS using visual label and ensemble tree u...

第十四届中国卫星导航年会

作者： zhenbang xu Xin Li Xinjuan Han Yuxuan Zhou Linyang Li School of Geospatial Information University of Information Engineering School of Surveying and Mapping Wuhan University

GNSS NLOS signals in complex urban canyons can produce large ranging errors,and the detection and classification of LOS and NLOS signals is a key factor in improving the accuracy of vehicle navigation and *** sensors can reflect scene occlusion information in real time,and machine learning is high speed and accurate in processing multiple types of *** this paper,the advantages of both methods are combined,and the NLOS signals detected by INS and fisheye images are used as visual *** feature values of signal-to-noise ratio and pseudorange consistency,altitude angle and azimuth angle of two frequency points are selected,and NLOS signals based on gradient boosted decision tree(GBDT) and random forest(RF) are designed *** models were trained using urban in-vehicle dynamic data collected by low-cost UBLOX receivers,and compared with three single-learner models:logistic regression(LR),support vector machine(SVM) and naive Bayesian(NB).The experimental results show that the proposed model can be used for realtime dynamic scenes in complex urban environments,is not dependent on additional hardware devices and is suitable for general *** LOS/NLOS signal classification performance of the GBDT and RF algorithms were comparable,with precision,recall and F1core reaching over 86%,significantly outperforming the LR,SVM and NB *** feature importance ranking based on both GBDT and RF algorithms showed that the importance of altitude angle and azimuth angle was greater than the importance of pseudorange consistency and signal-to-noise ratio at both frequencies.

关键词：

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

利用阻尼技术改善反射镜组件动态性能

光学技术 2011年第6期37卷 679-685页

作者：徐振邦吴清文中国科学院长春光学精密机械与物理研究所吉林长春130033

反射镜支撑结构通常需要具有一定的柔性来保证其面形精度,但这将引起结构固有频率降低,使得结构抵抗振动的能力下降。针对这一问题,开展了利用阻尼技术改善反射镜支撑结构动态性能的研究。建立了反射镜组件、相机机身和基础耦合的动力... 详细信息

反射镜支撑结构通常需要具有一定的柔性来保证其面形精度,但这将引起结构固有频率降低,使得结构抵抗振动的能力下降。针对这一问题,开展了利用阻尼技术改善反射镜支撑结构动态性能的研究。建立了反射镜组件、相机机身和基础耦合的动力学模型,推导出系统传递函数、模态阻尼、振型等参数,并据此进行了理论分析。重点分析了在反射镜部分增加阻尼对镜体和机身振动传递特性的影响,并进一步从模态阻尼及振型分析等角度对这种影响产生的原因给予了解释。在理论分析的基础上,采用有限元法对所建立的更为精确的有限元模型进行了仿真研究。研究结果表明:在反射镜支撑结构中增加黏弹性阻尼元件可有效衰减反射镜组件的振幅和动应力,系统二阶频率处的振幅衰减达到6dB,一、二阶固有频率处的动应力衰减程度分别达到了28%和60%。由此可见,在反射镜支撑组件中加入阻尼元件是一种有效改善结构动力学性能的措施。

关键词：振动控制反射镜柔性支撑传递函数

基于工作空间分析的9自由度超冗余串联机械臂构型优化

在线全文

学校读者我要写书评

暂无评论

机械工程学报 2019年第2期55卷 51-63页

作者：赵智远徐振邦何俊培贺帅徐策中国科学院长春光学精密机械与物理研究所长春130033 中国科学院大学北京100049

提出基于工作空间分析解决超冗余串联机械臂构型选择问题的方法。首先,采用正态分布对求取机器人工作空间的蒙特卡洛法进行改进。用归一化可操作度指标分析机械臂运动的灵活性,用数值仿真的方法得到了最大可操作度值与随机关节角组合的... 详细信息

提出基于工作空间分析解决超冗余串联机械臂构型选择问题的方法。首先,采用正态分布对求取机器人工作空间的蒙特卡洛法进行改进。用归一化可操作度指标分析机械臂运动的灵活性,用数值仿真的方法得到了最大可操作度值与随机关节角组合的数量之间的关系,提出求取灵活工作空间的算法。其次,基于得到的工作空间,提出一种体元化算法求取工作空间的体积,寻找到工作空间的边界部分和非边界部分,通过对边界部分的不断细化,降低了体积求取误差。然后,分析多自由度串联机械臂构型设计方法,针对9自由度超冗余串联机械臂,确定出了36种待选择的构型方案。仿真分析9自由度超冗余串联机械臂的工作空间,在待选构型中选取了一组最优构型。结果表明:改进的蒙特卡洛法生成了精确的工作空间;体积求取算法效率较高,相对误差小于1%;所选构型的工作空间指标优于已研制的构型,其中可达工作空间体积提高了26.49%,灵活工作空间体积提高了36.63%。

