差分粒子群算法在PUMA机器人逆运动学求解中的应用

传统逆运动学求解主要从逆运动学方程出发,基于一定的数学理论推导,不能完全实现计算机程序化,且精度与计算效率较低;为改善这一缺陷,基于机器人正向运动学方程,借助MATLAB工具,使用蒙特卡洛法仿真分析出PUMA560机器人的工作空间,任取一点末端执行器位姿作为逆运动学求解的已知位姿矩阵T,结合差分粒子群仿生智能算法作为逆运动学求解的主要理论算法。将计算出的旋转关节变量[θ1~θ6]代入正运动学方程,得出末端位姿矩阵[T];通过计算分析T与[T]相关角度误差,两矩阵所对应的位置向量与姿态向量误差精度为0.001数量级,完全满足目前机器人定位要求。基于差分粒子群理论的机器人逆运动学求解方法计算收敛速度更快,能高度实现计算机程序化,误差精度高,提高计算效率。     

工程类专业毕业设计(论文)的考核模式优化与实践

毕业设计(论文)是本科教育最重要的综合性实践教学环节,针对目前工程类专业毕业设计(论文)考核模式中存在的问题,提出了多方式全过程考核、多维立体量化考核和多层次差异化考核等优化方法。试点实践表明,考核模式的优化更好地实现了对毕业设计(论文)成果检验的客观公正性,有助于激发学生的学习主动性,有利于培养和提高学生的综合能力和创新能力。     

OPTIMIZATIONOFTHECONTINUOUSAFFINITY－RECYCLEEXTRACTIONPROCESS

对单级和多级ＣＡＲＥ过程分别进行了最优化分析．单级过程的优化目标函数（Ｆ１）为ＲＥＣ和ＰＦ的积，而多级过程则将获得一定纯度的目标组分情况下的回收率和ＣＡＲＥ级数之比为优化目标函数Ｆ２．结果表明，当膜对目标和杂质组分的截留率相等时，在一定的洗脱液流速ｒｅ范围内，对于每一个ｒｅ均存在一对应的循环流速ｒｅ，使Ｆ１和Ｆ２最大，并且最大值相等；当ｒｅ一定时，最佳ｒｒ随膜的截留率和亲和载体对目标组分的结合分率的增大而降低．对于多级过程，当膜对杂质的截留小于对目标组分的截留时，只存在一组最佳的操作条件（即ｒｅ和ｒｒ）．     

邻氯苯甲醛合成工艺条件的优化

介绍了邻氯甲苯侧链氯化水解法合成邻氯苯甲醛的工艺，探讨了水解温度、催化剂、反应时间等条件对邻氯苯甲醛收率的影响。在较优条件下邻氯苯甲醛的收率达80．0％，产品含量99．0％以上，该工艺已应用于工业化大生产。     

哲学与科学关系的动态考察

对科学与哲学的关系做静态的分析固然是必要的，但更重要的是把哲学和科学作为“实践——认识——实践”这一发展过程中的两个互不相同而又紧密相联的发展环节，历史地、逻辑地考察哲学和科学在这一发展过程中的相互作用、相互生成和相互转化     

超重板模板支撑架设计与受力监测分析

厚度2.8 m的现浇混凝土楼板的重量远大于危险性较大模板支撑体系规定的荷载值,采用通常的模板支撑架不能满足立杆稳定性验算的要求。设计超厚板独立支撑模板支撑体系,在模板支撑架立杆上布置应变测点,采集浇筑混凝土过程中的应变数据。分析显示:局部测点应变值偏大与模架下方立杆偏心受压有关,浇筑混凝土过程中出现瞬间动载远超静态荷载应变允许值等现象。建议应用类似模板支撑结构时,设计更为合理的立杆上方承载装置;浇筑和振捣混凝土形成的动荷载是模板支撑架的安全隐患,有必要进一步研究动荷载与模板支撑架稳定性之间的关系。     

石门坎文化现象中的苗人主体地位

一个"屙屎不生蛆"最贫穷的苗人山区石门坎,居然发展成为"西南最高苗族文化区",然后又昙花一现地消失。文章用主体性话语对此进行分析,认为苗人主体地位和能动性的高低沉浮是这一现象起落的根本动因。     

Shaking table test of pile-water-pier superstructure

The model test of seismic simulation shaking table is an important method to study the seismic design of bridge structure. In order to evaluate the seismic response and dynamic characteristics of pile-water-pier system for developing more reliable design procedures, shaking table model tests of a submerged bridge pier system, including pile groups-cap-pier and inertia mass, were conducted. Since different similitude laws corresponding to different test objectives affected the validity of test results, the similitude law with the aim to consider the effect of hydrodynamic pressure was proposed and confirmed through an actual example. Based on the test results, the effect of water around model on seismic response under seismic excitation input was analyzed and the failure level was judged by observing the variation of basic frequency. The test results indicate that the transfer function of analytical model with water is different from that without water, the natural frequency without water is always higher than that with water, and the first modal shapes are various. It is also concluded that the similitude law is suitable for practical application and the dynamic characteristics and seismic response of the structure system can be changed because of the existence of the surrounding water, which should be paid much attention in the further investigation.     

Dynamic analysis of landing autonomous underwater vehicle

In autonomous underwater vehicles(AUVs) the onboard power used to complete missions is limited.To solve this problem,a landing AUV has been designed,which conserves energy by sitting on the seafloor while monitoring the ocean.In order to study the dynamic behaviors for better control of the AUV,the dynamic analysis of the landing AUV is presented in this paper.Based on the momentum theorem and the angular momentum theorem,the dynamic model of the landing AUV is derived.The simulations of rectilinear motion,rotary motion and helix motion indicate the dynamic behaviors of the AUV.The ocean experiments validate the dynamic model presented in this paper.The experiments also verify that the landing AUV can work for a longer time than common AUVs.     

Improved blind multiuser detection algorithm based on minimum output energy

Based on minimum output energy,an improved blind multiuser detection algorithm is proposed by the use of Hopfield neural network.Compared with traditional algorithms,the proposed algorithm does not need the circuit for constraints.The resources are greatly saved and the complexity is reduced as well.The simulation results show that the performance of the improved algorithm is similar to that of the optimal multiuser detection algorithm which is not suitable for the mobile station.Compared with the traditional gradient blind multiuser detection algorithm,the convergence speed of the improved algorithm is quickened.