机械臂运动规划需求分析和优化设计

本文对机械臂运动规划的需求进行了合理分析,在最初以插补方式为主要控制算法的基础上进行了优化,使机器人在运动过程中尽量安全、无碰撞地绕过所有的障碍物。     

平面八连杆和九连杆机械臂关节角无偏差运动规划验证

基于平面三连杆,PUMA560,PA10等机械臂的计算机仿真结果证实了二次型性能指标方案用于冗余机械臂关节角无偏差运动规划的有效性。为了进一步验证该二次型性能指标优化方案,本文以高度冗余的平面八连杆和九连杆机械臂为例进行计算机仿真验证,仿真结果证实了该方案对解决高度冗余平面机械臂的关节角偏差问题是可行且有效的。     

多连杆冗余移动机械臂建模与运动规划

针对人工势场路径规划的势场陷阱问题,以及平面机械臂工作空间的局限性,提出了一种冗余移动机械臂全局规划方案.该方案引入路径安全因子,通过改造势场函数,解决了人工势场法的目标不可达问题,然后采用量子遗传算法优选人工势场参数.为提高移动机械臂的定位速度与精度,使用一种新的粒子群算法解决冗余机械臂的运动学逆解问题.仿真试验表明,该方案能够有效地克服人工势场模型的缺陷,实现移动机械臂终端执行器的高精度快速定位.     

分层子维空间运动规划的人体上肢运动链建模

人体上肢运动链模型的准确构建和仿真设计是进行虚拟人体运动和控制的关键技术,是实现虚拟人体运动控制和模式识别的理论前提。传统方法采用几何法、解析法等模拟人体上肢运动链模型,无法有效实现人体上肢运动链的高自由度控制模拟,产生后期搜索迟钝效应。提出一种基于分层子维空间运动规划的人体上肢运动链六自由度模型构建方法,构建人体上肢运动的各关节单元,得到上肢结构及运动学模型D-H表示方法,设计上肢运动链位姿变换,基于分层子维空间运动规划方案,得到人体上肢运动链动力学模型方程,采用六自由度全关节分析方法分析上肢运动链各关节单元,实验得出该模型构建能更好模拟人体上肢运动链模型,控制误差较传统方法减小,能有效实现人体上肢运动链的高自由度控制模拟。     

Low-cost,Printable and Stretchable Sensor for Human Motion Monitoring

<正>Flexible and stretchable conductive materials have received significant attention in several applications such as flexible circuits,strain sensors,electronic skins,actuators and wearable smart textile systems thanks to their high mechanical deformation capability.Because of their promising applications in electronic skins and human motion monitoring systems,strain sensors with high     

人力资源规划的动态预测方案

本文使用现代控制理论方法研究了企业人力资源规划的动态预测问题，建立了一种新的企业人力资源流通模型。在此基础上，得到了预测企业人才需求量的方法及控制手段。     

Reachable set estimation for linear systems with time-varying delay and polytopic uncertainties

This study is concerned with the problem of reachable set estimation for linear systems with time-varying delays and polytopic parameter uncertainties. Our target is to find an ellipsoid that contains the state trajectory of linear system as small as possible. Specifically, first, in order to utilize more information about the state variables, the RSE problem for time-delay systems is solved based on an augmented Lyapunov-Krasovskii functional. Second, by dividing the time-varying delay into two non-uniformly subintervals, more general delay-dependent stability criteria for the existence of a desired ellipsoid are derived. Third, the integral interval is decomposed in the same way to estimate the bounds of integral terms more exactly. Fourth, an optimized integral inequality is used to deal with the integral terms, which is based on distinguished Wirtinger integral inequality and Reciprocally convex combination inequality. This can be regard as a new method in the delay systems. Finally, three numerical examples are presented to demonstrate the effectiveness and merits of the theoretical results.     

非营利组织人力资源构成、特点与管理--对我国非营利事业单位人事改革的启示

中国在推进事业单位改革的过程中开始提出和使用非营利组织的概念,非营利组织作为一种基本的社会组织形式,有其独特性。其沙漏型组织结构与企业组织的金字塔结构有很大的差异,人力资源构成和特点上也有别于企业针对我国事业单位改革中的人力资源管理,分别从董事会、高层管理人员、普通工作人员和志愿者四个方面提出了改革的方向。     

Reachable set estimation and controller design for distributed delay systems with bounded disturbances

This paper is concerned with the problems of reachable set estimation and state-feedback controller design for linear systems with distributed delays and bounded disturbance inputs. The disturbance inputs are assumed to be either unit-energy bounded or unit-peak bounded. First, based on the Lyapunov–Krasovskii functional approach and the delay-partitioning technique, delay-dependent conditions for estimating the reachable set of the considered system are derived. These conditions guarantee the existence of an ellipsoid that contains the system state under zero initial conditions. Second, the reachable set estimation is taken into account in the controller design. Here, the purpose is to determine an ellipsoid and find a state-feedback controller such that the determined ellipsoid contains the reachable set of the resulting closed-loop system. Sufficient conditions for the solvability of the control synthesis problem are obtained. Based on these results, the problem of how to design a controller such that the state of the resulting closed-loop system is contained in a prescribed ellipsoid is studied. Finally, numerical examples and simulation results are provided to show the effectiveness of the proposed analysis and design methods.     

人力资源管理实践对组织学习的影响

通过问卷调查法得到461份有效问卷,在验证人力资源管理实践问卷的基础上,逐步回归分析结果显示,战略性培训、员工参与决策、绩效管理、薪酬管理对组织学习的不同维度都有显著的推动作用,作用大小分别是战略性培训、员工参与决策、绩效管理、薪酬管理,这说明人力资源管理实践是推动组织学习的重要杠杆.     

探究干扰运动环路对小鼠恐惧学习记忆的影响

本文主要探究在联合型恐惧学习记忆过程中激活小鼠运动皮层对学习记忆的影响。光遗传激活运动皮层后,比较转基因小鼠和同窝阴性小鼠的短时记忆,发现转基因小鼠在有声时僵直比率显著性高于同窝阴性小鼠;在训练环境中的僵直比率没有明显差异。在长期记忆中,转基因小鼠在有声时僵直比率显著性高于同窝阴性小鼠;在训练环境中的僵直比率没有明显差异。实验数据说明激活运动皮层会损伤小鼠的联合型学习记忆,而对小鼠的环境学习记忆没有影响。     

做好职业生涯规划,提高女大学生的学习积极性

影响女大学生学习积极性的因素很多,比如社会、家庭、学校等。我们在研究各种因素之间的关系时,往往会忽略学生本身的内在因素。如何将女大学生的自身内在因素转换为有利于学习的积极因素,这就要求女大学生做好职业生涯规划。