关键词：机械臂工作空间蒙特卡洛法体元化构型

同方期刊数据库

在线全文

学校读者我要写书评

暂无评论

微振动模拟与主被动隔振一体化实验平台

光学精密工程 2024年第5期32卷 694-703页

作者：秦超周洪海贺帅徐振邦朱赫中国科学院长春光学精密机械与物理研究所吉林长春130033 中国科学院大学北京100049 中国科学院空间光学系统在轨制造与集成系统重点实验室吉林长春130033

针对遥感卫星地面微振动实验的复杂要求,设计了一种同时具备微振动模拟与主被动隔振功能的一体化微振动实验平台,并对该平台的主、被动隔振性能以及微振动模拟效果分别进行了仿真分析和实验测试。其中,被动隔振由气浮支撑实现,主动隔振... 详细信息

针对遥感卫星地面微振动实验的复杂要求,设计了一种同时具备微振动模拟与主被动隔振功能的一体化微振动实验平台,并对该平台的主、被动隔振性能以及微振动模拟效果分别进行了仿真分析和实验测试。其中,被动隔振由气浮支撑实现,主动隔振采用主动阻尼方法抑制共振峰,微振动模拟采用基于线性系统频响函数的控制策略。实验结果表明,平台前六阶的模态频率分布均小于10 Hz,被动隔振系统能大幅抑制10~200 Hz频段内的地面微振动;主动隔振能够实现14 dB的隔振系统共振峰衰减效果。微振动模拟功能能够有效产生接近星上的单频和多频真实扰动线谱,在特定频谱的扰动模拟实验中,幅值最大误差为5.9%,在误差允许范围内。该多功能一体化实验平台的各项功能均能满足地面模拟实验需求。

关键词：微振动实验有限元分析主动隔振被动隔振微振动模拟

冀北燕山期三个系列花岗质岩石的地球化学特征及其成因学意义

在线全文

学校读者我要写书评

暂无评论

岩石学报 1999年第2期15卷 208-216页

作者：许保良阎国翰徐振邦何中甫赵晖北京大学地质学系

燕山期花岗质岩石广泛出露在冀北地区，从中可以识别出碱钙性、过铝质和碱质三个岩石系列。本文系统报道了它们的产状、岩类学、主要元素、痕量元素、稀土元素、年代学和ＩＳｒ资料；重点讨论了它们的地球化学特征和成因类型问题。碱钙... 详细信息

燕山期花岗质岩石广泛出露在冀北地区，从中可以识别出碱钙性、过铝质和碱质三个岩石系列。本文系统报道了它们的产状、岩类学、主要元素、痕量元素、稀土元素、年代学和ＩＳｒ资料；重点讨论了它们的地球化学特征和成因类型问题。碱钙性岩石系列主要由石英二长闪长岩元素、二长花岗岩元素、正长花岗岩构成；ＳｉＯ２含量变化范围是６２％～７５％；Ｋ２Ｏ＋Ｎａ２Ｏ在７．６３％～８．８８％之间；Ａ／ＣＮＫ＜１．０５，ＣＡ指数５５。过铝质系列由流纹斑岩为代表，具有高硅（ＳｉＯ２＞７３％）、富钾低钠（Ｋ２Ｏ／Ｎａ２Ｏ为１．４４～９．１３）、过铝质（Ａ／ＣＮＫ是１．１７～１．４３）的特点。碱性系列的岩石组合是碱长正长岩（碱长粗面岩）－碱性石英正长岩（碱流岩）－碱性花岗岩（碱性流纹质熔结凝灰岩）。它们的ＳｉＯ２含量变化于５７％～７７％之间，Ｋ２Ｏ＋Ｎａ２Ｏ、Ｋ２Ｏ、Ｎａ２Ｏ分别大于９％、４％、５％，ＮＫ／Ａ为０．９～１．１２。以过铝质、碱钙性和碱性为序，三个岩石系列的Ｎｂ、Ｔａ、Ｚｒ、Ｈｆ、ＲＥＥ含量依序增高，显示出明显的区别。上述特征表明，三个岩石系列的性质和特征明显不同，分别属于三种岩石成因类型。

关键词：花岗质岩石系列地球化学成因意义花岗岩