套索驱动空心杆机器人结构及运动学分析

确定了套索驱动空心杆机器人传动系统,并用SolidWorks三维绘图软件对机器人进行结构设计,采用D-H法建立位姿矩阵,对该机器人进行运动学分析,并给出控制方案。该机器人结构简单轻便,可用于大型结构、设备的检测清理、灾后废墟中的搜救等需要在狭小空间内作业的场合。     

市政道路改扩建工程设计的几点体会

结合哈尔滨市嵩山路改造工程实例,概述了哈尔滨市现有路网存在的主要问题和在以后改造设计中应该注意的问题,并就这些问题提出了道路路线、路基、路面改造设计方案。     

分洪区口门流量淹没系数的研究

采用平面二维数学模型,计算分析了分洪区口门的堰流流量系数和淹没系数的变化过程。结果表明,在自由溢流时,分洪区口门的堰流流量系数和正向堰流的流量系数基本一致。在淹没溢流时,在淹没度为0.8～0.98范围内,分洪区口门堰流的淹没系数与普通水力学的正向堰流的淹没系数基本一致;对淹没度在0.98～1.0范围(正向堰流不存淹没度为0.98～1.0范围的堰流),通过数学模型的计算分析给出了淹没度在这个范围内的分洪区口门堰流的淹没系数。所得结果可以为分洪区口门的流量计算作参考。     

Racing performance following the laryngeal tie-forward procedure: a case-controlled study

REASONS FOR PERFORMING STUDY: The laryngeal tie-forward procedure (LTFP) is becoming widely used for correction of dorsal displacement of the soft palate (DDSP) despite the absence of an evidence-based assessment of its efficacy. HYPOTHESES: The LTFP returns racing performance to preoperative baseline levels and to that of matched controls; and post operative laryngohyoid position is associated with post operative performance. DESIGN AND POPULATION: Case-controlled study of racehorses undergoing a LTFP for dorsal displacement of the soft palate at Cornell University between October 2002 and June 2007. METHODS: The presence of at least one post operative start and race earnings ($) were used as outcome variables. Controls were matched by age, breed and sex from the third race prior to surgery. A novel radiographic reference system was used to determine laryngohyoid position pre- and post operatively. Data for definitively and presumptively diagnosed cases were analysed separately. RESULTS: During the study interval, 263 racehorses presented, of which 106 were included in the study; 36 had a definitive diagnosis of DDSP and 70 a presumptive diagnosis. Treated horses were equally likely to race post operatively as controls in the equivalent race. Treated horses had significantly lower earnings in the race before surgery than matched controls. The procedure moved the basihyoid bone dorsally and caudally and the larynx dorsally and rostrally. A more dorsal post operative basihyoid position and more dorsal and less rostral laryngeal position were associated with an increased probability of racing post operatively. CONCLUSIONS: Horses undergoing a LTFP are as likely to race post operatively as matched controls. The procedure restores race earnings to preoperative baseline levels and to those of matched controls. POTENTIAL RELEVANCE: This study provides strong evidence supporting the use of the LTFP in racehorses. Further work is needed to determine the relationship between laryngohyoid conformation and nasopharyngeal stability in horses.     

WalkawayVSP试射法正演方法研究

介绍了Walkaway VSP观测系统及Walkaway VSP地震波类型。结合模型的理论基础,以及射线理论,阐述了任意倾角多界面情况下,Walkaway VSP射线追踪模型的制作方法,论述了试射法原理。结合Walkaway VSP模型,使用 Fortran语言编写程序,实现了Walkaway VSP试射法正演模拟。利用Fortran编写的程序试算了3个模型,成功得到了任意倾角多界面情况下其射线追踪结果图和合成地震记录图,验证了程序算法的正确性和有效性。     

基于旋量理论和Sylvester结式法的6自由度机器人逆运动学求解分析

针对传统denalit-hartenber(D-H)参数法进行机器人运动学建模存在的复杂性、奇异性以及逆运动学求解困难等问题,该文基于旋量理论建立了多自由度串联机器人的矩阵指数积(product-of-exponentials,POE)运动学模型,而同时旋量理论机器人逆运动学求解问题归结为高维非线性方程组的求解,于是引入希尔维斯特(sylvester)结式法进行逆运动学方程组求解,并在数学符号化运算Maple软件实现了逆解算法过程,最后通过实例计算表明,该逆运动学模型及求解方法高效准确可靠,物理和数学意义明确,实用性强,能够推广到其他构型机器人的运动学建模以及逆运动学的求解,为机器人逆运动学的快速求解提供了参考。     

氮肥施用前移对遮荫下棉花光合特性及产量的影响

为探讨新疆南疆地区果棉间作下棉花适宜的氮肥追施模式,设置不施氮肥(N0)、氮肥追施至初花期结束(N1)、氮肥追施至盛花期结束(N2)和正常追肥(N3)。结果表明:遮荫下氮肥追施至盛花期结束(N2)提高了棉花盛花期后主茎功能叶潜在活性(Fv/Fo)、最大光化学效率(Fv/Fm)和光化学猝灭系数(q P),有利于光合色素将捕获的光能以较快的效率及速度转化成化学能,为碳同化提供更加充足的能量;同时增加棉花花铃期PSII开放程度和光合电子传递速率(ETR),促进实际光化学效率(ΦPSII)和净光合速率的提高,降低了初花期非辐射能的耗散,可将捕获的光能更充分地进行光合生产,提高了花铃后期非辐射能的耗散,可为棉铃输送较多的光合产物,增加了单株铃数和铃重,提高了产量。     

基于转向试验的车辆主销定位参数完整解算

受前轮转向轴几何结构的影响,车轮轮心及轮胎印迹中心的位置随车轮左右转动而变化.如果在悬架结构未知的情况下能够根据车轮运动计算出主销定位参数,将有利于悬架设计.提出了应用汽车悬架KnC特性试验台转向试验数据解算主销定位参数的方法,定位参数包括:主销内倾角、主销后倾角、主销后倾距、主销偏移距、轮心主销纵向偏移距及轮心主销侧向偏移距.应用Adams仿真结果及试验数据对提出的解算方法进行了验证,误差在允许范围内,解算方法满足使用要求.     

淡水鱼头尾与腹背定向装置的设计与试验

为了给6PYL-305型剖鱼机制造一种自动喂料设备,该文设计了一种淡水鱼头尾与腹背定向装置,并以鲢鱼为定向对象,根据鲢鱼的摩擦特性,通过理论分析,分别对利用倾斜振动台面实现头尾定向和利用渐变滑道实现腹背定向过程的机理进行了探讨,并采用质量为0.75～1.0 kg的新鲜鲢鱼进行了试验研究。理论分析和试验结果均表明,该定向装置可以实现鲢鱼的头尾和腹背定向。并对影响鱼体头尾定向因素：进入振动台面的体位、电动机频率、激振力和筛面角,以及影响鱼体腹背定向因素：滑道夹角、电机频率、激振力和滑道倾斜角分别进行了试验研究,得出各因素对定位时间均具有显著的影响;头尾定向的总定位率达97.53%,定向动作可在0.65～3.75 s内完成;腹背定位的总定位率达97.5%,定向动作可在0.39～5.03 s内完成。研究结果可为淡水鱼连续化加工中定向连续喂料设备的产品开发提供技术依据。