基于全局稀疏地图的AGV视觉定位技术

为了实现自动导引车（AGV）在复杂工业环境下的高精度定位,克服环境变化给定位带来的影响,提出了基于全局稀疏地图的视觉定位方法。首先,设计了大容量二维编码点,作为人工路标铺设在工业环境的地面;然后,基于一种四边形识别算法,在复杂工业环境中准确分割和识别二维编码点;最后,利用二维编码点提供的编码信息,鲁棒匹配图像中的特征点,并以此为基础,使用一种分参数块优化的三维重建策略,实现了工业环境的大规模地图构建,为AGV视觉定位提供了一种稀疏电子地图。AGV视觉的定位通过匹配车载视觉传感器图像中的特征点和稀疏电子地图实现。停车重复定位精度小于0.5 mm,角度偏差小于0.5°,轨迹平均位移误差小于0.1%。实际应用结果表明,该方法能在复杂工业环境中实现AGV视觉的定位,定位的速度和精度方面都满足工业应用的要求,为AGV的视觉定位提供了新的思路。      

纤维织物超高速碰撞热-力学模型与分析

A new thermo mechanical model for fiber fabric of hypervelocity impact is established by using the Johnson Cook model, the Gruneisen equation of state and the FEM SPH coupling algorithm, while some new factors are taken into account such as the heat generation, strain rate strengthening and high temperature softening of materials. Mechanical and thermal information could be obtained with the model, such as penetration, fragmentation, stress and strain, heat generation and temperature field of fiber fabric. The analysis results are in good agreement with the experimental results.     

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

In the presence of unknown disturbances and model parameter uncertainties, this paper develop a nonlinear backstepping sliding-mode controller (BSMC) for trajectory tracking control of a stratospheric airship using a disturbance-observer (DO). Compared with the conventional sliding mode surface (SMS) constructed by a linear combination of the errors, the new SMS manifold is selected as the last back-step error to improve independence of the adjustment of the controller gains. Furthermore, a nonlinear disturbance-observer is designed to process unknown disturbance inputs and improve the BSMC performances. The closed-loop system of trajectory tracking control plant is proved to be globally asymptotically stable by using Lyapunov theory. By comparing with traditional backstepping control and SMC design, the results obtained demonstrate the capacity of the airship to execute a realistic trajectory tracking mission, even in the presence of unknown disturbances, and aerodynamic coefficient uncertainties.     

Quantitative Rectangular Notch Detection of Laser-induced Lamb Waves in Aluminium Plates with Wavenumber Analysis

It is difficult to quantitatively detect defects by using the time domain or frequency domain features of Lamb wave signals due to their dispersion and multimodal characteristics.Therefore,it is important to discover an intrinsical parameter of Lamb waves that could be used as a damage sensitive feature.In this paper,quantitative defect detection in aluminium plates is carried out by means of wavenumber analysis approach.The wavenumber of excited Lamb wave mode is a fixed value,given a frequency,a thickness and material properties of the target plate.When Lamb waves propagate to the structural discontinuity,new wavenumber components are created by abrupt wavefield change.The new wavenumber components can be identified in the frequency-wavenumber domain.To estimate spatially dependent wavenumber values,a short-space two-dimensional Fourier transform(FT)method is presented for processing wavefield data of Lamb waves.The results can be used to determine the location,size and depth of rectangular notch.The analysis techniques are demonstrated using simulation examples of an aluminium plate with a rectangular notch.Then,the wavenumber analysis method is applied to simulation data that are obtained through a range of notch depths and widths.The results are analyzed and rules of the technique with regards to estimating notch depth are determined.Based on simulation results,guidelines for using the technique are developed.Finally,experimental wavefield data are obtained in aluminium plates with rectangular notches by a full noncontact transceiving method,i.e.,laser-laser method.Band-pass filtering combined with continuous wavelet transform is used to extract a certain frequency component from the full laser-induced wavefield with wide band.Shortspace two-dimensional FT method is used for further processing full wavefield data at a certain frequency to estimate spatially dependent wavenumber values.The consistency of simulation and experimental results shows the effectiveness of proposed wavenumber method for quantitative rectangular notch detection.     

夜气辉对天基光学碎片探测的影响分析

设计并完成了夜气辉背景下的天基碎片观测试验，获取了综合谱段的观测数据。基于观测数据进行夜气辉的辐射特性及其对天基碎片探测的影响分析。结果表明，夜气辉辐射随纬度和高度呈现一定的分布特点，这些特点均符合夜气辉的理论分布规律。在约90 km处辐射最强，亮度可达到单位积分时间每平方角秒近15星等，这对恒星及碎片提取概率影响较大，其中，13等星的提取概率仅为40.5%。     

Analysis on Output Power for Multi-direction Piezoelectric Vibration Energy Harvester

To predict the performance of multi-direction piezoelectric vibration energy harvester,an equation for calculating its output power is obtained based on elastic mechanics theory and piezoelectricity theory.Experiments are performed to verify theoretical analysis.When the excitation direction is along Y direction,a maximal output power about 0.139 mW can be harvested at a resistive load of 65kΩ and an excitation frequency of 136 Hz.Theoretical analysis agrees well with experimental results.Furthermore,the performance of multi-direction vibration energy harvester is experimentally tested.The results show that the multi-direction vibration energy harvester can harvest perfect energy as the excitation direction changes in XY plane,YZ plane,XZ plane and body diagonal plane of the harvester.     

环雄安新区康养人才培养模式探讨

康养产业在国内尚属于新型的一个产业,而中国的康养产业发展迅速,显示出了勃勃的生机和巨大的发展潜力,但同时也出现了很多问题,其中人才培养是重要的一个环节。当前高等院校在康养行业专业人才培养方面,已经进行了许多探索和尝试,但就整体而言,我国康养行业高校人才培养还存在诸多问题。本文通过分析国内康养人才培养的现状,同时结合雄安新区的实际情况,提出环雄安新区康养人才培养的策略。     

碳纳米管阵列推力器放电特性的数值模拟研究

基于直接蒙特卡洛(DSMC)算法、浸入式有限元算法(IFE)、粒子云及蒙特卡洛碰撞(PIC-MCC)算法以及Ammosov-Delone-Krainov(ADK)隧穿电离模型建立了碳纳米管阵列推力器工质气体和CNT场电离过程的三维仿真模型。利用文献中的实验数据对本文仿真模型的有效性进行了验证,结果表明本文仿真模型与实验结果基本一致。针对碳纳米管阵列推力器的放电特性进行了研究,并重点分析了离子与原子碰撞过程对碳纳米管阵列推力器放电特性的影响。结果表明CNT可以极大地增强局部电场,稳态时场增强因子约为1308;与原子的碰撞使得离子在CNT附近更加集中,降低了局部电场,进而降低了其场增强能力。